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DepthCalibrationDialog: added distortion model parameters

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This commit is contained in:
matlabbe
2017-05-11 14:44:15 -04:00
parent c63b45dbf3
commit 414e3555a5
5 changed files with 496 additions and 157 deletions
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83
guilib/src/DepthCalibrationDialog.cpp
View File

@@ -74,6 +74,12 @@ DepthCalibrationDialog::DepthCalibrationDialog(QWidget *parent) :
connect(_ui->doubleSpinBox_coneStdDevThresh, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
connect(_ui->checkBox_laserScan, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->spinBox_bin_width, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->spinBox_bin_height, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->doubleSpinBox_bin_depth, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
connect(_ui->spinBox_smoothing, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->doubleSpinBox_maxDepthModel, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
_ui->buttonBox->button(QDialogButtonBox::Ok)->setFocus();
_progressDialog = new ProgressDialog(this);
@@ -109,6 +115,12 @@ void DepthCalibrationDialog::saveSettings(QSettings & settings, const QString &
settings.setValue("cone_stddev_thresh",_ui->doubleSpinBox_coneStdDevThresh->value());
settings.setValue("laser_scan",_ui->checkBox_laserScan->isChecked());
settings.setValue("bin_width",_ui->spinBox_bin_width->value());
settings.setValue("bin_height",_ui->spinBox_bin_height->value());
settings.setValue("bin_depth",_ui->doubleSpinBox_bin_depth->value());
settings.setValue("smoothing",_ui->spinBox_smoothing->value());
settings.setValue("max_model_depth",_ui->doubleSpinBox_maxDepthModel->value());
if(!group.isEmpty())
{
settings.endGroup();
@@ -130,6 +142,12 @@ void DepthCalibrationDialog::loadSettings(QSettings & settings, const QString &
_ui->doubleSpinBox_coneStdDevThresh->setValue(settings.value("cone_stddev_thresh", _ui->doubleSpinBox_coneStdDevThresh->value()).toDouble());
_ui->checkBox_laserScan->setChecked(settings.value("laser_scan", _ui->checkBox_laserScan->isChecked()).toBool());
_ui->spinBox_bin_width->setValue(settings.value("bin_width", _ui->spinBox_bin_width->value()).toInt());
_ui->spinBox_bin_height->setValue(settings.value("bin_height", _ui->spinBox_bin_height->value()).toInt());
_ui->doubleSpinBox_bin_depth->setValue(settings.value("bin_depth", _ui->doubleSpinBox_bin_depth->value()).toDouble());
_ui->spinBox_smoothing->setValue(settings.value("smoothing", _ui->spinBox_smoothing->value()).toInt());
_ui->doubleSpinBox_maxDepthModel->setValue(settings.value("max_model_depth", _ui->doubleSpinBox_maxDepthModel->value()).toDouble());
if(!group.isEmpty())
{
settings.endGroup();
@@ -146,6 +164,19 @@ void DepthCalibrationDialog::restoreDefaults()
_ui->doubleSpinBox_coneStdDevThresh->setValue(0.1); // 0.03
_ui->checkBox_laserScan->setChecked(false);
_ui->checkBox_resetModel->setChecked(true);
_ui->spinBox_bin_width->setValue(8);
_ui->spinBox_bin_height->setValue(6);
if(_imageSize.width > 0 && _imageSize.height > 0)
{
size_t bin_width, bin_height;
clams::DiscreteDepthDistortionModel::getBinSize(_imageSize.width, _imageSize.height, bin_width, bin_height);
_ui->spinBox_bin_width->setValue(bin_width);
_ui->spinBox_bin_height->setValue(bin_height);
}
_ui->doubleSpinBox_bin_depth->setValue(2.0),
_ui->spinBox_smoothing->setValue(1);
_ui->doubleSpinBox_maxDepthModel->setValue(10.0);
}
void DepthCalibrationDialog::saveModel()
@@ -192,6 +223,31 @@ void DepthCalibrationDialog::calibrate(
{
_ui->label_trainingSamples->setNum((int)_model->getTrainingSamples());
}
_ui->label_width->setText("NA");
_ui->label_height->setText("NA");
_imageSize = cv::Size();
if(cachedSignatures.size())
{
const Signature & s = cachedSignatures.begin().value();
const SensorData & data = s.sensorData();
if(data.cameraModels().size() == 1 && data.cameraModels()[0].isValidForReprojection())
{
_imageSize = data.cameraModels()[0].imageSize();
_ui->label_width->setNum(data.cameraModels()[0].imageWidth());
_ui->label_height->setNum(data.cameraModels()[0].imageHeight());
if(data.cameraModels()[0].imageWidth() % _ui->spinBox_bin_width->value() != 0 ||
data.cameraModels()[0].imageHeight() % _ui->spinBox_bin_height->value() != 0)
{
size_t bin_width, bin_height;
clams::DiscreteDepthDistortionModel::getBinSize(data.cameraModels()[0].imageWidth(), data.cameraModels()[0].imageHeight(), bin_width, bin_height);
_ui->spinBox_bin_width->setValue(bin_width);
_ui->spinBox_bin_height->setValue(bin_height);
}
}
}
if(this->exec() == QDialog::Accepted)
{
if(_model && _ui->checkBox_resetModel->isChecked())
@@ -200,6 +256,12 @@ void DepthCalibrationDialog::calibrate(
_model = 0;
}
if(_ui->doubleSpinBox_maxDepthModel->value() < _ui->doubleSpinBox_bin_depth->value())
{
QMessageBox::warning(this, tr("Wrong parameter"), tr("Maximum model depth should be higher than bin depth, setting to bin depth x5."));
_ui->doubleSpinBox_maxDepthModel->setValue(_ui->doubleSpinBox_bin_depth->value() * 5.0);
}
_progressDialog->setMaximumSteps(poses.size()*2 + 3);
if(_ui->doubleSpinBox_voxelSize->value() > 0.0)
{
@@ -391,9 +453,24 @@ void DepthCalibrationDialog::calibrate(
const cv::Size & imageSize = sequence.begin()->second.cameraModels()[0].imageSize();
if(_model == 0)
{
size_t bin_width, bin_height;
clams::DiscreteDepthDistortionModel::getBinSize(imageSize.width, imageSize.height, bin_width, bin_height);
_model = new clams::DiscreteDepthDistortionModel(imageSize.width, imageSize.height, bin_width, bin_height);
size_t bin_width = _ui->spinBox_bin_width->value();
size_t bin_height = _ui->spinBox_bin_height->value();
if(imageSize.width % _ui->spinBox_bin_width->value() != 0 ||
imageSize.height % _ui->spinBox_bin_height->value() != 0)
{
size_t bin_width, bin_height;
clams::DiscreteDepthDistortionModel::getBinSize(imageSize.width, imageSize.height, bin_width, bin_height);
_ui->spinBox_bin_width->setValue(bin_width);
_ui->spinBox_bin_height->setValue(bin_height);
}
_model = new clams::DiscreteDepthDistortionModel(
imageSize.width,
imageSize.height,
bin_width,
bin_height,
_ui->doubleSpinBox_bin_depth->value(),
_ui->spinBox_smoothing->value(),
_ui->doubleSpinBox_maxDepthModel->value());
}
UASSERT(_model->getWidth() == imageSize.width && _model->getHeight() == imageSize.height);

1
guilib/src/DepthCalibrationDialog.h
View File

@@ -76,6 +76,7 @@ private:
bool _canceled;
clams::DiscreteDepthDistortionModel * _model;
QString _workingDirectory;
cv::Size _imageSize;
};
} /* namespace rtabmap */

553
guilib/src/ui/depthCalibrationDialog.ui
View File

@@ -6,8 +6,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>524</width>
<height>449</height>
<width>523</width>
<height>781</height>
</rect>
</property>
<property name="windowTitle">
@@ -27,57 +27,375 @@
</property>
</widget>
</item>
<item>
<widget class="QGroupBox" name="groupBox_2">
<property name="title">
<string>Map generation</string>
</property>
<layout class="QGridLayout" name="gridLayout_3" columnstretch="0,1">
<item row="0" column="0">
<widget class="QCheckBox" name="checkBox_laserScan">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_110">
<property name="text">
<string>Use 3D laser scans for 3D map.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QSpinBox" name="spinBox_decimation">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>32</number>
</property>
<property name="value">
<number>1</number>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_108">
<property name="text">
<string>Decimation (1-2-4-8-...).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_maxDepth">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>1</number>
</property>
<property name="maximum">
<double>100.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>4.000000000000000</double>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_132">
<property name="text">
<string>Maximum depth (0 means no limit).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_minDepth">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>1</number>
</property>
<property name="maximum">
<double>100.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>0.000000000000000</double>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_133">
<property name="text">
<string>Minimum depth.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_voxelSize">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>3</number>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.010000000000000</double>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_voxel">
<property name="text">
<string>Voxel size. Set 0 to disable.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="groupBox">
<property name="title">
<string>Distortion Model</string>
</property>
<layout class="QGridLayout" name="gridLayout_2" columnstretch="0,1">
<item row="2" column="0">
<widget class="QSpinBox" name="spinBox_bin_width">
<property name="suffix">
<string> pix</string>
</property>
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>999</number>
</property>
<property name="value">
<number>8</number>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QSpinBox" name="spinBox_smoothing">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>32</number>
</property>
<property name="value">
<number>1</number>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_113">
<property name="text">
<string>Bin width. Should be a multiple of image width.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_117">
<property name="text">
<string>Bin depth.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_120">
<property name="text">
<string>Image height.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_116">
<property name="text">
<string>Bin height. Should be a multiple of image height.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QSpinBox" name="spinBox_bin_height">
<property name="suffix">
<string> pix</string>
</property>
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>999</number>
</property>
<property name="value">
<number>6</number>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_118">
<property name="text">
<string>Maximum depth.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QLabel" name="label_115">
<property name="text">
<string>Smoothing.</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_119">
<property name="text">
<string>Image width.</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="QLabel" name="label_width">
<property name="text">
<string>NA</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label_height">
<property name="text">
<string>NA</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_bin_depth">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>1</number>
</property>
<property name="minimum">
<double>0.100000000000000</double>
</property>
<property name="maximum">
<double>10.000000000000000</double>
</property>
<property name="singleStep">
<double>1.000000000000000</double>
</property>
<property name="value">
<double>2.000000000000000</double>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_maxDepthModel">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>0</number>
</property>
<property name="minimum">
<double>1.000000000000000</double>
</property>
<property name="maximum">
<double>100.000000000000000</double>
</property>
<property name="singleStep">
<double>1.000000000000000</double>
</property>
<property name="value">
<double>10.000000000000000</double>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<layout class="QGridLayout" name="gridLayout" columnstretch="0,1">
<item row="5" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_minDepth">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>1</number>
</property>
<property name="maximum">
<double>100.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>0.000000000000000</double>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QLabel" name="label_voxel">
<property name="text">
<string>Voxel size. Set 0 to disable.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_voxelSize">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>3</number>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.010000000000000</double>
</property>
</widget>
</item>
<item row="7" column="0">
<item row="2" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_coneRadius">
<property name="suffix">
<string> m</string>
@@ -99,73 +417,7 @@
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QCheckBox" name="checkBox_laserScan">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_132">
<property name="text">
<string>Maximum depth (0 means no limit).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_maxDepth">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>1</number>
</property>
<property name="maximum">
<double>100.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>4.000000000000000</double>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_133">
<property name="text">
<string>Minimum depth.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="7" column="1">
<widget class="QLabel" name="label_voxel_2">
<property name="text">
<string>Cone radius.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="8" column="1">
<widget class="QLabel" name="label_voxel_3">
<property name="text">
<string>Cone standard deviation threshold.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="8" column="0">
<item row="3" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_coneStdDevThresh">
<property name="suffix">
<string> m</string>
@@ -187,24 +439,33 @@
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QCheckBox" name="checkBox_resetModel">
<item row="2" column="1">
<widget class="QLabel" name="label_voxel_2">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_110">
<property name="text">
<string>Use 3D laser scans for 3D map.</string>
<string>Cone radius.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="1" column="1">
<item row="3" column="1">
<widget class="QLabel" name="label_voxel_3">
<property name="text">
<string>Cone standard deviation threshold.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_109">
<property name="text">
<string>Reset previous model.</string>
@@ -212,28 +473,15 @@
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_108">
<item row="4" column="0">
<widget class="QCheckBox" name="checkBox_resetModel">
<property name="text">
<string>Decimation (1-2-4-8-...).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QSpinBox" name="spinBox_decimation">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>32</number>
</property>
<property name="value">
<number>1</number>
<string/>
</property>
</widget>
</item>
@@ -249,6 +497,9 @@
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item>
@@ -259,6 +510,9 @@
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item>
@@ -269,6 +523,9 @@
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item>