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-Updated CameraModel and StereoCameraModel so that a stereo camera model can be initialization from know intrinsics and extrinsics

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-CreateSimpleCalibrationDialog updated to create mono/stereo calibration files with advanced option (setting intrinsics of each camera + extrinsics between them). Rectification R and new camera P matrices are then automatically computed.
-Added GeodeticCoords class for convience conversion between GPS values (latitude/longitude/altitude) to local coordinate (ENU).
-Added support of Malaga Urban and St Lucia ground truths.
-CameraImages: added option to debayer images. Timestamps file: added support of "sec millisec" format.
-Added UException class: exceptions are sent instead of exiting the application on UASSERT or UFATAL.
This commit is contained in:
matlabbe
2016-01-19 17:43:33 -05:00
parent 72e66605e4
commit 7bfd76e747
29 changed files with 1739 additions and 702 deletions
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139
guilib/src/PreferencesDialog.cpp
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@@ -92,7 +92,8 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui(0),
_indexModel(0),
_initialized(false),
_calibrationDialog(new CalibrationDialog(false, ".", this))
_calibrationDialog(new CalibrationDialog(false, ".", this)),
_createCalibrationDialog(new CreateSimpleCalibrationDialog(".", "", this))
{
ULOGGER_DEBUG("");
_calibrationDialog->setWindowFlags(Qt::Window);
@@ -354,6 +355,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->source_images_spinBox_startPos, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->source_images_refreshDir, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkBox_rgbImages_rectify, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->comboBox_cameraImages_bayerMode, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
//video group
connect(_ui->source_video_toolButton_selectSource, SIGNAL(clicked()), this, SLOT(selectSourceVideoPath()));
connect(_ui->source_video_lineEdit_path, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
@@ -1142,6 +1144,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->source_images_spinBox_startPos->setValue(0);
_ui->source_images_refreshDir->setChecked(false);
_ui->checkBox_rgbImages_rectify->setChecked(false);
_ui->comboBox_cameraImages_bayerMode->setCurrentIndex(0);
_ui->checkBox_rgbVideo_rectify->setChecked(false);
_ui->source_checkBox_ignoreOdometry->setChecked(false);
@@ -1523,6 +1526,7 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
_ui->source_images_spinBox_startPos->setValue(settings.value("startPos",_ui->source_images_spinBox_startPos->value()).toInt());
_ui->source_images_refreshDir->setChecked(settings.value("refreshDir",_ui->source_images_refreshDir->isChecked()).toBool());
_ui->checkBox_rgbImages_rectify->setChecked(settings.value("rectify",_ui->checkBox_rgbImages_rectify->isChecked()).toBool());
_ui->comboBox_cameraImages_bayerMode->setCurrentIndex(settings.value("bayerMode",_ui->comboBox_cameraImages_bayerMode->currentIndex()).toInt());
_ui->checkBox_cameraImages_timestamps->setChecked(settings.value("filenames_as_stamps",_ui->checkBox_cameraImages_timestamps->isChecked()).toBool());
_ui->checkBox_cameraImages_syncTimeStamps->setChecked(settings.value("sync_stamps",_ui->checkBox_cameraImages_syncTimeStamps->isChecked()).toBool());
@@ -1895,6 +1899,7 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
settings.setValue("startPos", _ui->source_images_spinBox_startPos->value());
settings.setValue("refreshDir", _ui->source_images_refreshDir->isChecked());
settings.setValue("rectify", _ui->checkBox_rgbImages_rectify->isChecked());
settings.setValue("bayerMode", _ui->comboBox_cameraImages_bayerMode->currentIndex());
settings.setValue("filenames_as_stamps", _ui->checkBox_cameraImages_timestamps->isChecked());
settings.setValue("sync_stamps", _ui->checkBox_cameraImages_syncTimeStamps->isChecked());
settings.setValue("stamps", _ui->lineEdit_cameraImages_timestamps->text());
@@ -2404,11 +2409,15 @@ QString PreferencesDialog::loadCustomConfig(const QString & section, const QStri
return value;
}
const rtabmap::ParametersMap & PreferencesDialog::getAllParameters() const
rtabmap::ParametersMap PreferencesDialog::getAllParameters() const
{
UASSERT_MSG(_parameters.size() == Parameters::getDefaultParameters().size(),
uFormat("%d vs %d (Is PreferencesDialog::init() called?)", (int)_parameters.size(), (int)Parameters::getDefaultParameters().size()).c_str());
return _parameters;
ParametersMap parameters = _parameters;
uInsert(parameters, _modifiedParameters);
return parameters;
}
void PreferencesDialog::selectSourceDriver(Src src)
@@ -2497,6 +2506,10 @@ void PreferencesDialog::selectCalibrationPath()
{
dir = getWorkingDirectory()+"/camera_info";
}
else if(!dir.contains('.'))
{
dir = getWorkingDirectory()+"/camera_info/"+dir;
}
QString path = QFileDialog::getOpenFileName(this, tr("Select file"), dir, tr("Calibration file (*.yaml)"));
if(path.size())
{
@@ -2568,7 +2581,7 @@ void PreferencesDialog::selectSourceImagesPathGt()
{
dir = getWorkingDirectory();
}
QString path = QFileDialog::getOpenFileName(this, tr("Select file"), dir, tr("Ground Truth (*.txt)"));
QString path = QFileDialog::getOpenFileName(this, tr("Select file"), dir, tr("Ground Truth (*.txt *.log *.toro *.g2o)"));
if(path.size())
{
QStringList list;
@@ -2691,7 +2704,6 @@ void PreferencesDialog::setParameter(const std::string & key, const std::string
QWidget * obj = _ui->stackedWidget->findChild<QWidget*>(key.c_str());
if(obj)
{
bool oldState = obj->blockSignals(true);
QSpinBox * spin = qobject_cast<QSpinBox *>(obj);
QDoubleSpinBox * doubleSpin = qobject_cast<QDoubleSpinBox *>(obj);
QComboBox * combo = qobject_cast<QComboBox *>(obj);
@@ -2799,7 +2811,6 @@ void PreferencesDialog::setParameter(const std::string & key, const std::string
{
ULOGGER_WARN("QObject called %s can't be cast to a supported widget", key.c_str());
}
obj->blockSignals(oldState);
}
else
{
@@ -2866,79 +2877,6 @@ void PreferencesDialog::addParameter(const QObject * object, int value)
// Add parameter
UDEBUG("modify param %s=%s", object->objectName().toStdString().c_str(), uNumber2Str(value).c_str());
uInsert(_modifiedParameters, rtabmap::ParametersPair(object->objectName().toStdString(), QString::number(value).toStdString()));
if(comboBox)
{
// Add related panels to parameters
if(comboBox == _ui->comboBox_vh_strategy)
{
if(value == 0) // 0 none
{
// No panel related...
}
else if(value == 1) // 2 epipolar
{
this->addParameters(_ui->groupBox_vh_epipolar2);
}
}
else if(comboBox == _ui->comboBox_detector_strategy ||
comboBox == _ui->reextract_type)
{
if(value == 0) // surf
{
this->addParameters(_ui->groupBox_detector_surf2);
}
else if(value == 1) // sift
{
this->addParameters(_ui->groupBox_detector_sift2);
}
else if(value == 2) // orb
{
this->addParameters(_ui->groupBox_detector_orb2);
}
else if(value == 3) // fast+freak
{
this->addParameters(_ui->groupBox_detector_fast2);
this->addParameters(_ui->groupBox_detector_freak2);
}
else if(value == 4) // fast+brief
{
this->addParameters(_ui->groupBox_detector_fast2);
this->addParameters(_ui->groupBox_detector_brief2);
}
else if(value == 5) // gftt+freak
{
this->addParameters(_ui->groupBox_detector_gftt2);
this->addParameters(_ui->groupBox_detector_freak2);
}
else if(value == 6) // gftt+brief
{
this->addParameters(_ui->groupBox_detector_gftt2);
this->addParameters(_ui->groupBox_detector_brief2);
}
else if(value == 7) // brisk
{
this->addParameters(_ui->groupBox_detector_brisk2);
}
}
else if(comboBox == _ui->loopClosure_estimationType)
{
this->addParameters(_ui->stackedWidget_loopClosureEstimation, _ui->loopClosure_estimationType->currentIndex());
}
else if(comboBox == _ui->graphOptimization_type)
{
this->addParameter(_ui->graphOptimization_iterations, _ui->graphOptimization_iterations->value());
this->addParameter(_ui->graphOptimization_covarianceIgnored, _ui->graphOptimization_covarianceIgnored->isChecked());
this->addParameter(_ui->graphOptimization_slam2d, _ui->graphOptimization_slam2d->isChecked());
this->addParameter(_ui->graphOptimization_stopEpsilon, _ui->graphOptimization_stopEpsilon->value());
this->addParameter(_ui->graphOptimization_robust, _ui->graphOptimization_robust->isChecked());
}
else if(comboBox == _ui->comboBox_registrationStrategy)
{
this->addParameters(_ui->groupBox_visualTransform2);
this->addParameters(_ui->groupBox_icp2);
}
}
}
else
{
@@ -2964,23 +2902,6 @@ void PreferencesDialog::addParameter(const QObject * object, bool value)
// Add parameter
UDEBUG("modify param %s=%s", object->objectName().toStdString().c_str(), uBool2Str(value).c_str());
uInsert(_modifiedParameters, rtabmap::ParametersPair(object->objectName().toStdString(), uBool2Str(value)));
// RGBD panel
if(value && checkbox == _ui->general_checkBox_activateRGBD)
{
// add all RGBD parameters!
this->addParameters(_ui->groupBox_slam_update);
this->addParameters(_ui->groupBox_graphOptimization2);
this->addParameters(_ui->groupBox_proximityDetection2);
this->addParameters(_ui->groupBox_visualTransform2);
this->addParameters(_ui->groupBox_icp2);
this->addParameters(_ui->groupBox_pathPlanning2);
}
if(groupBox)
{
this->addParameters(groupBox);
}
}
else
{
@@ -3825,6 +3746,7 @@ Camera * PreferencesDialog::createCamera(bool useRawImages)
_ui->doubleSpinBox_cameraRGBDImages_scale->value(),
this->getGeneralInputRate(),
this->getSourceLocalTransform());
((CameraRGBDImages*)camera)->setBayerMode(_ui->comboBox_cameraImages_bayerMode->currentIndex()-1);
((CameraRGBDImages*)camera)->setGroundTruthPath(_ui->lineEdit_cameraImages_gt->text().toStdString(), _ui->comboBox_cameraImages_gtFormat->currentIndex());
((CameraRGBDImages*)camera)->setScanPath(
_ui->lineEdit_cameraImages_path_scans->text().isEmpty()?"":_ui->lineEdit_cameraImages_path_scans->text().append(QDir::separator()).toStdString(),
@@ -3865,9 +3787,10 @@ Camera * PreferencesDialog::createCamera(bool useRawImages)
camera = new CameraStereoImages(
_ui->lineEdit_cameraStereoImages_path_left->text().append(QDir::separator()).toStdString(),
_ui->lineEdit_cameraStereoImages_path_right->text().append(QDir::separator()).toStdString(),
_ui->checkBox_stereoImages_rectify->isChecked(),
_ui->checkBox_stereoImages_rectify->isChecked() && !useRawImages,
this->getGeneralInputRate(),
this->getSourceLocalTransform());
((CameraStereoImages*)camera)->setBayerMode(_ui->comboBox_cameraImages_bayerMode->currentIndex()-1);
((CameraStereoImages*)camera)->setGroundTruthPath(_ui->lineEdit_cameraImages_gt->text().toStdString(), _ui->comboBox_cameraImages_gtFormat->currentIndex());
((CameraStereoImages*)camera)->setScanPath(
_ui->lineEdit_cameraImages_path_scans->text().isEmpty()?"":_ui->lineEdit_cameraImages_path_scans->text().append(QDir::separator()).toStdString(),
@@ -3885,7 +3808,7 @@ Camera * PreferencesDialog::createCamera(bool useRawImages)
{
camera = new CameraStereoVideo(
_ui->lineEdit_cameraStereoVideo_path->text().toStdString(),
_ui->checkBox_stereoVideo_rectify->isChecked(),
_ui->checkBox_stereoVideo_rectify->isChecked() && !useRawImages,
this->getGeneralInputRate(),
this->getSourceLocalTransform());
}
@@ -3900,7 +3823,7 @@ Camera * PreferencesDialog::createCamera(bool useRawImages)
{
camera = new CameraVideo(
_ui->source_video_lineEdit_path->text().toStdString(),
_ui->checkBox_rgbVideo_rectify->isChecked(),
_ui->checkBox_rgbVideo_rectify->isChecked() && !useRawImages,
this->getGeneralInputRate(),
this->getSourceLocalTransform());
}
@@ -3913,23 +3836,24 @@ Camera * PreferencesDialog::createCamera(bool useRawImages)
((CameraImages*)camera)->setStartIndex(_ui->source_images_spinBox_startPos->value());
((CameraImages*)camera)->setDirRefreshed(_ui->source_images_refreshDir->isChecked());
((CameraImages*)camera)->setImagesRectified(_ui->checkBox_rgbImages_rectify->isChecked());
((CameraImages*)camera)->setImagesRectified(_ui->checkBox_rgbImages_rectify->isChecked() && !useRawImages);
((CameraRGBDImages*)camera)->setGroundTruthPath(
((CameraImages*)camera)->setBayerMode(_ui->comboBox_cameraImages_bayerMode->currentIndex()-1);
((CameraImages*)camera)->setGroundTruthPath(
_ui->lineEdit_cameraImages_gt->text().toStdString(),
_ui->comboBox_cameraImages_gtFormat->currentIndex());
((CameraRGBDImages*)camera)->setScanPath(
((CameraImages*)camera)->setScanPath(
_ui->lineEdit_cameraImages_path_scans->text().isEmpty()?"":_ui->lineEdit_cameraImages_path_scans->text().append(QDir::separator()).toStdString(),
_ui->spinBox_cameraImages_max_scan_pts->value(),
_ui->spinBox_cameraImages_scanDownsampleStep->value(),
_ui->doubleSpinBox_cameraImages_scanVoxelSize->value(),
_ui->spinBox_cameraImages_scanNormalsK->value(),
this->getLaserLocalTransform());
((CameraRGBDImages*)camera)->setDepthFromScan(
((CameraImages*)camera)->setDepthFromScan(
_ui->groupBox_depthFromScan->isChecked(),
_ui->checkBox_depthFromScan_vertical->isChecked(),
_ui->checkBox_depthFromScan_fillBorders->isChecked());
((CameraRGBDImages*)camera)->setTimestamps(
((CameraImages*)camera)->setTimestamps(
_ui->checkBox_cameraImages_timestamps->isChecked(),
_ui->lineEdit_cameraImages_timestamps->text().toStdString(),
_ui->checkBox_cameraImages_syncTimeStamps->isChecked());
@@ -4303,8 +4227,11 @@ void PreferencesDialog::calibrate()
void PreferencesDialog::calibrateSimple()
{
CreateSimpleCalibrationDialog dialog(this->getCameraInfoDir(), "", this);
dialog.exec();
_createCalibrationDialog->setCameraInfoDir(this->getCameraInfoDir());
if(_createCalibrationDialog->exec() == QMessageBox::Accepted)
{
_ui->lineEdit_calibrationFile->setText(_createCalibrationDialog->cameraName());
}
}
}