Added CameraRGBDImages class (read RGB-D images from a folder)

2026-09-02 09:30:25 +08:00 · 2015-07-30 14:17:29 -04:00
parent 38807bf12e
commit 2877a14360
24 changed files with 1315 additions and 237 deletions
--- a/guilib/src/CreateSimpleCalibrationDialog.cpp
+++ b/guilib/src/CreateSimpleCalibrationDialog.cpp
@@ -0,0 +1,135 @@
+/*
+Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#include "CreateSimpleCalibrationDialog.h"
+#include "ui_createSimpleCalibrationDialog.h"
+
+#include "rtabmap/core/CameraModel.h"
+#include "rtabmap/utilite/ULogger.h"
+
+#include <QFileDialog>
+#include <QPushButton>
+#include <QMessageBox>
+
+namespace rtabmap {
+
+CreateSimpleCalibrationDialog::CreateSimpleCalibrationDialog(
+		const QString & savingFolder,
+		const QString & cameraName,
+		QWidget * parent) :
+	QDialog(parent),
+	savingFolder_(savingFolder),
+	cameraName_(cameraName)
+{
+	ui_ = new Ui_createSimpleCalibrationDialog();
+	ui_->setupUi(this);
+
+	connect(ui_->buttonBox->button(QDialogButtonBox::Save), SIGNAL(clicked()), this, SLOT(saveCalibration()));
+	connect(ui_->buttonBox, SIGNAL(rejected()), this, SLOT(reject()));
+
+	connect(ui_->doubleSpinBox_fx, SIGNAL(valueChanged(double)), this, SLOT(updateSaveStatus()));
+	connect(ui_->doubleSpinBox_fy, SIGNAL(valueChanged(double)), this, SLOT(updateSaveStatus()));
+
+	ui_->buttonBox->button(QDialogButtonBox::Save)->setEnabled(false);
+}
+
+CreateSimpleCalibrationDialog::~CreateSimpleCalibrationDialog()
+{
+	delete ui_;
+}
+
+void CreateSimpleCalibrationDialog::updateSaveStatus()
+{
+	ui_->buttonBox->button(QDialogButtonBox::Save)->setEnabled(ui_->doubleSpinBox_fx->value() > 0.0 && ui_->doubleSpinBox_fy->value() > 0.0);
+}
+
+void CreateSimpleCalibrationDialog::saveCalibration()
+{
+	if(ui_->doubleSpinBox_baseline->value()==0)
+	{
+		QString filePath = QFileDialog::getSaveFileName(this, tr("Save"), savingFolder_+"/"+cameraName_+".yaml", "*.yaml");
+		QString name = QFileInfo(filePath).baseName();
+		QString dir = QFileInfo(filePath).absoluteDir().absolutePath();
+		if(!filePath.isEmpty())
+		{
+			cameraName_ = name;
+			CameraModel model(
+					name.toStdString(),
+					ui_->doubleSpinBox_fx->value(),
+					ui_->doubleSpinBox_fy->value(),
+					ui_->doubleSpinBox_cx->value(),
+					ui_->doubleSpinBox_cy->value());
+			UASSERT(model.isValid());
+			if(model.save(dir.toStdString()))
+			{
+				QMessageBox::information(this, tr("Save"), tr("Calibration file saved to \"%1\".").arg(filePath));
+				this->accept();
+			}
+			else
+			{
+				QMessageBox::warning(this, tr("Save"), tr("Error saving \"%1\"").arg(filePath));
+			}
+		}
+	}
+	else
+	{
+		QString filePath = QFileDialog::getSaveFileName(this, tr("Save"), savingFolder_ + "/" + cameraName_, "*.yaml");
+		QString name = QFileInfo(filePath).baseName();
+		QString dir = QFileInfo(filePath).absoluteDir().absolutePath();
+		if(!name.isEmpty())
+		{
+			std::string base = (dir+QDir::separator()+name).toStdString();
+			std::string leftPath = base+"_left.yaml";
+			std::string rightPath = base+"_right.yaml";
+			std::string posePath = base+"_pose.yaml";
+
+			StereoCameraModel model(
+					name.toStdString(),
+					ui_->doubleSpinBox_fx->value(),
+					ui_->doubleSpinBox_fy->value(),
+					ui_->doubleSpinBox_cx->value(),
+					ui_->doubleSpinBox_cy->value(),
+					ui_->doubleSpinBox_baseline->value());
+			UASSERT(model.left().isValid() &&
+					model.right().isValid()&&
+					model.baseline() > 0.0);
+
+			if(model.save(dir.toStdString(), true))
+			{
+				QMessageBox::information(this, tr("Save"), tr("Calibration files saved:\n  \"%1\"\n  \"%2\"\n  \"%3\".").
+						arg(leftPath.c_str()).arg(rightPath.c_str()).arg(posePath.c_str()));
+				this->accept();
+			}
+			else
+			{
+				QMessageBox::warning(this, tr("Save"), tr("Error saving \"%1\" and \"%2\"").arg(leftPath.c_str()).arg(rightPath.c_str()));
+			}
+		}
+	}
+}
+
+}