Added image size to all camera calibration inputs. Memory::computeTransform() more fine tuning to know if data should be loaded from database.

2026-09-10 13:30:20 +08:00 · 2016-03-10 09:07:44 -05:00
parent 609cc3dc59
commit cee9c65b06
10 changed files with 312 additions and 261 deletions
@@ -111,7 +111,7 @@ public:
 			int maxGraphDepth) const;
 	void deleteLocation(int locationId, std::list<int> * deletedWords = 0);
 	void removeLink(int idA, int idB);
-	void removeRawData(int id);
+	void removeRawData(int id, bool image = true, bool scan = true, bool userData = true);

 	//getters
 	const std::map<int, double> & getWorkingMem() const {return _workingMem;}
@@ -90,6 +90,9 @@ public:
 	void setName(const std::string & name);
 	const std::string & name() const {return name_;}

+	// backward compatibility
+	void setImageSize(const cv::Size & size) {left_.setImageSize(size); right_.setImageSize(size);}
+
 	bool load(const std::string & directory, const std::string & cameraName, bool ignoreStereoTransform = true);
 	bool save(const std::string & directory, bool ignoreStereoTransform = true) const;

@@ -672,6 +672,11 @@ SensorData CameraImages::captureImage()
 		UWARN("Directory is not set, camera must be initialized.");
 	}

+	if(_model.imageHeight() == 0 || _model.imageWidth() == 0)
+	{
+		_model.setImageSize(img.size());
+	}
+
 	SensorData data(scan, scan.empty()?0:_scanMaxPts, 0, _isDepth?cv::Mat():img, _isDepth?img:depthFromScan, _model, this->getNextSeqID(), stamp);
 	data.setGroundTruth(groundTruthPose);
 	return data;
@@ -792,6 +797,11 @@ SensorData CameraVideo::captureImage()
 	{
 		if(_capture.read(img))
 		{
+			if(_model.imageHeight() == 0 || _model.imageWidth() == 0)
+			{
+				_model.setImageSize(img.size());
+			}
+
 			if(_model.isValidForRectification() && (_src != kVideoFile || _rectifyImages))
 			{
 				img = _model.rectifyImage(img);
@@ -223,7 +223,9 @@ SensorData CameraOpenni::captureImage()
 						1.0f/depthConstant_, //fy
 						float(rgb_.cols/2) - 0.5f,  //cx
 						float(rgb_.rows/2) - 0.5f,  //cy
-						this->getLocalTransform());
+						this->getLocalTransform(),
+						0,
+						rgb_.size());
 				data = SensorData(rgb_, depth_, model, this->getNextSeqID(), UTimer::now());
 			}

@@ -336,7 +338,9 @@ SensorData CameraOpenNICV::captureImage()
 					_depthFocal, //fy
 					float(rgb.cols/2) - 0.5f,  //cx
 					float(rgb.rows/2) - 0.5f,  //cy
-					this->getLocalTransform());
+					this->getLocalTransform(),
+					0,
+					rgb.size());
 			data = SensorData(rgb, depth, model, this->getNextSeqID(), UTimer::now());
 		}
 	}
@@ -710,7 +714,9 @@ SensorData CameraOpenNI2::captureImage()
 						_depthFy, //fy
 						float(rgb.cols/2) - 0.5f,  //cx
 						float(rgb.rows/2) - 0.5f,  //cy
-						this->getLocalTransform());
+						this->getLocalTransform(),
+						0,
+						rgb.size());
 				if(_openNI2StampsAndIDsUsed)
 				{
 					data = SensorData(rgb, depth, model, depthFrame.getFrameIndex(), double(depthFrame.getTimestamp()) / 1000000.0);
@@ -1047,7 +1053,9 @@ SensorData CameraFreenect::captureImage()
 							freenectDevice_->getDepthFocal(), //fy
 							float(rgb.cols/2) - 0.5f,  //cx
 							float(rgb.rows/2) - 0.5f,  //cy
-							this->getLocalTransform());
+							this->getLocalTransform(),
+							0,
+							rgb.size());
 					data = SensorData(rgb, depth, model, this->getNextSeqID(), UTimer::now());
 				}
 			}
@@ -1643,7 +1651,9 @@ SensorData CameraFreenect2::captureImage()
 						fy, //fy
 						cx,  //cx
 						cy, // cy
-						this->getLocalTransform());
+						this->getLocalTransform(),
+						0,
+						rgb.size());
 			}
 			data = SensorData(rgb, depth, model, this->getNextSeqID(), stamp);

@@ -440,7 +440,8 @@ SensorData CameraStereoDC1394::captureImage()
 						stereoModel_.left().cx(), //cx
 						stereoModel_.left().cy(), //cy
 						stereoModel_.baseline(),
-						this->getLocalTransform());
+						this->getLocalTransform(),
+						left.size());
 			}
 			data = SensorData(left, right, model, this->getNextSeqID(), UTimer::now());
 		}
@@ -715,7 +716,8 @@ SensorData CameraStereoFlyCapture2::captureImage()
 								cx,
 								cy,
 								baseline,
-								this->getLocalTransform());
+								this->getLocalTransform(),
+								left.size());
 						data = SensorData(left, right, model, this->getNextSeqID(), UTimer::now());
 					}
 				}
@@ -892,6 +894,11 @@ SensorData CameraStereoImages::captureImage()
 				rightImage = stereoModel_.right().rectifyImage(rightImage);
 			}

+			if(stereoModel_.left().imageHeight() == 0 || stereoModel_.left().imageWidth() == 0)
+			{
+				stereoModel_.setImageSize(leftImage.size());
+			}
+
 			data = SensorData(left.laserScanRaw(), left.laserScanMaxPts(), 0, leftImage, rightImage, stereoModel_, left.id()/(camera2_?1:2), left.stamp());
 			data.setGroundTruth(left.groundTruth());
 		}
@@ -1013,6 +1020,12 @@ SensorData CameraStereoVideo::captureImage()
 					rightImage = rightImage.clone();
 				}
 			}
+
+			if(stereoModel_.left().imageHeight() == 0 || stereoModel_.left().imageWidth() == 0)
+			{
+				stereoModel_.setImageSize(leftImage.size());
+			}
+
 			data = SensorData(leftImage, rightImage, stereoModel_, this->getNextSeqID(), UTimer::now());
 		}
 	}
@@ -2031,15 +2031,24 @@ void Memory::removeLink(int oldId, int newId)
 	}
 }

-void Memory::removeRawData(int id)
+void Memory::removeRawData(int id, bool image, bool scan, bool userData)
 {
 	Signature * s = this->_getSignature(id);
 	if(s)
 	{
-		s->sensorData().setImageRaw(cv::Mat());
-		s->sensorData().setDepthOrRightRaw(cv::Mat());
-		s->sensorData().setLaserScanRaw(cv::Mat(), s->sensorData().laserScanMaxPts(), s->sensorData().laserScanMaxRange());
-		s->sensorData().setUserDataRaw(cv::Mat());
+		if(image && (!_reextractLoopClosureFeatures || !_registrationPipeline->isImageRequired()))
+		{
+			s->sensorData().setImageRaw(cv::Mat());
+			s->sensorData().setDepthOrRightRaw(cv::Mat());
+		}
+		if(scan && !_registrationPipeline->isScanRequired())
+		{
+			s->sensorData().setLaserScanRaw(cv::Mat(), s->sensorData().laserScanMaxPts(), s->sensorData().laserScanMaxRange());
+		}
+		if(userData && !_registrationPipeline->isUserDataRequired())
+		{
+			s->sensorData().setUserDataRaw(cv::Mat());
+		}
 	}
 }

@@ -2050,21 +2059,40 @@ Transform Memory::computeTransform(
 		Transform guess,
 		RegistrationInfo * info)
 {
-	const Signature * fromS = this->getSignature(fromId);
-	const Signature * toS = this->getSignature(toId);
+	Signature * fromS = this->_getSignature(fromId);
+	Signature * toS = this->_getSignature(toId);

 	Transform transform;

 	if(fromS && toS)
 	{
 		// make sure we have all data needed
-		if((_reextractLoopClosureFeatures && _registrationPipeline->isImageRequired()) ||
-		   (_registrationPipeline->isScanRequired()) ||
-		   _registrationPipeline->isUserDataRequired())
+		// load binary data from database if not in RAM (if image is already here, scan and userData should be or they are null)
+		if((_reextractLoopClosureFeatures && _registrationPipeline->isImageRequired() && fromS->sensorData().imageCompressed().empty()) ||
+		   (_registrationPipeline->isScanRequired() && fromS->sensorData().imageCompressed().empty() && fromS->sensorData().laserScanCompressed().empty()) ||
+		   (_registrationPipeline->isUserDataRequired() && fromS->sensorData().imageCompressed().empty() && fromS->sensorData().userDataCompressed().empty()))
 		{
-			getNodeData(fromS->id(), true);
-			getNodeData(toS->id(), true);
+			getNodeData(fromS->id());
 		}
+		if((_reextractLoopClosureFeatures && _registrationPipeline->isImageRequired() && toS->sensorData().imageCompressed().empty()) ||
+		   (_registrationPipeline->isScanRequired() && toS->sensorData().imageCompressed().empty() && toS->sensorData().laserScanCompressed().empty()) ||
+		   (_registrationPipeline->isUserDataRequired() && toS->sensorData().imageCompressed().empty() && toS->sensorData().userDataCompressed().empty()))
+		{
+			getNodeData(toS->id());
+		}
+		// uncompress only what we need
+		cv::Mat imgBuf, depthBuf, laserBuf, userBuf;
+		fromS->sensorData().uncompressData(
+				(_reextractLoopClosureFeatures && _registrationPipeline->isImageRequired())?&imgBuf:0,
+				(_reextractLoopClosureFeatures && _registrationPipeline->isImageRequired())?&depthBuf:0,
+				_registrationPipeline->isScanRequired()?&laserBuf:0,
+				_registrationPipeline->isUserDataRequired()?&userBuf:0);
+		toS->sensorData().uncompressData(
+				(_reextractLoopClosureFeatures && _registrationPipeline->isImageRequired())?&imgBuf:0,
+				(_reextractLoopClosureFeatures && _registrationPipeline->isImageRequired())?&depthBuf:0,
+				_registrationPipeline->isScanRequired()?&laserBuf:0,
+				_registrationPipeline->isUserDataRequired()?&userBuf:0);
+

 		// compute transform fromId -> toId
 		std::vector<int> inliersV;
@@ -2171,13 +2199,13 @@ Transform Memory::computeIcpTransform(
 	if(fromS && toS && _dbDriver)
 	{
 		std::list<Signature*> depthsToLoad;
-		//Depth required, if not in RAM, load it from LTM
-		if(fromS->sensorData().depthOrRightCompressed().empty() &&
+		//if image is already here, scan should be or it is null
+		if(fromS->sensorData().imageCompressed().empty() &&
 		   fromS->sensorData().laserScanCompressed().empty())
 		{
 			depthsToLoad.push_back(fromS);
 		}
-		if(toS->sensorData().depthOrRightCompressed().empty() &&
+		if(toS->sensorData().imageCompressed().empty() &&
 		   toS->sensorData().laserScanCompressed().empty())
 		{
 			depthsToLoad.push_back(toS);
@@ -2231,7 +2259,9 @@ Transform Memory::computeIcpTransformMulti(
 	{
 		Signature * s = _getSignature(iter->first);
 		UASSERT(s != 0);
-		if(s->sensorData().laserScanCompressed().empty())
+		//if image is already here, scan should be or it is null
+		if(s->sensorData().imageCompressed().empty() &&
+		   s->sensorData().laserScanCompressed().empty())
 		{
 			depthToLoad.push_back(s);
 		}
@@ -2315,7 +2315,7 @@ bool Rtabmap::process(
 	}
 	if(!_rawDataKept)
 	{
-		_memory->removeRawData(signature->id());
+		_memory->removeRawData(signature->id(), true, !_neighborLinkRefining && !_proximityBySpace, true);
 	}

 	// remove last signature if the memory is not incremental or is a bad signature (if bad signatures are ignored)
@@ -170,7 +170,10 @@ void CreateSimpleCalibrationDialog::saveCalibration()
 					ui_->doubleSpinBox_fx->value(),
 					ui_->doubleSpinBox_fy->value(),
 					ui_->doubleSpinBox_cx->value(),
-					ui_->doubleSpinBox_cy->value());
+					ui_->doubleSpinBox_cy->value(),
+					Transform::getIdentity(),
+					0,
+					cv::Size(width, height));
 			UASSERT(modelLeft.isValidForProjection());
 		}
 		else
@@ -215,7 +218,8 @@ void CreateSimpleCalibrationDialog::saveCalibration()
 						ui_->doubleSpinBox_cx->value(),
 						ui_->doubleSpinBox_cy->value(),
 						Transform::getIdentity(),
-						ui_->doubleSpinBox_baseline->value()*-ui_->doubleSpinBox_fx->value());
+						ui_->doubleSpinBox_baseline->value()*-ui_->doubleSpinBox_fx->value(),
+						cv::Size(width, height));
 				UASSERT(modelRight.isValidForProjection());
 				stereoModel = StereoCameraModel(name.toStdString(), modelLeft, modelRight, Transform());
 				UASSERT(stereoModel.isValidForProjection());
@@ -1133,7 +1133,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
 			_3dRenderingDecimation[i]->setValue(8);
 			_3dRenderingMaxDepth[i]->setValue(0.0);
 			_3dRenderingShowScans[i]->setChecked(true);
-			_3dRenderingShowFeatures[i]->setChecked(false);
+			_3dRenderingShowFeatures[i]->setChecked(i==0?false:true);

 			_3dRenderingDownsamplingScan[i]->setValue(1);
 			_3dRenderingVoxelSizeScan[i]->setValue(0.0);
@@ -6,8 +6,8 @@
   <rect>
    <x>0</x>
    <y>0</y>
-    <width>546</width>
-    <height>568</height>
+    <width>563</width>
+    <height>597</height>
   </rect>
  </property>
  <property name="windowTitle">
@@ -42,7 +42,7 @@
   <item>
    <widget class="QStackedWidget" name="stackedWidget">
     <property name="currentIndex">
-      <number>1</number>
+      <number>0</number>
     </property>
     <widget class="QWidget" name="page_2">
      <layout class="QVBoxLayout" name="verticalLayout">
@@ -146,19 +146,6 @@
         </layout>
        </widget>
       </item>
-       <item>
-        <spacer name="verticalSpacer">
-         <property name="orientation">
-          <enum>Qt::Vertical</enum>
-         </property>
-         <property name="sizeHint" stdset="0">
-          <size>
-           <width>20</width>
-           <height>40</height>
-          </size>
-         </property>
-        </spacer>
-       </item>
      </layout>
     </widget>
     <widget class="QWidget" name="page">
@@ -168,237 +155,231 @@
         <property name="title">
          <string>Camera Intrinsics</string>
         </property>
-         <layout class="QVBoxLayout" name="verticalLayout_4">
-          <item>
-           <layout class="QGridLayout" name="gridLayout_3" columnstretch="0,0,1">
-            <item row="0" column="0">
-             <widget class="QLabel" name="label_left">
-              <property name="text">
-               <string>Left</string>
-              </property>
-             </widget>
-            </item>
-            <item row="0" column="1">
-             <widget class="QLabel" name="label_right">
-              <property name="text">
-               <string>Right</string>
-              </property>
-             </widget>
-            </item>
-            <item row="1" column="0">
-             <widget class="QDoubleSpinBox" name="doubleSpinBox_fx_l">
-              <property name="decimals">
-               <number>6</number>
-              </property>
-              <property name="maximum">
-               <double>99999.000000000000000</double>
-              </property>
-             </widget>
-            </item>
-            <item row="1" column="1">
-             <widget class="QDoubleSpinBox" name="doubleSpinBox_fx_r">
-              <property name="decimals">
-               <number>6</number>
-              </property>
-              <property name="maximum">
-               <double>99999.000000000000000</double>
-              </property>
-             </widget>
-            </item>
-            <item row="1" column="2">
-             <widget class="QLabel" name="label_10">
-              <property name="text">
-               <string>fx</string>
-              </property>
-             </widget>
-            </item>
-            <item row="2" column="0">
-             <widget class="QDoubleSpinBox" name="doubleSpinBox_fy_l">
-              <property name="decimals">
-               <number>6</number>
-              </property>
-              <property name="maximum">
-               <double>99999.000000000000000</double>
-              </property>
-             </widget>
-            </item>
-            <item row="2" column="1">
-             <widget class="QDoubleSpinBox" name="doubleSpinBox_fy_r">
-              <property name="decimals">
-               <number>6</number>
-              </property>
-              <property name="maximum">
-               <double>99999.000000000000000</double>
-              </property>
-             </widget>
-            </item>
-            <item row="2" column="2">
-             <widget class="QLabel" name="label_9">
-              <property name="text">
-               <string>fy</string>
-              </property>
-             </widget>
-            </item>
-            <item row="3" column="0">
-             <widget class="QDoubleSpinBox" name="doubleSpinBox_cx_l">
-              <property name="decimals">
-               <number>6</number>
-              </property>
-              <property name="maximum">
-               <double>99999.000000000000000</double>
-              </property>
-             </widget>
-            </item>
-            <item row="3" column="1">
-             <widget class="QDoubleSpinBox" name="doubleSpinBox_cx_r">
-              <property name="decimals">
-               <number>6</number>
-              </property>
-              <property name="maximum">
-               <double>99999.000000000000000</double>
-              </property>
-             </widget>
-            </item>
-            <item row="3" column="2">
-             <widget class="QLabel" name="label_11">
-              <property name="text">
-               <string>cx</string>
-              </property>
-             </widget>
-            </item>
-            <item row="4" column="0">
-             <widget class="QDoubleSpinBox" name="doubleSpinBox_cy_l">
-              <property name="decimals">
-               <number>6</number>
-              </property>
-              <property name="maximum">
-               <double>99999.000000000000000</double>
-              </property>
-             </widget>
-            </item>
-            <item row="4" column="1">
-             <widget class="QDoubleSpinBox" name="doubleSpinBox_cy_r">
-              <property name="decimals">
-               <number>6</number>
-              </property>
-              <property name="maximum">
-               <double>99999.000000000000000</double>
-              </property>
-             </widget>
-            </item>
-            <item row="4" column="2">
-             <widget class="QLabel" name="label_8">
-              <property name="text">
-               <string>cy</string>
-              </property>
-             </widget>
-            </item>
-            <item row="5" column="0">
-             <widget class="QLineEdit" name="lineEdit_D_l"/>
-            </item>
-            <item row="5" column="1">
-             <widget class="QLineEdit" name="lineEdit_D_r"/>
-            </item>
-            <item row="5" column="2">
-             <widget class="QLabel" name="label_12">
-              <property name="toolTip">
-               <string>k1, k2, p1, p2[, k3[, k4, k5, k6 ]]</string>
-              </property>
-              <property name="text">
-               <string>Distorsion coefficients (4, 5 or 8 values)</string>
-              </property>
-              <property name="wordWrap">
-               <bool>true</bool>
-              </property>
-             </widget>
-            </item>
-           </layout>
-          </item>
-          <item>
-           <widget class="Line" name="line">
-            <property name="orientation">
-             <enum>Qt::Horizontal</enum>
-            </property>
-           </widget>
-          </item>
-          <item>
-           <layout class="QGridLayout" name="gridLayout_4" columnstretch="0,1">
-            <item row="0" column="0">
-             <widget class="QSpinBox" name="spinBox_width">
-              <property name="maximum">
-               <number>99999</number>
-              </property>
-             </widget>
-            </item>
-            <item row="0" column="1">
-             <widget class="QLabel" name="label_5">
-              <property name="text">
-               <string>Image width</string>
-              </property>
-             </widget>
-            </item>
-            <item row="1" column="0">
-             <widget class="QSpinBox" name="spinBox_height">
-              <property name="maximum">
-               <number>99999</number>
-              </property>
-             </widget>
-            </item>
-            <item row="1" column="1">
-             <widget class="QLabel" name="label_13">
-              <property name="text">
-               <string>Image height</string>
-              </property>
-             </widget>
-            </item>
-           </layout>
-          </item>
-         </layout>
-        </widget>
-       </item>
-       <item>
-        <widget class="QGroupBox" name="groupBox_stereo_extrinsics">
-         <property name="title">
-          <string>Stereo Camera Extrinsics</string>
-         </property>
-         <layout class="QGridLayout" name="gridLayout_2">
-          <item row="0" column="0" rowspan="2" colspan="2">
-           <widget class="QLineEdit" name="lineEdit_RT">
-            <property name="toolTip">
-             <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Format (3 values): x y z&lt;br/&gt;Format (6 values): x y z roll pitch yaw&lt;br/&gt;Format (7 values): x y z qx qy qz qw&lt;br/&gt;Format (9 values, 3x3 rotation): r11 r12 r13 r21 r22 r23 r31 r32 r33&lt;br/&gt;Format (12 values, 3x4 transform): r11 r12 r13 tx r21 r22 r23 ty r31 r32 r33 tz&lt;/p&gt;&lt;p&gt;KITTI: /base_link to /gray_camera = 0 0 1 -1 0 0 0 -1 0&lt;br/&gt;KITTI: /base_link to /color_camera = 0 0 1 0 -1 0 0 -0.06 0 -1 0 0&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-            </property>
-           </widget>
-          </item>
-          <item row="0" column="2">
-           <widget class="QLabel" name="label_6">
+         <layout class="QGridLayout" name="gridLayout_3" columnstretch="0,0,1">
+          <item row="1" column="0">
+           <widget class="QLabel" name="label_left">
            <property name="text">
-             <string>Transform between the cameras</string>
+             <string>Left</string>
+            </property>
+           </widget>
+          </item>
+          <item row="2" column="1">
+           <widget class="QDoubleSpinBox" name="doubleSpinBox_fx_r">
+            <property name="decimals">
+             <number>6</number>
+            </property>
+            <property name="maximum">
+             <double>99999.000000000000000</double>
+            </property>
+           </widget>
+          </item>
+          <item row="2" column="0">
+           <widget class="QDoubleSpinBox" name="doubleSpinBox_fx_l">
+            <property name="decimals">
+             <number>6</number>
+            </property>
+            <property name="maximum">
+             <double>99999.000000000000000</double>
+            </property>
+           </widget>
+          </item>
+          <item row="1" column="1">
+           <widget class="QLabel" name="label_right">
+            <property name="text">
+             <string>Right</string>
+            </property>
+           </widget>
+          </item>
+          <item row="4" column="0">
+           <widget class="QDoubleSpinBox" name="doubleSpinBox_cx_l">
+            <property name="decimals">
+             <number>6</number>
+            </property>
+            <property name="maximum">
+             <double>99999.000000000000000</double>
+            </property>
+           </widget>
+          </item>
+          <item row="2" column="2">
+           <widget class="QLabel" name="label_10">
+            <property name="text">
+             <string>fx</string>
+            </property>
+           </widget>
+          </item>
+          <item row="3" column="1">
+           <widget class="QDoubleSpinBox" name="doubleSpinBox_fy_r">
+            <property name="decimals">
+             <number>6</number>
+            </property>
+            <property name="maximum">
+             <double>99999.000000000000000</double>
+            </property>
+           </widget>
+          </item>
+          <item row="3" column="0">
+           <widget class="QDoubleSpinBox" name="doubleSpinBox_fy_l">
+            <property name="decimals">
+             <number>6</number>
+            </property>
+            <property name="maximum">
+             <double>99999.000000000000000</double>
+            </property>
+           </widget>
+          </item>
+          <item row="4" column="1">
+           <widget class="QDoubleSpinBox" name="doubleSpinBox_cx_r">
+            <property name="decimals">
+             <number>6</number>
+            </property>
+            <property name="maximum">
+             <double>99999.000000000000000</double>
+            </property>
+           </widget>
+          </item>
+          <item row="5" column="1">
+           <widget class="QDoubleSpinBox" name="doubleSpinBox_cy_r">
+            <property name="decimals">
+             <number>6</number>
+            </property>
+            <property name="maximum">
+             <double>99999.000000000000000</double>
+            </property>
+           </widget>
+          </item>
+          <item row="5" column="0">
+           <widget class="QDoubleSpinBox" name="doubleSpinBox_cy_l">
+            <property name="decimals">
+             <number>6</number>
+            </property>
+            <property name="maximum">
+             <double>99999.000000000000000</double>
+            </property>
+           </widget>
+          </item>
+          <item row="3" column="2">
+           <widget class="QLabel" name="label_9">
+            <property name="text">
+             <string>fy</string>
+            </property>
+           </widget>
+          </item>
+          <item row="6" column="1">
+           <widget class="QLineEdit" name="lineEdit_D_r"/>
+          </item>
+          <item row="5" column="2">
+           <widget class="QLabel" name="label_8">
+            <property name="text">
+             <string>cy</string>
+            </property>
+           </widget>
+          </item>
+          <item row="6" column="0">
+           <widget class="QLineEdit" name="lineEdit_D_l"/>
+          </item>
+          <item row="6" column="2">
+           <widget class="QLabel" name="label_12">
+            <property name="toolTip">
+             <string>k1, k2, p1, p2[, k3[, k4, k5, k6 ]]</string>
+            </property>
+            <property name="text">
+             <string>Distorsion coefficients (4, 5 or 8 values)</string>
            </property>
            <property name="wordWrap">
             <bool>true</bool>
            </property>
           </widget>
          </item>
+          <item row="4" column="2">
+           <widget class="QLabel" name="label_11">
+            <property name="text">
+             <string>cx</string>
+            </property>
+           </widget>
+          </item>
         </layout>
        </widget>
       </item>
-       <item>
-        <spacer name="verticalSpacer_2">
-         <property name="orientation">
-          <enum>Qt::Vertical</enum>
-         </property>
-         <property name="sizeHint" stdset="0">
-          <size>
-           <width>20</width>
-           <height>40</height>
-          </size>
-         </property>
-        </spacer>
-       </item>
      </layout>
     </widget>
    </widget>
   </item>
+   <item>
+    <widget class="QGroupBox" name="groupBox_2">
+     <property name="title">
+      <string>Image Size</string>
+     </property>
+     <layout class="QGridLayout" name="gridLayout_4" columnstretch="0,1">
+      <item row="0" column="0">
+       <widget class="QSpinBox" name="spinBox_width">
+        <property name="maximum">
+         <number>99999</number>
+        </property>
+       </widget>
+      </item>
+      <item row="0" column="1">
+       <widget class="QLabel" name="label_5">
+        <property name="text">
+         <string>Image width</string>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="0">
+       <widget class="QSpinBox" name="spinBox_height">
+        <property name="maximum">
+         <number>99999</number>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="1">
+       <widget class="QLabel" name="label_13">
+        <property name="text">
+         <string>Image height</string>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </widget>
+   </item>
+   <item>
+    <widget class="QGroupBox" name="groupBox_stereo_extrinsics">
+     <property name="title">
+      <string>Stereo Camera Extrinsics</string>
+     </property>
+     <layout class="QGridLayout" name="gridLayout_2">
+      <item row="0" column="0" rowspan="2" colspan="2">
+       <widget class="QLineEdit" name="lineEdit_RT">
+        <property name="toolTip">
+         <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Format (3 values): x y z&lt;br/&gt;Format (6 values): x y z roll pitch yaw&lt;br/&gt;Format (7 values): x y z qx qy qz qw&lt;br/&gt;Format (9 values, 3x3 rotation): r11 r12 r13 r21 r22 r23 r31 r32 r33&lt;br/&gt;Format (12 values, 3x4 transform): r11 r12 r13 tx r21 r22 r23 ty r31 r32 r33 tz&lt;/p&gt;&lt;p&gt;KITTI: /base_link to /gray_camera = 0 0 1 -1 0 0 0 -1 0&lt;br/&gt;KITTI: /base_link to /color_camera = 0 0 1 0 -1 0 0 -0.06 0 -1 0 0&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+        </property>
+       </widget>
+      </item>
+      <item row="0" column="2">
+       <widget class="QLabel" name="label_6">
+        <property name="text">
+         <string>Transform between the cameras</string>
+        </property>
+        <property name="wordWrap">
+         <bool>true</bool>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </widget>
+   </item>
+   <item>
+    <spacer name="verticalSpacer">
+     <property name="orientation">
+      <enum>Qt::Vertical</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>20</width>
+       <height>40</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
   <item>
    <widget class="QDialogButtonBox" name="buttonBox">
     <property name="orientation">