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Added MYNT EYE S support. Fixed StereoCameraModel rectification not done with non-square images, also updated to support fisheye model.

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This commit is contained in:
matlabbe
2020-04-30 00:57:47 -04:00
parent b3eee0d7bf
commit 14ec619b1e
20 changed files with 975 additions and 33 deletions
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2
guilib/src/CalibrationDialog.cpp
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@@ -37,7 +37,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#endif
#include <opencv2/highgui/highgui.hpp>
#if CV_MAJOR_VERSION > 2 or (CV_MAJOR_VERSION == 2 and (CV_MINOR_VERSION >4 or (CV_MINOR_VERSION == 4 and CV_SUBMINOR_VERSION >=10)))
#include "opencv/stereoRectifyFisheye.h"
#include <rtabmap/core/stereo/stereoRectifyFisheye.h>
#endif
#include <QFileDialog>

1
guilib/src/GuiLib.qrc
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@@ -38,5 +38,6 @@
<file>images/tara.png</file>
<file>images/t265.png</file>
<file>images/sr300.png</file>
<file>images/mynteyes.png</file>
</qresource>
</RCC>

7
guilib/src/MainWindow.cpp
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@@ -442,6 +442,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent, bool sh
connect(_ui->actionStereoTara, SIGNAL(triggered()), this, SLOT(selectStereoTara()));
connect(_ui->actionStereoUsb, SIGNAL(triggered()), this, SLOT(selectStereoUsb()));
connect(_ui->actionRealSense2_T265, SIGNAL(triggered()), this, SLOT(selectRealSense2Stereo()));
connect(_ui->actionMYNT_EYE_S_SDK, SIGNAL(triggered()), this, SLOT(selectMyntEyeS()));
_ui->actionFreenect->setEnabled(CameraFreenect::available());
_ui->actionOpenNI_CV->setEnabled(CameraOpenNICV::available());
_ui->actionOpenNI_CV_ASUS->setEnabled(CameraOpenNICV::available());
@@ -460,6 +461,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent, bool sh
_ui->actionStereoFlyCapture2->setEnabled(CameraStereoFlyCapture2::available());
_ui->actionStereoZed->setEnabled(CameraStereoZed::available());
_ui->actionStereoTara->setEnabled(CameraStereoTara::available());
_ui->actionMYNT_EYE_S_SDK->setEnabled(CameraMyntEye::available());
this->updateSelectSourceMenu();
connect(_ui->actionPreferences, SIGNAL(triggered()), this, SLOT(openPreferences()));
@@ -6367,6 +6369,11 @@ void MainWindow::selectStereoUsb()
_preferencesDialog->selectSourceDriver(PreferencesDialog::kSrcStereoUsb);
}
void MainWindow::selectMyntEyeS()
{
_preferencesDialog->selectSourceDriver(PreferencesDialog::kSrcStereoMyntEye);
}
void MainWindow::dumpTheMemory()
{
this->post(new RtabmapEventCmd(RtabmapEventCmd::kCmdDumpMemory));

46
guilib/src/PreferencesDialog.cpp
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@@ -335,6 +335,10 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
if (!CameraStereoTara::available())
{
_ui->comboBox_cameraStereo->setItemData(kSrcStereoTara - kSrcStereo, 0, Qt::UserRole - 1);
}
if (!CameraMyntEye::available())
{
_ui->comboBox_cameraStereo->setItemData(kSrcStereoMyntEye - kSrcStereo, 0, Qt::UserRole - 1);
}
_ui->openni2_exposure->setEnabled(CameraOpenNI2::exposureGainAvailable());
_ui->openni2_gain->setEnabled(CameraOpenNI2::exposureGainAvailable());
@@ -716,6 +720,9 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->checkbox_stereoRealSense2_odom, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkbox_stereoMyntEye_rectify, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkbox_stereoMyntEye_depth, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkbox_rgbd_colorOnly, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->spinBox_source_imageDecimation, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkbox_stereo_depthGenerated, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
@@ -1872,6 +1879,8 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->checkbox_stereoZed_odom->setChecked(false);
_ui->lineEdit_zedSvoPath->clear();
_ui->checkbox_stereoRealSense2_odom->setChecked(false);
_ui->checkbox_stereoMyntEye_rectify->setChecked(false);
_ui->checkbox_stereoMyntEye_depth->setChecked(false);
_ui->checkBox_cameraImages_timestamps->setChecked(false);
_ui->checkBox_cameraImages_syncTimeStamps->setChecked(true);
@@ -2317,6 +2326,11 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
_ui->checkbox_stereoRealSense2_odom->setChecked(settings.value("odom", _ui->checkbox_stereoRealSense2_odom->isChecked()).toBool());
settings.endGroup(); // StereoRealSense2
settings.beginGroup("MyntEye");
_ui->checkbox_stereoMyntEye_rectify->setChecked(settings.value("rectify", _ui->checkbox_stereoMyntEye_rectify->isChecked()).toBool());
_ui->checkbox_stereoMyntEye_depth->setChecked(settings.value("depth", _ui->checkbox_stereoMyntEye_depth->isChecked()).toBool());
settings.endGroup(); // StereoRealSense2
settings.beginGroup("Images");
_ui->source_images_lineEdit_path->setText(settings.value("path", _ui->source_images_lineEdit_path->text()).toString());
_ui->source_images_spinBox_startPos->setValue(settings.value("startPos",_ui->source_images_spinBox_startPos->value()).toInt());
@@ -2784,6 +2798,11 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
settings.setValue("odom", _ui->checkbox_stereoRealSense2_odom->isChecked());
settings.endGroup(); // StereoRealSense2
settings.beginGroup("MyntEye");
settings.setValue("rectify", _ui->checkbox_stereoMyntEye_rectify->isChecked());
settings.setValue("depth", _ui->checkbox_stereoMyntEye_depth->isChecked());
settings.endGroup(); // MyntEye
settings.beginGroup("Images");
settings.setValue("path", _ui->source_images_lineEdit_path->text());
settings.setValue("startPos", _ui->source_images_spinBox_startPos->value());
@@ -4741,12 +4760,14 @@ void PreferencesDialog::updateSourceGrpVisibility()
_ui->comboBox_cameraStereo->currentIndex() == kSrcStereoImages-kSrcStereo ||
_ui->comboBox_cameraStereo->currentIndex() == kSrcStereoZed - kSrcStereo ||
_ui->comboBox_cameraStereo->currentIndex() == kSrcStereoUsb - kSrcStereo ||
_ui->comboBox_cameraStereo->currentIndex() == kSrcStereoRealSense2 - kSrcStereo));
_ui->comboBox_cameraStereo->currentIndex() == kSrcStereoRealSense2 - kSrcStereo ||
_ui->comboBox_cameraStereo->currentIndex() == kSrcStereoMyntEye - kSrcStereo));
_ui->groupBox_cameraStereoImages->setVisible(_ui->comboBox_sourceType->currentIndex() == 1 && _ui->comboBox_cameraStereo->currentIndex() == kSrcStereoImages-kSrcStereo);
_ui->groupBox_cameraStereoVideo->setVisible(_ui->comboBox_sourceType->currentIndex() == 1 && _ui->comboBox_cameraStereo->currentIndex() == kSrcStereoVideo - kSrcStereo);
_ui->groupBox_cameraStereoUsb->setVisible(_ui->comboBox_sourceType->currentIndex() == 1 && _ui->comboBox_cameraStereo->currentIndex() == kSrcStereoUsb - kSrcStereo);
_ui->groupBox_cameraStereoZed->setVisible(_ui->comboBox_sourceType->currentIndex() == 1 && _ui->comboBox_cameraStereo->currentIndex() == kSrcStereoZed - kSrcStereo);
_ui->groupBox_cameraStereoRealSense2->setVisible(_ui->comboBox_sourceType->currentIndex() == 1 && _ui->comboBox_cameraStereo->currentIndex() == kSrcStereoRealSense2 - kSrcStereo);
_ui->groupBox_cameraMyntEye->setVisible(_ui->comboBox_sourceType->currentIndex() == 1 && _ui->comboBox_cameraStereo->currentIndex() == kSrcStereoMyntEye - kSrcStereo);
_ui->stackedWidget_image->setVisible(_ui->comboBox_sourceType->currentIndex() == 2 &&
(_ui->source_comboBox_image_type->currentIndex() == kSrcImages-kSrcRGB ||
@@ -4773,7 +4794,8 @@ void PreferencesDialog::updateSourceGrpVisibility()
(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcK4A - kSrcRGBD) || //K4A
(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcRealSense2 - kSrcRGBD) || //D435i
(_ui->comboBox_sourceType->currentIndex() == 1 && _ui->comboBox_cameraStereo->currentIndex() == kSrcStereoRealSense2 - kSrcStereo) || //T265
(_ui->comboBox_sourceType->currentIndex() == 1 && _ui->comboBox_cameraStereo->currentIndex() == kSrcStereoZed - kSrcStereo)); // ZEDm
(_ui->comboBox_sourceType->currentIndex() == 1 && _ui->comboBox_cameraStereo->currentIndex() == kSrcStereoZed - kSrcStereo) || // ZEDm, ZED2
(_ui->comboBox_sourceType->currentIndex() == 1 && _ui->comboBox_cameraStereo->currentIndex() == kSrcStereoMyntEye - kSrcStereo)); // MYNT EYE S
_ui->stackedWidget_imuFilter->setVisible(_ui->comboBox_imuFilter_strategy->currentIndex() > 0);
_ui->groupBox_madgwickfilter->setVisible(_ui->comboBox_imuFilter_strategy->currentIndex() == 1);
_ui->groupBox_complementaryfilter->setVisible(_ui->comboBox_imuFilter_strategy->currentIndex() == 2);
@@ -5545,6 +5567,26 @@ Camera * PreferencesDialog::createCamera(bool useRawImages, bool useColor)
}
}
}
else if (driver == kSrcStereoMyntEye)
{
if(driver == kSrcStereoMyntEye && useRawImages)
{
QMessageBox::warning(this, tr("Calibration"),
tr("Using raw images for \"RealSense\" driver is not yet supported. "
"Factory calibration loaded from RealSense2 is used."), QMessageBox::Ok);
return 0;
}
else
{
camera = new CameraMyntEye(
this->getSourceDevice().toStdString(),
_ui->checkbox_stereoMyntEye_rectify->isChecked(),
_ui->checkbox_stereoMyntEye_depth->isChecked(),
this->getGeneralInputRate(),
this->getSourceLocalTransform());
((CameraMyntEye*)camera)->publishInterIMU(_ui->checkbox_publishInterIMU->isChecked());
}
}
else if(driver == kSrcRGBDImages)
{
camera = new CameraRGBDImages(

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guilib/src/images/mynteyes.png Normal file
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1243
guilib/src/opencv/stereoRectifyFisheye.h
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File diff suppressed because it is too large Load Diff

16
guilib/src/ui/mainWindow.ui
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@@ -278,10 +278,21 @@
</property>
<addaction name="actionRealSense2_T265"/>
</widget>
<widget class="QMenu" name="menuMynt_Eye_S">
<property name="title">
<string>Mynt Eye S</string>
</property>
<property name="icon">
<iconset resource="../GuiLib.qrc">
<normaloff>:/images/mynteyes.png</normaloff>:/images/mynteyes.png</iconset>
</property>
<addaction name="actionMYNT_EYE_S_SDK"/>
</widget>
<addaction name="menuBumblebee2_2"/>
<addaction name="menuZed_camera"/>
<addaction name="menuTara_Camera"/>
<addaction name="menuRealSense_T265"/>
<addaction name="menuMynt_Eye_S"/>
</widget>
<addaction name="menuRGB_D_camera"/>
<addaction name="menuStereo_camera"/>
@@ -1579,6 +1590,11 @@
<string>RealSense2</string>
</property>
</action>
<action name="actionMYNT_EYE_S_SDK">
<property name="text">
<string>MYNT EYE S SDK</string>
</property>
</action>
</widget>
<customwidgets>
<customwidget>

85
guilib/src/ui/preferencesDialog.ui
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@@ -63,9 +63,9 @@
<property name="geometry">
<rect>
<x>0</x>
<y>-224</y>
<y>-250</y>
<width>680</width>
<height>3310</height>
<height>3497</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_16">
@@ -3109,7 +3109,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<item>
<widget class="QStackedWidget" name="stackedWidget_src">
<property name="currentIndex">
<number>3</number>
<number>1</number>
</property>
<widget class="QWidget" name="page_41">
<layout class="QVBoxLayout" name="verticalLayout_64">
@@ -4596,6 +4596,11 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<string>RealSense2</string>
</property>
</item>
<item>
<property name="text">
<string>MyntEyeS</string>
</property>
</item>
</widget>
</item>
<item row="0" column="2">
@@ -4676,7 +4681,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<item>
<widget class="QStackedWidget" name="stackedWidget_stereo">
<property name="currentIndex">
<number>4</number>
<number>8</number>
</property>
<widget class="QWidget" name="page_49">
<layout class="QVBoxLayout" name="verticalLayout_91">
@@ -5294,6 +5299,78 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</item>
</layout>
</widget>
<widget class="QWidget" name="page_86">
<layout class="QVBoxLayout" name="verticalLayout_148">
<item>
<widget class="QGroupBox" name="groupBox_cameraMyntEye">
<property name="sizePolicy">
<sizepolicy hsizetype="Ignored" vsizetype="Ignored">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="title">
<string>MYNT EYE S</string>
</property>
<layout class="QGridLayout" name="gridLayout_115" columnstretch="0,1">
<item row="1" column="0">
<widget class="QCheckBox" name="checkbox_stereoMyntEye_depth">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_576">
<property name="text">
<string>Compute depth image with MYNT EYE S SDK. Ignored if images are not rectified from MYNT EYE S SDK.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_581">
<property name="text">
<string>Rectify images using MYNT EYE S SDK.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QCheckBox" name="checkbox_stereoMyntEye_rectify">
<property name="text">
<string/>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer_85">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>596</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</widget>
</item>
</layout>