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Updated Create Calibration dialog

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This commit is contained in:
matlabbe
2017-05-26 11:46:02 -04:00
parent d795bea543
commit 6d6c5e2e17
2 changed files with 15 additions and 13 deletions
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24
guilib/src/CreateSimpleCalibrationDialog.cpp
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@@ -60,6 +60,7 @@ CreateSimpleCalibrationDialog::CreateSimpleCalibrationDialog(
connect(ui_->comboBox_advanced, SIGNAL(currentIndexChanged(int)), ui_->stackedWidget, SLOT(setCurrentIndex(int)));
connect(ui_->checkBox_stereo, SIGNAL(stateChanged(int)), this, SLOT(updateStereoView()));
connect(ui_->comboBox_advanced, SIGNAL(currentIndexChanged(int)), this, SLOT(updateStereoView()));
connect(ui_->checkBox_stereo, SIGNAL(stateChanged(int)), this, SLOT(updateSaveStatus()));
connect(ui_->comboBox_advanced, SIGNAL(currentIndexChanged(int)), this, SLOT(updateSaveStatus()));
@@ -107,7 +108,7 @@ void CreateSimpleCalibrationDialog::updateStereoView()
ui_->doubleSpinBox_cx_r->setVisible(checked);
ui_->doubleSpinBox_cy_r->setVisible(checked);
ui_->lineEdit_D_r->setVisible(checked);
ui_->groupBox_stereo_extrinsics->setVisible(checked);
ui_->groupBox_stereo_extrinsics->setVisible(ui_->comboBox_advanced->currentIndex() == 1 && checked);
ui_->label_left->setVisible(checked);
}
@@ -140,12 +141,13 @@ void CreateSimpleCalibrationDialog::updateSaveStatus()
(!ui_->checkBox_stereo->isChecked() || !ui_->lineEdit_RT->text().isEmpty()))
{
//advanced
QStringList distorsionsStrListL = ui_->lineEdit_D_l->text().trimmed().split(' ');
QStringList distorsionsStrListR = ui_->lineEdit_D_r->text().trimmed().split(' ');
QStringList distorsionsStrListL = ui_->lineEdit_D_l->text().remove('[').remove(']').replace(',',' ').replace(';',' ').trimmed().split(' ');
QStringList distorsionsStrListR = ui_->lineEdit_D_r->text().remove('[').remove(']').replace(',',' ').replace(';',' ').trimmed().split(' ');
std::string RT = ui_->lineEdit_RT->text().remove('[').remove(']').replace(',',' ').replace(';',' ').trimmed().toStdString();
if((distorsionsStrListL.size() == 4 || distorsionsStrListL.size() == 5 || distorsionsStrListL.size() == 8) &&
(!ui_->checkBox_stereo->isChecked() || distorsionsStrListL.size() == 4 || distorsionsStrListL.size() == 5 || distorsionsStrListL.size() == 8) &&
(!ui_->checkBox_stereo->isChecked() || Transform::canParseString(ui_->lineEdit_RT->text().trimmed().toStdString())))
(!ui_->checkBox_stereo->isChecked() || (distorsionsStrListR.size() == 4 || distorsionsStrListR.size() == 5 || distorsionsStrListR.size() == 8)) &&
(!ui_->checkBox_stereo->isChecked() || (!RT.empty() && Transform::canParseString(RT))))
{
valid = true;
}
@@ -190,7 +192,7 @@ void CreateSimpleCalibrationDialog::saveCalibration()
cv::Mat P = cv::Mat::zeros(3, 4, CV_64FC1);
K.copyTo(cv::Mat(P, cv::Range(0,3), cv::Range(0,3)));
QStringList distorsionCoeffs = ui_->lineEdit_D_l->text().trimmed().split(' ');
QStringList distorsionCoeffs = ui_->lineEdit_D_l->text().remove('[').remove(']').replace(',',' ').replace(';',' ').trimmed().split(' ');
UASSERT(distorsionCoeffs.size() == 4 || distorsionCoeffs.size() == 5 || distorsionCoeffs.size() == 8);
cv::Mat D = cv::Mat::zeros(1, distorsionCoeffs.size(), CV_64FC1);
bool ok;
@@ -199,7 +201,7 @@ void CreateSimpleCalibrationDialog::saveCalibration()
D.at<double>(i) = distorsionCoeffs.at(i).toDouble(&ok);
if(!ok)
{
QMessageBox::warning(this, tr("Save"), tr("Error parsing left distorsion coefficients \"%1\".").arg(ui_->lineEdit_D_l->text()));
QMessageBox::warning(this, tr("Save"), tr("Error parsing left distortion coefficients \"%1\".").arg(ui_->lineEdit_D_l->text()));
return;
}
}
@@ -238,7 +240,7 @@ void CreateSimpleCalibrationDialog::saveCalibration()
cv::Mat P = cv::Mat::zeros(3, 4, CV_64FC1);
K.copyTo(cv::Mat(P, cv::Range(0,3), cv::Range(0,3)));
QStringList distorsionCoeffs = ui_->lineEdit_D_r->text().trimmed().split(' ');
QStringList distorsionCoeffs = ui_->lineEdit_D_r->text().remove('[').remove(']').replace(',',' ').replace(';',' ').trimmed().split(' ');
UASSERT(distorsionCoeffs.size() == 4 || distorsionCoeffs.size() == 5 || distorsionCoeffs.size() == 8);
cv::Mat D = cv::Mat::zeros(1, distorsionCoeffs.size(), CV_64FC1);
bool ok;
@@ -247,7 +249,7 @@ void CreateSimpleCalibrationDialog::saveCalibration()
D.at<double>(i) = distorsionCoeffs.at(i).toDouble(&ok);
if(!ok)
{
QMessageBox::warning(this, tr("Save"), tr("Error parsing right distorsion coefficients \"%1\".").arg(ui_->lineEdit_D_l->text()));
QMessageBox::warning(this, tr("Save"), tr("Error parsing right distortion coefficients \"%1\".").arg(ui_->lineEdit_D_r->text()));
return;
}
}
@@ -255,8 +257,8 @@ void CreateSimpleCalibrationDialog::saveCalibration()
modelRight = CameraModel(name.toStdString(), cv::Size(width,height), K, D, R, P);
UASSERT(modelRight.isValidForRectification());
UASSERT(Transform::canParseString(ui_->lineEdit_RT->text().trimmed().toStdString()));
stereoModel = StereoCameraModel(name.toStdString(), modelLeft, modelRight, Transform::fromString(ui_->lineEdit_RT->text().toStdString()));
UASSERT(Transform::canParseString(ui_->lineEdit_RT->text().remove('[').remove(']').replace(',',' ').replace(';',' ').trimmed().toStdString()));
stereoModel = StereoCameraModel(name.toStdString(), modelLeft, modelRight, Transform::fromString(ui_->lineEdit_RT->text().remove('[').remove(']').replace(',',' ').replace(';',' ').trimmed().toStdString()));
UASSERT(stereoModel.isValidForRectification());
}