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Code Issues Packages Projects Releases Wiki Activity

Integration of CLAMS depth calibration #114

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This commit is contained in:
matlabbe
2016-09-19 14:01:06 -04:00
parent 861cc437f4
commit 3434b95d68
30 changed files with 2867 additions and 79 deletions
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75
guilib/src/PreferencesDialog.cpp
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@@ -33,6 +33,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <QtCore/QSettings>
#include <QtCore/QDir>
#include <QtCore/QTimer>
#include <QUrl>
#include <QFileDialog>
#include <QInputDialog>
@@ -42,6 +43,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <QProgressDialog>
#include <QScrollBar>
#include <QStatusBar>
#include <QDesktopServices>
#include <QtGui/QCloseEvent>
#include "ui_preferencesDialog.h"
@@ -60,6 +62,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/core/Optimizer.h"
#include "rtabmap/core/OptimizerG2O.h"
#include "rtabmap/core/DBReader.h"
#include "rtabmap/core/clams/discrete_depth_distortion_model.h"
#include "rtabmap/gui/LoopClosureViewer.h"
#include "rtabmap/gui/CameraViewer.h"
@@ -70,6 +73,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "ExportScansDialog.h"
#include "PostProcessingDialog.h"
#include "CreateSimpleCalibrationDialog.h"
#include "DepthCalibrationDialog.h"
#include <rtabmap/utilite/ULogger.h>
#include <rtabmap/utilite/UConversion.h>
@@ -505,8 +509,11 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->pushButton_calibrate_simple, SIGNAL(clicked()), this, SLOT(calibrateSimple()));
connect(_ui->toolButton_openniOniPath, SIGNAL(clicked()), this, SLOT(selectSourceOniPath()));
connect(_ui->toolButton_openni2OniPath, SIGNAL(clicked()), this, SLOT(selectSourceOni2Path()));
connect(_ui->toolButton_source_distortionModel, SIGNAL(clicked()), this, SLOT(selectSourceDistortionModel()));
connect(_ui->toolButton_distortionModel, SIGNAL(clicked()), this, SLOT(visualizeDistortionModel()));
connect(_ui->lineEdit_openniOniPath, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->lineEdit_openni2OniPath, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->lineEdit_source_distortionModel, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->groupBox_scanFromDepth, SIGNAL(toggled(bool)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->spinBox_cameraScanFromDepth_decimation, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
@@ -1336,6 +1343,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->lineEdit_cameraRGBDImages_path_rgb->setText("");
_ui->lineEdit_cameraRGBDImages_path_depth->setText("");
_ui->doubleSpinBox_cameraRGBDImages_scale->setValue(1.0);
_ui->lineEdit_source_distortionModel->setText("");
_ui->source_comboBox_image_type->setCurrentIndex(kSrcDC1394-kSrcDC1394);
_ui->lineEdit_cameraStereoImages_path_left->setText("");
@@ -1639,6 +1647,7 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
settings.beginGroup("rgbd");
_ui->comboBox_cameraRGBD->setCurrentIndex(settings.value("driver", _ui->comboBox_cameraRGBD->currentIndex()).toInt());
_ui->checkbox_rgbd_colorOnly->setChecked(settings.value("rgbdColorOnly", _ui->checkbox_rgbd_colorOnly->isChecked()).toBool());
_ui->lineEdit_source_distortionModel->setText(settings.value("distortion_model", _ui->lineEdit_source_distortionModel->text()).toString());
settings.endGroup(); // rgbd
settings.beginGroup("stereo");
@@ -2066,6 +2075,7 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
settings.beginGroup("rgbd");
settings.setValue("driver", _ui->comboBox_cameraRGBD->currentIndex());
settings.setValue("rgbdColorOnly", _ui->checkbox_rgbd_colorOnly->isChecked());
settings.setValue("distortion_model", _ui->lineEdit_source_distortionModel->text());
settings.endGroup(); // rgbd
settings.beginGroup("stereo");
@@ -2566,6 +2576,7 @@ void PreferencesDialog::saveWidgetState(const QWidget * widget)
const PostProcessingDialog * postProcessingDialog = qobject_cast<const PostProcessingDialog *>(widget);
const GraphViewer * graphViewer = qobject_cast<const GraphViewer *>(widget);
const CalibrationDialog * calibrationDialog = qobject_cast<const CalibrationDialog *>(widget);
const DepthCalibrationDialog * depthCalibrationDialog = qobject_cast<const DepthCalibrationDialog *>(widget);
if(cloudViewer)
{
@@ -2595,6 +2606,10 @@ void PreferencesDialog::saveWidgetState(const QWidget * widget)
{
calibrationDialog->saveSettings(settings);
}
else if(depthCalibrationDialog)
{
depthCalibrationDialog->saveSettings(settings);
}
else
{
UERROR("Widget \"%s\" cannot be exported in config file.", widget->objectName().toStdString().c_str());
@@ -2621,6 +2636,7 @@ void PreferencesDialog::loadWidgetState(QWidget * widget)
PostProcessingDialog * postProcessingDialog = qobject_cast<PostProcessingDialog *>(widget);
GraphViewer * graphViewer = qobject_cast<GraphViewer *>(widget);
CalibrationDialog * calibrationDialog = qobject_cast<CalibrationDialog *>(widget);
DepthCalibrationDialog * depthCalibrationDialog = qobject_cast<DepthCalibrationDialog *>(widget);
if(cloudViewer)
{
@@ -2650,6 +2666,10 @@ void PreferencesDialog::loadWidgetState(QWidget * widget)
{
calibrationDialog->loadSettings(settings);
}
else if(depthCalibrationDialog)
{
depthCalibrationDialog->loadSettings(settings);
}
else
{
UERROR("Widget \"%s\" cannot be loaded from config file.", widget->objectName().toStdString().c_str());
@@ -2788,6 +2808,31 @@ void PreferencesDialog::openDatabaseViewer()
}
}
void PreferencesDialog::visualizeDistortionModel()
{
if(!_ui->lineEdit_source_distortionModel->text().isEmpty() &&
QFileInfo(_ui->lineEdit_source_distortionModel->text()).exists())
{
clams::DiscreteDepthDistortionModel model;
model.load(_ui->lineEdit_source_distortionModel->text().toStdString());
if(model.isValid())
{
cv::Mat img = model.visualize();
QString name = QFileInfo(_ui->lineEdit_source_distortionModel->text()).baseName()+".png";
cv::imwrite(name.toStdString(), img);
QDesktopServices::openUrl(QUrl::fromLocalFile(name));
}
else
{
QMessageBox::warning(this, tr("Distortion Model"), tr("Model loaded from \"%1\" is not valid!").arg(_ui->lineEdit_source_distortionModel->text()));
}
}
else
{
QMessageBox::warning(this, tr("Distortion Model"), tr("File \"%1\" doesn't exist!").arg(_ui->lineEdit_source_distortionModel->text()));
}
}
void PreferencesDialog::selectCalibrationPath()
{
QString dir = _ui->lineEdit_calibrationFile->text();
@@ -2972,6 +3017,20 @@ void PreferencesDialog::selectSourceStereoVideoPath2()
}
}
void PreferencesDialog::selectSourceDistortionModel()
{
QString dir = _ui->lineEdit_source_distortionModel->text();
if(dir.isEmpty())
{
dir = getWorkingDirectory();
}
QString path = QFileDialog::getOpenFileName(this, tr("Select file"), _ui->lineEdit_source_distortionModel->text(), tr("Distortion model (*.bin)"));
if(!path.isEmpty())
{
_ui->lineEdit_source_distortionModel->setText(path);
}
}
void PreferencesDialog::selectSourceOniPath()
{
QString dir = _ui->lineEdit_openniOniPath->text();
@@ -4054,7 +4113,7 @@ Transform PreferencesDialog::getLaserLocalTransform() const
return t;
}
bool PreferencesDialog::getSourceDatabaseStampsUsed() const
bool PreferencesDialog::isSourceDatabaseStampsUsed() const
{
return _ui->source_checkBox_useDbStamps->isChecked();
}
@@ -4062,6 +4121,10 @@ bool PreferencesDialog::isSourceRGBDColorOnly() const
{
return _ui->checkbox_rgbd_colorOnly->isChecked();
}
QString PreferencesDialog::getSourceDistortionModel() const
{
return _ui->lineEdit_source_distortionModel->text();
}
int PreferencesDialog::getSourceImageDecimation() const
{
return _ui->spinBox_source_imageDecimation->value();
@@ -4577,6 +4640,11 @@ void PreferencesDialog::testOdometry()
_ui->doubleSpinBox_cameraSCanFromDepth_maxDepth->value(),
_ui->doubleSpinBox_cameraImages_scanVoxelSize->value(),
_ui->spinBox_cameraImages_scanNormalsK->value());
if(this->getSourceType() == PreferencesDialog::kSrcRGBD &&
!_ui->lineEdit_source_distortionModel->text().isEmpty())
{
cameraThread.setDistortionModel(_ui->lineEdit_source_distortionModel->text().toStdString());
}
UEventsManager::createPipe(&cameraThread, &odomThread, "CameraEvent");
UEventsManager::createPipe(&odomThread, odomViewer, "OdometryEvent");
UEventsManager::createPipe(odomViewer, &odomThread, "OdometryResetEvent");
@@ -4612,6 +4680,11 @@ void PreferencesDialog::testCamera()
_ui->doubleSpinBox_cameraSCanFromDepth_maxDepth->value(),
_ui->doubleSpinBox_cameraImages_scanVoxelSize->value(),
_ui->spinBox_cameraImages_scanNormalsK->value());
if(this->getSourceType() == PreferencesDialog::kSrcRGBD &&
!_ui->lineEdit_source_distortionModel->text().isEmpty())
{
cameraThread.setDistortionModel(_ui->lineEdit_source_distortionModel->text().toStdString());
}
UEventsManager::createPipe(&cameraThread, window, "CameraEvent");
cameraThread.start();