Classes
struct	algo_calibration_info

struct	algo_calibration_registers

struct	calib

struct	coeffs

struct	convert_norm_vertices_to_los_data

struct	cycle_data_params

struct	data_collect

struct	decision_params

struct	double2

struct	double3

struct	double3x3

struct	frame_data

struct	input_validity_data

struct	ir_frame_data

struct	iteration_data_params

struct	k2dsm_data_params

struct	k_matrix

class	k_to_DSM

struct	k_to_dsm_inputs

struct	krt

struct	los_shift_scaling

struct	matrix_3x3

struct	movement_inputs_for_frame

struct	movement_result_data

struct	optimization_params

class	optimizer

struct	p_matrix

struct	params

struct	pre_process_data

struct	rotation_in_angles

struct	rs2_dsm_params_double

struct	rs2_extrinsics_double
	Cross-stream extrinsics: encodes the topology describing how the different devices are oriented. More...

struct	rs2_intrinsics_double
	Video stream intrinsics. More...

struct	svm_features

struct	svm_model_gaussian

struct	svm_model_linear

struct	translation

struct	yuy2_frame_data

struct	z_frame_data

Typedefs
typedef uint8_t	ir_t

typedef std::vector< double2 >	uvmap_t

typedef uint16_t	yuy_t

typedef uint16_t	z_t

Enumerations
enum	ac_to_dsm_dir { direct, inverse }

enum	data_type { k_to_dsm_data, cycle_data, iteration_data, general_data }

enum	direction : uint8_t { deg_0, deg_45, deg_90, deg_135, deg_180, deg_225, deg_270, deg_315, deg_none }

enum	svm_model : uint8_t { linear, gaussian }

Functions
std::vector< double >	biliniar_interp (std::vector< double > const &vals, size_t width, size_t height, uvmap_t const &uv)

double	calc_cost (const z_frame_data &z_data, const yuy2_frame_data &yuy_data, const uvmap_t &uvmap, std::vector< double > *p_interpolated_edges=nullptr)

double	calc_cost (const z_frame_data &z_data, const yuy2_frame_data &yuy_data, const std::vector< double2 > &uv, std::vector< double > *p_interpolated_edges)

std::vector< double >	calc_cost_per_vertex (std::vector< double > const &d_vals, z_frame_data const &z_data, yuy2_frame_data const &yuy_data, std::function< void(size_t i, double d_val, double weight, double vertex_cost) > fn)

std::vector< double >	calc_cost_per_vertex (z_frame_data const &z_data, yuy2_frame_data const &yuy_data, const uvmap_t &uvmap)

double	calc_cost_per_vertex_diff (z_frame_data const &z_data, yuy2_frame_data const &yuy_data, const uvmap_t &uvmap_old, const uvmap_t &uvmap_new)

coeffs< p_matrix >	calc_p_coefs (const z_frame_data &z_data, const std::vector< double3 > &new_vertices, const yuy2_frame_data &yuy_data, const calib &cal, const p_matrix &p_mat, const std::vector< double > &rc, const std::vector< double2 > &xy)

coeffs< rotation_in_angles >	calc_rotation_coefs (const z_frame_data &z_data, const yuy2_frame_data &yuy_data, const calib &yuy_intrin_extrin, const std::vector< double > &rc, const std::vector< double2 > &xy)

p_matrix	calculate_p_x_coeff (double3 const &v, double rc, double2 const &xy, const calib &cal, const p_matrix &p_mat)

p_matrix	calculate_p_y_coeff (double3 const &v, double rc, double2 const &xy, const calib &cal, const p_matrix &p_mat)

double	calculate_rotation_x_alpha_coeff (rotation_in_angles const &rot_angles, double3 const &v, double rc, double2 const &xy, const calib &yuy_intrin_extrin)

static double	calculate_rotation_x_beta_coeff (rotation_in_angles const &rot_angles, double3 const &v, double rc, double2 const &xy, const calib &yuy_intrin_extrin)

double	calculate_rotation_x_gamma_coeff (rotation_in_angles const &rot_angles, double3 const &v, double rc, double2 const &xy, const calib &yuy_intrin_extrin)

double	calculate_rotation_y_alpha_coeff (rotation_in_angles const &rot_angles, double3 const &v, double rc, double2 const &xy, const calib &yuy_intrin_extrin)

double	calculate_rotation_y_beta_coeff (rotation_in_angles const &rot_angles, double3 const &v, double rc, double2 const &xy, const calib &yuy_intrin_extrin)

double	calculate_rotation_y_gamma_coeff (rotation_in_angles const &rot_angles, double3 const &v, double rc, double2 const &xy, const calib &yuy_intrin_extrin)

translation	calculate_translation_x_coeff (double3 v, double rc, double2 xy, const calib &yuy_intrin_extrin)

double3x3	cholesky3x3 (double3x3 const &mat)

calib	decompose (p_matrix const &mat, calib const &)

double	deg_to_rad (double deg)

std::vector< double >	direct_inv (std::vector< double > A, uint32_t s)

void	direct_inv_2x2 (const double A[4], const double B[2], double C[2])

void	direct_inv_6x6 (const double A[36], const double B[6], double C[6])

static void	distort_pixel (double pixel[2], const rs2_intrinsics_double *intrin, const double point[2])

rotation_in_angles	extract_angles_from_rotation (const double r[9])

matrix_3x3	extract_rotation_from_angles (const rotation_in_angles &rot_angles)

double	get_norma (const std::vector< double3 > &vec)

uvmap_t	get_texture_map (std::vector< double3 > const &points, const calib &cal, const p_matrix &p_mat)

std::vector< double >	interp1 (const std::vector< double > &ind, const std::vector< double > &vals, const std::vector< double > &intrp)

void	inv (const double x[9], double y[9])

void	ndgrid_my (const double vec1[5], const double vec2[5], double yScalingGrid[25], double xScalingGrid[25])

std::ostream &	operator<< (std::ostream &, rs2_dsm_params_double const &)

void	pinv_3x3 (const double in[9], double out[9])

double	rad_to_deg (double rad)

void	rotate_180 (const uint8_t A, uint8_t B, uint32_t w, uint32_t h)

void	svd_3x4 (const double in[12], double out[3])

static void	transform_point_to_uv (double pixel[2], const p_matrix &pmat, const double point[3])

void	transpose (const double x[9], double y[9])

void	validate_dsm_params (struct rs2_dsm_params const &dsm_params)

void	write_to_file (void const data, size_t cb, std::string const &dir, char const filename)

template<typename T >
void	write_vector_to_file (std::vector< T > const &v, std::string const &dir, char const *filename)

Variables
const int	N_BASIC_DIRECTIONS = direction::deg_180

static const int	SIZE_OF_GRID_X = 25

static const int	SIZE_OF_GRID_Y = 6

Typedef Documentation

typedef uint8_t librealsense::algo::depth_to_rgb_calibration::ir_t

Definition at line 25 of file frame-data.h.

typedef std::vector< double2 > librealsense::algo::depth_to_rgb_calibration::uvmap_t

Definition at line 22 of file uvmap.h.

typedef uint16_t librealsense::algo::depth_to_rgb_calibration::yuy_t

Definition at line 24 of file frame-data.h.

typedef uint16_t librealsense::algo::depth_to_rgb_calibration::z_t

Definition at line 26 of file frame-data.h.

Enumeration Type Documentation

enum librealsense::algo::depth_to_rgb_calibration::ac_to_dsm_dir

Enumerator
direct
inverse

Definition at line 19 of file k-to-dsm.h.

enum librealsense::algo::depth_to_rgb_calibration::data_type

Enumerator
k_to_dsm_data
cycle_data
iteration_data
general_data

Definition at line 166 of file optimizer.h.

enum librealsense::algo::depth_to_rgb_calibration::direction : uint8_t

Enumerator
deg_0
deg_45
deg_90
deg_135
deg_180
deg_225
deg_270
deg_315
deg_none

Definition at line 117 of file calibration-types.h.

enum librealsense::algo::depth_to_rgb_calibration::svm_model : uint8_t

Enumerator
linear
gaussian

Definition at line 133 of file calibration-types.h.

Function Documentation

std::vector< double > librealsense::algo::depth_to_rgb_calibration::biliniar_interp	(	std::vector< double > const &	vals,
		size_t	width,
		size_t	height,
		uvmap_t const &	uv
	)

Definition at line 76 of file uvmap.cpp.

double librealsense::algo::depth_to_rgb_calibration::calc_cost	(	const z_frame_data &	z_data,
		const yuy2_frame_data &	yuy_data,
		const uvmap_t &	uvmap,
		std::vector< double > *	p_interpolated_edges = `nullptr`
	)

double librealsense::algo::depth_to_rgb_calibration::calc_cost	(	const z_frame_data &	z_data,
		const yuy2_frame_data &	yuy_data,
		const std::vector< double2 > &	uv,
		std::vector< double > *	p_interpolated_edges
	)

Definition at line 75 of file cost.cpp.

std::vector< double > librealsense::algo::depth_to_rgb_calibration::calc_cost_per_vertex	(	std::vector< double > const &	d_vals,
		z_frame_data const &	z_data,
		yuy2_frame_data const &	yuy_data,
		std::function< void(size_t i, double d_val, double weight, double vertex_cost) >	fn
	)

Definition at line 12 of file cost.cpp.

std::vector<double> librealsense::algo::depth_to_rgb_calibration::calc_cost_per_vertex	(	z_frame_data const &	z_data,
		yuy2_frame_data const &	yuy_data,
		const uvmap_t &	uvmap
	)

Definition at line 65 of file cost.cpp.

double librealsense::algo::depth_to_rgb_calibration::calc_cost_per_vertex_diff	(	z_frame_data const &	z_data,
		yuy2_frame_data const &	yuy_data,
		const uvmap_t &	uvmap_old,
		const uvmap_t &	uvmap_new
	)

Definition at line 37 of file cost.cpp.

coeffs< p_matrix > librealsense::algo::depth_to_rgb_calibration::calc_p_coefs	(	const z_frame_data &	z_data,
		const std::vector< double3 > &	new_vertices,
		const yuy2_frame_data &	yuy_data,
		const calib &	cal,
		const p_matrix &	p_mat,
		const std::vector< double > &	rc,
		const std::vector< double2 > &	xy
	)

Definition at line 695 of file coeffs.cpp.

coeffs<rotation_in_angles> librealsense::algo::depth_to_rgb_calibration::calc_rotation_coefs	(	const z_frame_data &	z_data,
		const yuy2_frame_data &	yuy_data,
		const calib &	yuy_intrin_extrin,
		const std::vector< double > &	rc,
		const std::vector< double2 > &	xy
	)

Definition at line 614 of file coeffs.cpp.

p_matrix librealsense::algo::depth_to_rgb_calibration::calculate_p_x_coeff	(	double3 const &	v,
		double	rc,
		double2 const &	xy,
		const calib &	cal,
		const p_matrix &	p_mat
	)

Definition at line 454 of file coeffs.cpp.

p_matrix librealsense::algo::depth_to_rgb_calibration::calculate_p_y_coeff	(	double3 const &	v,
		double	rc,
		double2 const &	xy,
		const calib &	cal,
		const p_matrix &	p_mat
	)

Definition at line 543 of file coeffs.cpp.

double librealsense::algo::depth_to_rgb_calibration::calculate_rotation_x_alpha_coeff	(	rotation_in_angles const &	rot_angles,
		double3 const &	v,
		double	rc,
		double2 const &	xy,
		const calib &	yuy_intrin_extrin
	)

Definition at line 14 of file coeffs.cpp.

static double librealsense::algo::depth_to_rgb_calibration::calculate_rotation_x_beta_coeff	(	rotation_in_angles const &	rot_angles,
		double3 const &	v,
		double	rc,
		double2 const &	xy,
		const calib &	yuy_intrin_extrin
	)

static

Definition at line 119 of file coeffs.cpp.

double librealsense::algo::depth_to_rgb_calibration::calculate_rotation_x_gamma_coeff	(	rotation_in_angles const &	rot_angles,
		double3 const &	v,
		double	rc,
		double2 const &	xy,
		const calib &	yuy_intrin_extrin
	)

Definition at line 210 of file coeffs.cpp.

double librealsense::algo::depth_to_rgb_calibration::calculate_rotation_y_alpha_coeff	(	rotation_in_angles const &	rot_angles,
		double3 const &	v,
		double	rc,
		double2 const &	xy,
		const calib &	yuy_intrin_extrin
	)

Definition at line 280 of file coeffs.cpp.

double librealsense::algo::depth_to_rgb_calibration::calculate_rotation_y_beta_coeff	(	rotation_in_angles const &	rot_angles,
		double3 const &	v,
		double	rc,
		double2 const &	xy,
		const calib &	yuy_intrin_extrin
	)

Definition at line 339 of file coeffs.cpp.

double librealsense::algo::depth_to_rgb_calibration::calculate_rotation_y_gamma_coeff	(	rotation_in_angles const &	rot_angles,
		double3 const &	v,
		double	rc,
		double2 const &	xy,
		const calib &	yuy_intrin_extrin
	)

Definition at line 396 of file coeffs.cpp.

translation librealsense::algo::depth_to_rgb_calibration::calculate_translation_x_coeff	(	double3	v,
		double	rc,
		double2	xy,
		const calib &	yuy_intrin_extrin
	)

Definition at line 642 of file coeffs.cpp.

double3x3 librealsense::algo::depth_to_rgb_calibration::cholesky3x3 ( double3x3 const & mat )

Definition at line 341 of file algo/depth-to-rgb-calibration/utils.cpp.

calib librealsense::algo::depth_to_rgb_calibration::decompose	(	p_matrix const &	mat,
		calib const &	in_calibration
	)

Definition at line 375 of file calibration.cpp.

double librealsense::algo::depth_to_rgb_calibration::deg_to_rad ( double deg )

Definition at line 35 of file algo/depth-to-rgb-calibration/utils.cpp.

std::vector<double> librealsense::algo::depth_to_rgb_calibration::direct_inv	(	std::vector< double >	A,
		uint32_t	s
	)

void librealsense::algo::depth_to_rgb_calibration::direct_inv_2x2	(	const double	A[4],
		const double	B[2],
		double	C[2]
	)

Definition at line 155 of file algo/depth-to-rgb-calibration/utils.cpp.

void librealsense::algo::depth_to_rgb_calibration::direct_inv_6x6	(	const double	A[36],
		const double	B[6],
		double	C[6]
	)

Definition at line 40 of file algo/depth-to-rgb-calibration/utils.cpp.

static void librealsense::algo::depth_to_rgb_calibration::distort_pixel	(	double	pixel[2],
		const rs2_intrinsics_double *	intrin,
		const double	point[2]
	)

static

Definition at line 27 of file uvmap.cpp.

rotation_in_angles librealsense::algo::depth_to_rgb_calibration::extract_angles_from_rotation ( const double r[9] )

Definition at line 73 of file rotation-in-angles.cpp.

matrix_3x3 librealsense::algo::depth_to_rgb_calibration::extract_rotation_from_angles ( const rotation_in_angles & rot_angles )

Definition at line 17 of file rotation-in-angles.cpp.

double librealsense::algo::depth_to_rgb_calibration::get_norma ( const std::vector< double3 > & vec )

Definition at line 23 of file algo/depth-to-rgb-calibration/utils.cpp.

uvmap_t librealsense::algo::depth_to_rgb_calibration::get_texture_map	(	std::vector< double3 > const &	points,
		const calib &	cal,
		const p_matrix &	p_mat
	)

Definition at line 52 of file uvmap.cpp.

std::vector< double > librealsense::algo::depth_to_rgb_calibration::interp1	(	const std::vector< double > &	ind,
		const std::vector< double > &	vals,
		const std::vector< double > &	intrp
	)

Definition at line 300 of file algo/depth-to-rgb-calibration/utils.cpp.

void librealsense::algo::depth_to_rgb_calibration::inv	(	const double	x[9],
		double	y[9]
	)

Definition at line 202 of file algo/depth-to-rgb-calibration/utils.cpp.

void librealsense::algo::depth_to_rgb_calibration::ndgrid_my	(	const double	vec1[5],
		const double	vec2[5],
		double	yScalingGrid[25],
		double	xScalingGrid[25]
	)

Definition at line 179 of file algo/depth-to-rgb-calibration/utils.cpp.

std::ostream & librealsense::algo::depth_to_rgb_calibration::operator<<	(	std::ostream &	s,
		rs2_dsm_params_double const &	self
	)

Definition at line 14 of file k-to-dsm.cpp.

void librealsense::algo::depth_to_rgb_calibration::pinv_3x3	(	const double	in[9],
		double	out[9]
	)

Definition at line 828 of file pinv_3x3.cpp.

double librealsense::algo::depth_to_rgb_calibration::rad_to_deg ( double rad )

Definition at line 30 of file algo/depth-to-rgb-calibration/utils.cpp.

void librealsense::algo::depth_to_rgb_calibration::rotate_180	(	const uint8_t *	A,
		uint8_t *	B,
		uint32_t	w,
		uint32_t	h
	)

Definition at line 289 of file algo/depth-to-rgb-calibration/utils.cpp.

void librealsense::algo::depth_to_rgb_calibration::svd_3x4	(	const double	in[12],
		double	out[3]
	)

Definition at line 250 of file svd_3x4.cpp.

static void librealsense::algo::depth_to_rgb_calibration::transform_point_to_uv	(	double	pixel[2],
		const p_matrix &	pmat,
		const double	point[3]
	)

static

Definition at line 13 of file uvmap.cpp.

void librealsense::algo::depth_to_rgb_calibration::transpose	(	const double	x[9],
		double	y[9]
	)

Definition at line 282 of file algo/depth-to-rgb-calibration/utils.cpp.

void librealsense::algo::depth_to_rgb_calibration::validate_dsm_params ( struct rs2_dsm_params const & dsm_params )

void librealsense::algo::depth_to_rgb_calibration::write_to_file	(	void const *	data,
		size_t	cb,
		std::string const &	dir,
		char const *	filename
	)

Definition at line 13 of file algo/depth-to-rgb-calibration/utils.cpp.

template<typename T >

void librealsense::algo::depth_to_rgb_calibration::write_vector_to_file	(	std::vector< T > const &	v,
		std::string const &	dir,
		char const *	filename
	)

Definition at line 39 of file utils.h.

Variable Documentation

const int librealsense::algo::depth_to_rgb_calibration::N_BASIC_DIRECTIONS = direction::deg_180

Definition at line 131 of file calibration-types.h.

const int librealsense::algo::depth_to_rgb_calibration::SIZE_OF_GRID_X = 25

static

Definition at line 16 of file k-to-dsm.h.

const int librealsense::algo::depth_to_rgb_calibration::SIZE_OF_GRID_Y = 6

static

Definition at line 17 of file k-to-dsm.h.

Classes

Typedefs

Enumerations

Functions

Variables

Typedef Documentation

Enumeration Type Documentation

Function Documentation

Variable Documentation