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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
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@@ -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);