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Added stereo multi-camera support (#884)

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* Integrated OpenGV

* Fixed build without opengv

* Cmake: moved OpenGV dependency status under solvers group

* Added multi-stereocamera models support

* Fixed OpenGV 0 sample error when one of the camera doesn't have features. Fixed g2o BA id offset with multi-camera.

* Fixed multicam 3d points generated from stereo correspondences

* db: Fixed multi stereo models not loaded correctly

* gui: fixed stereo rectification option, RegVis: fixed projection error with old databases (image size not set in calibration)

* OdomF2M: Fixed map.at error when bundle adjustment is not used

* depthai: added imu firmware update option for convenience

* Fixed various refactor errors

* Moved "large number stereo correspondences rejected" warning outside computeCorrespondences function for multicam

* Added error log if ba correspondences are computed with empty signatures

* fixed compilation errors with latest opencv

Co-authored-by: mathieu86 <mathieu@robust.ai>
This commit is contained in:
matlabbe
2022-07-20 15:20:14 -04:00
committed by GitHub
parent 71a28bb570
commit 5943a8b065
64 changed files with 2205 additions and 1010 deletions
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41
guilib/src/PreferencesDialog.cpp
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@@ -795,6 +795,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->comboBox_depthai_resolution, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkBox_depthai_depth, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->spinBox_depthai_confidence, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkBox_depthai_imu_firmware_update, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkbox_rgbd_colorOnly, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->spinBox_source_imageDecimation, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
@@ -1919,8 +1920,8 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->source_checkBox_ignoreOdometry->setChecked(false);
_ui->source_checkBox_ignoreGoalDelay->setChecked(true);
_ui->source_checkBox_ignoreGoals->setChecked(true);
_ui->source_checkBox_ignoreLandmarks->setChecked(false);
_ui->source_checkBox_ignoreFeatures->setChecked(false);
_ui->source_checkBox_ignoreLandmarks->setChecked(true);
_ui->source_checkBox_ignoreFeatures->setChecked(true);
_ui->source_spinBox_databaseStartId->setValue(0);
_ui->source_spinBox_databaseStopId->setValue(0);
_ui->source_spinBox_database_cameraIndex->setValue(-1);
@@ -2039,6 +2040,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->comboBox_depthai_resolution->setCurrentIndex(1);
_ui->checkBox_depthai_depth->setChecked(false);
_ui->spinBox_depthai_confidence->setValue(200);
_ui->checkBox_depthai_imu_firmware_update->setChecked(false);
_ui->checkBox_cameraImages_configForEachFrame->setChecked(false);
_ui->checkBox_cameraImages_timestamps->setChecked(false);
@@ -2519,6 +2521,7 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
_ui->comboBox_depthai_resolution->setCurrentIndex(settings.value("resolution", _ui->comboBox_depthai_resolution->currentIndex()).toInt());
_ui->checkBox_depthai_depth->setChecked(settings.value("depth", _ui->checkBox_depthai_depth->isChecked()).toBool());
_ui->spinBox_depthai_confidence->setValue(settings.value("confidence", _ui->spinBox_depthai_confidence->value()).toInt());
_ui->checkBox_depthai_imu_firmware_update->setChecked(settings.value("imu_firmware_update", _ui->checkBox_depthai_imu_firmware_update->isChecked()).toBool());
settings.endGroup(); // DepthAI
settings.beginGroup("Images");
@@ -3041,6 +3044,7 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
settings.setValue("resolution", _ui->comboBox_depthai_resolution->currentIndex());
settings.setValue("depth", _ui->checkBox_depthai_depth->isChecked());
settings.setValue("confidence", _ui->spinBox_depthai_confidence->value());
settings.setValue("imu_firmware_update", _ui->checkBox_depthai_imu_firmware_update->isChecked());
settings.endGroup(); // DepthAI
settings.beginGroup("Images");
@@ -5886,9 +5890,6 @@ Camera * PreferencesDialog::createCamera(bool useRawImages, bool useColor)
this->getSourceDriver(),
_ui->lineEdit_sourceDevice->text(),
_ui->lineEdit_calibrationFile->text(),
(this->getSourceDriver()>=kSrcStereo &&
this->getSourceDriver()<kSrcRGB &&
_ui->checkBox_stereo_rectify->isEnabled() && !_ui->checkBox_stereo_rectify->isChecked()) ||
useRawImages,
useColor,
false,
@@ -6049,7 +6050,7 @@ Camera * PreferencesDialog::createCamera(
((CameraRealSense2*)camera)->publishInterIMU(_ui->checkbox_publishInterIMU->isChecked());
if(driver == kSrcStereoRealSense2)
{
((CameraRealSense2*)camera)->setImagesRectified(!useRawImages);
((CameraRealSense2*)camera)->setImagesRectified((_ui->checkBox_stereo_rectify->isEnabled() && _ui->checkBox_stereo_rectify->isChecked()) && !useRawImages);
((CameraRealSense2*)camera)->setOdomProvided(_ui->comboBox_odom_sensor->currentIndex() == 1 || odomOnly, odomOnly, odomSensorExtrinsicsCalib);
}
else
@@ -6148,7 +6149,7 @@ Camera * PreferencesDialog::createCamera(
camera = new CameraStereoImages(
_ui->lineEdit_cameraStereoImages_path_left->text().append(QDir::separator()).toStdString(),
_ui->lineEdit_cameraStereoImages_path_right->text().append(QDir::separator()).toStdString(),
!useRawImages,
(_ui->checkBox_stereo_rectify->isEnabled() && _ui->checkBox_stereo_rectify->isChecked()) && !useRawImages,
this->getGeneralInputRate(),
this->getSourceLocalTransform());
((CameraStereoImages*)camera)->setStartIndex(_ui->spinBox_cameraStereoImages_startIndex->value());
@@ -6175,7 +6176,7 @@ Camera * PreferencesDialog::createCamera(
camera = new CameraStereoVideo(
device.isEmpty() ? 0 : atoi(device.toStdString().c_str()),
_ui->spinBox_stereo_right_device->value(),
!useRawImages,
(_ui->checkBox_stereo_rectify->isEnabled() && _ui->checkBox_stereo_rectify->isChecked()) && !useRawImages,
this->getGeneralInputRate(),
this->getSourceLocalTransform());
}
@@ -6183,7 +6184,7 @@ Camera * PreferencesDialog::createCamera(
{
camera = new CameraStereoVideo(
device.isEmpty() ? 0 : atoi(device.toStdString().c_str()),
!useRawImages,
(_ui->checkBox_stereo_rectify->isEnabled() && _ui->checkBox_stereo_rectify->isChecked()) && !useRawImages,
this->getGeneralInputRate(),
this->getSourceLocalTransform());
}
@@ -6197,7 +6198,7 @@ Camera * PreferencesDialog::createCamera(
camera = new CameraStereoVideo(
_ui->lineEdit_cameraStereoVideo_path->text().toStdString(),
_ui->lineEdit_cameraStereoVideo_path_2->text().toStdString(),
!useRawImages,
(_ui->checkBox_stereo_rectify->isEnabled() && _ui->checkBox_stereo_rectify->isChecked()) && !useRawImages,
this->getGeneralInputRate(),
this->getSourceLocalTransform());
}
@@ -6206,7 +6207,7 @@ Camera * PreferencesDialog::createCamera(
// side-by-side video
camera = new CameraStereoVideo(
_ui->lineEdit_cameraStereoVideo_path->text().toStdString(),
!useRawImages,
(_ui->checkBox_stereo_rectify->isEnabled() && _ui->checkBox_stereo_rectify->isChecked()) && !useRawImages,
this->getGeneralInputRate(),
this->getSourceLocalTransform());
}
@@ -6217,7 +6218,7 @@ Camera * PreferencesDialog::createCamera(
camera = new CameraStereoTara(
device.isEmpty()?0:atoi(device.toStdString().c_str()),
!useRawImages,
(_ui->checkBox_stereo_rectify->isEnabled() && _ui->checkBox_stereo_rectify->isChecked()) && !useRawImages,
this->getGeneralInputRate(),
this->getSourceLocalTransform());
@@ -6275,12 +6276,13 @@ Camera * PreferencesDialog::createCamera(
this->getGeneralInputRate(),
this->getSourceLocalTransform());
((CameraDepthAI*)camera)->setOutputDepth(_ui->checkBox_depthai_depth->isChecked(), _ui->spinBox_depthai_confidence->value());
((CameraDepthAI*)camera)->setIMUFirmwareUpdate(_ui->checkBox_depthai_imu_firmware_update->isChecked());
}
else if(driver == kSrcUsbDevice)
{
camera = new CameraVideo(
device.isEmpty()?0:atoi(device.toStdString().c_str()),
!useRawImages,
(_ui->checkBox_rgb_rectify->isEnabled() && _ui->checkBox_rgb_rectify->isChecked()) && !useRawImages,
this->getGeneralInputRate(),
this->getSourceLocalTransform());
((CameraVideo*)camera)->setResolution(_ui->spinBox_usbcam_streamWidth->value(), _ui->spinBox_usbcam_streamHeight->value());
@@ -6289,7 +6291,7 @@ Camera * PreferencesDialog::createCamera(
{
camera = new CameraVideo(
_ui->source_video_lineEdit_path->text().toStdString(),
!useRawImages,
(_ui->checkBox_rgb_rectify->isEnabled() && _ui->checkBox_rgb_rectify->isChecked()) && !useRawImages,
this->getGeneralInputRate(),
this->getSourceLocalTransform());
}
@@ -6302,7 +6304,7 @@ Camera * PreferencesDialog::createCamera(
((CameraImages*)camera)->setStartIndex(_ui->source_images_spinBox_startPos->value());
((CameraImages*)camera)->setMaxFrames(_ui->source_images_spinBox_maxFrames->value());
((CameraImages*)camera)->setImagesRectified(!useRawImages);
((CameraImages*)camera)->setImagesRectified((_ui->checkBox_rgb_rectify->isEnabled() && _ui->checkBox_rgb_rectify->isChecked()) && !useRawImages);
((CameraImages*)camera)->setBayerMode(_ui->comboBox_cameraImages_bayerMode->currentIndex()-1);
((CameraImages*)camera)->setOdometryPath(
@@ -6365,6 +6367,7 @@ Camera * PreferencesDialog::createCamera(
}
}
UDEBUG("useRawImages=%d dir=%s", useRawImages?1:0, dir.toStdString().c_str());
// don't set calibration folder if we want raw images
if(!camera->init(useRawImages?"":dir.toStdString(), name.toStdString()))
{
@@ -7113,8 +7116,8 @@ void PreferencesDialog::calibrateOdomSensorExtrinsics()
if(odomSensorData.cameraModels().size() == 1) {
odomSensorModel = odomSensorData.cameraModels()[0];
}
else {
odomSensorModel = odomSensorData.stereoCameraModel().left();
else if(odomSensorData.stereoCameraModels().size() == 1) {
odomSensorModel = odomSensorData.stereoCameraModels()[0].left();
}
delete camera;
@@ -7138,8 +7141,8 @@ void PreferencesDialog::calibrateOdomSensorExtrinsics()
if(camData.cameraModels().size() == 1) {
cameraModel = camData.cameraModels()[0];
}
else {
cameraModel = camData.stereoCameraModel().left();
else if(camData.stereoCameraModels().size() == 1) {
cameraModel = camData.stereoCameraModels()[0].left();
}
delete camera;