fixed fatal error (fx==0) on kinect v2 calibration, added tx,ty,tz to camera local transform in Preferences

corelib/src/CameraRGBD.cpp

@@ -1459,12 +1459,16 @@ SensorData CameraFreenect2::captureImage()
 				}
 			}
 
-			CameraModel model(
+			CameraModel model;
-					fx, //fx
+			if(fx && fy)
-					fy, //fy
+			{
-					cx,  //cx
+				model=CameraModel(
-					cy, // cy
+						fx, //fx
-					this->getLocalTransform());
+						fy, //fy
+						cx,  //cx
+						cy, // cy
+						this->getLocalTransform());
+			}
 			data = SensorData(rgb, depth, model, this->getNextSeqID(), stamp);
 
 			listener_->release(frames);

guilib/src/CalibrationDialog.cpp

@@ -199,7 +199,11 @@ void CalibrationDialog::setSquareSize(double size)
 
 void CalibrationDialog::closeEvent(QCloseEvent* event)
 {
-	if(!savedCalibration_ && models_[0].isValid() && (!stereo_ || stereoModel_.isValid()))
+	if(!savedCalibration_ && models_[0].isValid() &&
+			(!stereo_ ||
+					(stereoModel_.left().isValid() &&
+					stereoModel_.right().isValid()&&
+					(!ui_->label_baseline->isVisible() || stereoModel_.baseline() > 0.0))))
 	{
 		QMessageBox::StandardButton b = QMessageBox::question(this, tr("Save calibration?"),
 				tr("The camera is calibrated but you didn't "
@@ -287,6 +291,7 @@ void CalibrationDialog::processImages(const cv::Mat & imageLeft, const cv::Mat &
 
 	std::vector<std::vector<cv::Point2f> > pointBuf(2);
 
+	bool depthDetected = false;
 	for(int id=0; id<(stereo_?2:1); ++id)
 	{
 		cv::Mat viewGray;
@@ -294,6 +299,7 @@ void CalibrationDialog::processImages(const cv::Mat & imageLeft, const cv::Mat &
 		{
 			if(images[id].type() == CV_16UC1)
 			{
+				depthDetected = true;
 				//assume IR image: convert to gray scaled
 				const float factor = 255.0f / float((maxIrs_[id] - minIrs_[id]));
 				viewGray = cv::Mat(images[id].rows, images[id].cols, CV_8UC1);
@@ -488,6 +494,8 @@ void CalibrationDialog::processImages(const cv::Mat & imageLeft, const cv::Mat &
 			}
 		}
 	}
+	ui_->label_baseline->setVisible(!depthDetected);
+	ui_->label_baseline_name->setVisible(!depthDetected);
 
 	if(stereo_ && ((boardAccepted[0] && boardFound[1]) || (boardAccepted[1] && boardFound[0])))
 	{
@@ -516,7 +524,10 @@ void CalibrationDialog::processImages(const cv::Mat & imageLeft, const cv::Mat &
 			images[1] = models_[1].rectifyImage(images[1]);
 		}
 	}
-	else if(ui_->radioButton_stereoRectified->isChecked() && stereoModel_.isValid())
+	else if(ui_->radioButton_stereoRectified->isChecked() &&
+			(stereoModel_.left().isValid() &&
+			stereoModel_.right().isValid()&&
+			(!ui_->label_baseline->isVisible() || stereoModel_.baseline() > 0.0)))
 	{
 		images[0] = stereoModel_.left().rectifyImage(images[0]);
 		images[1] = stereoModel_.right().rectifyImage(images[1]);
@@ -833,7 +844,10 @@ void CalibrationDialog::calibrate()
 		//ui_->label_error_stereo->setNum(totalAvgErr);
 	}
 
-	if(stereo_ && stereoModel_.isValid())
+	if(stereo_ &&
+		stereoModel_.left().isValid() &&
+		stereoModel_.right().isValid()&&
+		(!ui_->label_baseline->isVisible() || stereoModel_.baseline() > 0.0))
 	{
 		ui_->radioButton_rectified->setEnabled(true);
 		ui_->radioButton_stereoRectified->setEnabled(true);
@@ -878,7 +892,9 @@ bool CalibrationDialog::save()
 	}
 	else
 	{
-		UASSERT(stereoModel_.isValid());
+		UASSERT(stereoModel_.left().isValid() &&
+				stereoModel_.right().isValid()&&
+				(!ui_->label_baseline->isVisible() || stereoModel_.baseline() > 0.0));
 		QString cameraName = stereoModel_.name().c_str();
 		QString filePath = QFileDialog::getSaveFileName(this, tr("Export"), savingDirectory_ + "/" + cameraName, "*.yaml");
 		QString name = QFileInfo(filePath).baseName();
@@ -889,7 +905,7 @@ bool CalibrationDialog::save()
 			std::string leftPath = base+"_left.yaml";
 			std::string rightPath = base+"_right.yaml";
 			std::string posePath = base+"_pose.yaml";
-			if(stereoModel_.save(dir.toStdString(), name.toStdString()))
+			if(stereoModel_.save(dir.toStdString(), name.toStdString(), false))
 			{
 				QMessageBox::information(this, tr("Export"), tr("Calibration files saved:\n  \"%1\"\n  \"%2\"\n  \"%3\".").
 						arg(leftPath.c_str()).arg(rightPath.c_str()).arg(posePath.c_str()));

guilib/src/PreferencesDialog.cpp

@@ -3221,7 +3221,7 @@ Transform PreferencesDialog::getSourceLocalTransform() const
 	QString str = _ui->lineEdit_sourceLocalTransform->text();
 	str.replace("PI_2", QString::number(3.141592/2.0));
 	QStringList list = str.split(' ');
-	if(list.size() == 6 || list.size() == 9)
+	if(list.size() == 6 || list.size() == 9 || list.size() == 12)
 	{
 		std::vector<float> numbers(list.size());
 		bool ok = false;
@@ -3237,16 +3237,22 @@ Transform PreferencesDialog::getSourceLocalTransform() const
 		}
 		if(ok)
 		{
-			if(list.size() == 6)
+			if(numbers.size() == 6)
 			{
 				t = Transform(numbers[0], numbers[1], numbers[2], numbers[3], numbers[4], numbers[5]);
 			}
-			else // 9
+			else if(numbers.size() == 9)
 			{
 				t = Transform(numbers[0], numbers[1], numbers[2], 0,
 						      numbers[3], numbers[4], numbers[5], 0,
 						      numbers[6], numbers[7], numbers[8], 0);
 			}
+			else if(numbers.size() == 12)
+			{
+				t = Transform(numbers[0], numbers[1], numbers[2], numbers[9],
+							  numbers[3], numbers[4], numbers[5], numbers[10],
+							  numbers[6], numbers[7], numbers[8], numbers[11]);
+			}
 		}
 	}
 	else

guilib/src/ui/preferencesDialog.ui

@@ -64,8 +64,8 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>759</width>
+            <width>760</width>
-            <height>887</height>
+            <height>1570</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_16">
@@ -86,7 +86,7 @@
                 <enum>QFrame::Raised</enum>
                </property>
                <property name="currentIndex">
-                <number>1</number>
+                <number>3</number>
                </property>
                <widget class="QWidget" name="page_22">
                 <layout class="QVBoxLayout" name="verticalLayout_29">
@@ -1436,7 +1436,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                       <item row="3" column="1">
                        <widget class="QLabel" name="label_42">
                         <property name="text">
-                         <string>Local transform from /base_link to /camera_link. Format (6 values): x y z roll pitch yaw. Format (9 values): r11 r12 r13 r21 r22 r23 r31 r32 r33.</string>
+                         <string>Local transform from /base_link to /camera_link. Format (6 values): x y z roll pitch yaw. Format (9 [+3] values): r11 r12 r13 r21 r22 r23 r31 r32 r33 [tx ty tz].</string>
                         </property>
                         <property name="wordWrap">
                          <bool>true</bool>