mirror of
https://github.com/introlab/rtabmap.git
synced 2026-10-04 17:17:47 +08:00
CameraImages: support reading multicamera image and calibration files
This commit is contained in:
matlabbe
@@ -1665,12 +1665,12 @@ void DatabaseViewer::extractImages()
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}
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StereoCameraModel model(
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cameraName,
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data.imageRaw().size(),
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data.stereoCameraModels()[i].left().imageSize(),
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data.stereoCameraModels()[i].left().K_raw(),
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data.stereoCameraModels()[i].left().D_raw(),
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data.stereoCameraModels()[i].left().R(),
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data.stereoCameraModels()[i].left().P(),
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data.rightRaw().size(),
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data.stereoCameraModels()[i].right().imageSize(),
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data.stereoCameraModels()[i].right().K_raw(),
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data.stereoCameraModels()[i].right().D_raw(),
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data.stereoCameraModels()[i].right().R(),
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@@ -1730,7 +1730,7 @@ void DatabaseViewer::extractImages()
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cameraName+="_"+uNumber2Str((int)i);
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}
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CameraModel model(cameraName,
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data.imageRaw().size(),
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data.cameraModels()[i].imageSize(),
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data.cameraModels()[i].K_raw(),
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data.cameraModels()[i].D_raw(),
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data.cameraModels()[i].R(),
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@@ -843,6 +843,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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connect(_ui->lineEdit_cameraRGBDImages_path_rgb, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->lineEdit_cameraRGBDImages_path_depth, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->checkBox_cameraImages_configForEachFrame, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->checkBox_cameraImages_multiCameraCalibration, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->checkBox_cameraImages_timestamps, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->checkBox_cameraImages_syncTimeStamps, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->doubleSpinBox_cameraRGBDImages_scale, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel()));
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@@ -2389,6 +2390,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
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_ui->lineEdit_depthai_blob_path->clear();
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_ui->checkBox_cameraImages_configForEachFrame->setChecked(false);
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_ui->checkBox_cameraImages_multiCameraCalibration->setChecked(false);
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_ui->checkBox_cameraImages_timestamps->setChecked(false);
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_ui->checkBox_cameraImages_syncTimeStamps->setChecked(true);
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_ui->lineEdit_cameraImages_timestamps->setText("");
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@@ -2924,6 +2926,7 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
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_ui->comboBox_cameraImages_bayerMode->setCurrentIndex(settings.value("bayerMode",_ui->comboBox_cameraImages_bayerMode->currentIndex()).toInt());
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_ui->checkBox_cameraImages_configForEachFrame->setChecked(settings.value("config_each_frame",_ui->checkBox_cameraImages_configForEachFrame->isChecked()).toBool());
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_ui->checkBox_cameraImages_multiCameraCalibration->setChecked(settings.value("multi_camera_calibration",_ui->checkBox_cameraImages_multiCameraCalibration->isChecked()).toBool());
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_ui->checkBox_cameraImages_timestamps->setChecked(settings.value("filenames_as_stamps",_ui->checkBox_cameraImages_timestamps->isChecked()).toBool());
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_ui->checkBox_cameraImages_syncTimeStamps->setChecked(settings.value("sync_stamps",_ui->checkBox_cameraImages_syncTimeStamps->isChecked()).toBool());
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_ui->lineEdit_cameraImages_timestamps->setText(settings.value("stamps", _ui->lineEdit_cameraImages_timestamps->text()).toString());
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@@ -3546,6 +3549,7 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
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settings.setValue("maxFrames", _ui->source_images_spinBox_maxFrames->value());
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settings.setValue("bayerMode", _ui->comboBox_cameraImages_bayerMode->currentIndex());
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settings.setValue("config_each_frame", _ui->checkBox_cameraImages_configForEachFrame->isChecked());
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settings.setValue("multi_camera_calibration", _ui->checkBox_cameraImages_multiCameraCalibration->isChecked());
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settings.setValue("filenames_as_stamps", _ui->checkBox_cameraImages_timestamps->isChecked());
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settings.setValue("sync_stamps", _ui->checkBox_cameraImages_syncTimeStamps->isChecked());
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settings.setValue("stamps", _ui->lineEdit_cameraImages_timestamps->text());
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@@ -7069,6 +7073,7 @@ Camera * PreferencesDialog::createCamera(
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_ui->lineEdit_cameraImages_timestamps->text().toStdString(),
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_ui->checkBox_cameraImages_syncTimeStamps->isChecked());
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((CameraRGBDImages*)camera)->setConfigForEachFrame(_ui->checkBox_cameraImages_configForEachFrame->isChecked());
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((CameraRGBDImages*)camera)->setMultiCameraCalibration(_ui->checkBox_cameraImages_multiCameraCalibration->isChecked());
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}
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else if(driver == kSrcDC1394)
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{
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@@ -7319,7 +7324,8 @@ Camera * PreferencesDialog::createCamera(
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_ui->checkBox_cameraImages_timestamps->isChecked(),
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_ui->lineEdit_cameraImages_timestamps->text().toStdString(),
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_ui->checkBox_cameraImages_syncTimeStamps->isChecked());
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((CameraRGBDImages*)camera)->setConfigForEachFrame(_ui->checkBox_cameraImages_configForEachFrame->isChecked());
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((CameraImages*)camera)->setConfigForEachFrame(_ui->checkBox_cameraImages_configForEachFrame->isChecked());
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((CameraImages*)camera)->setMultiCameraCalibration(_ui->checkBox_cameraImages_multiCameraCalibration->isChecked());
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}
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else if(driver == kSrcDatabase)
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{
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+410
-390
@@ -7,7 +7,7 @@
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<x>0</x>
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<y>0</y>
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<width>980</width>
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<height>925</height>
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<height>1246</height>
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</rect>
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</property>
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<property name="sizePolicy">
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@@ -63,9 +63,9 @@
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<property name="geometry">
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<rect>
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<x>0</x>
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<y>-648</y>
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<y>-557</y>
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<width>684</width>
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<height>5218</height>
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<height>5360</height>
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</rect>
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</property>
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<layout class="QVBoxLayout" name="verticalLayout_16">
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@@ -95,7 +95,7 @@
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<enum>QFrame::Raised</enum>
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</property>
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<property name="currentIndex">
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<number>19</number>
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<number>5</number>
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</property>
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<widget class="QWidget" name="page_22">
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<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,0">
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@@ -3469,7 +3469,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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<item>
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<widget class="QStackedWidget" name="stackedWidget_src">
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<property name="currentIndex">
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<number>3</number>
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<number>0</number>
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</property>
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<widget class="QWidget" name="page_41">
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<layout class="QVBoxLayout" name="verticalLayout_64">
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@@ -3590,7 +3590,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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<item>
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<widget class="QStackedWidget" name="stackedWidget_rgbd">
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<property name="currentIndex">
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<number>9</number>
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<number>7</number>
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</property>
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<widget class="QWidget" name="page_32">
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<layout class="QVBoxLayout" name="verticalLayout_63">
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@@ -7556,279 +7556,6 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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</property>
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<item>
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<layout class="QGridLayout" name="gridLayout_68" columnstretch="0,0,1">
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<item row="3" column="1">
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<widget class="QCheckBox" name="checkBox_cameraImages_syncTimeStamps">
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<property name="text">
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<string/>
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</property>
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</widget>
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</item>
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<item row="11" column="1">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_maxPoseTimeDiff">
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<property name="suffix">
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<string> s</string>
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</property>
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<property name="decimals">
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<number>4</number>
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</property>
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<property name="maximum">
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<double>9.990000000000000</double>
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</property>
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<property name="singleStep">
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<double>0.010000000000000</double>
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</property>
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<property name="value">
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<double>0.020000000000000</double>
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</property>
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</widget>
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</item>
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<item row="1" column="1">
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<widget class="QCheckBox" name="checkBox_cameraImages_configForEachFrame">
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<property name="text">
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<string/>
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</property>
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</widget>
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</item>
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<item row="15" column="0">
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<widget class="QToolButton" name="toolButton_cameraImages_path_imu">
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<property name="text">
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<string>...</string>
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</property>
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</widget>
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</item>
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<item row="15" column="2">
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<widget class="QLabel" name="label_463">
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<property name="text">
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<string>Path to file containing optional IMU data (*.csv [EuRoC format]). Mouse over the box to show formats.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="7" column="1">
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<widget class="QComboBox" name="comboBox_cameraImages_odomFormat">
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<property name="toolTip">
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<string><html><head/><body><p>Raw Format (3 values): x y z<br/>Raw Format (6 values): x y z roll pitch yaw<br/>Raw Format (7 values): x y z qx qy qz qw<br/>Raw Format (9 values, 3x3 rotation): r11 r12 r13 r21 r22 r23 r31 r32 r33<br/>Raw Format (12 values, 3x4 transform): r11 r12 r13 tx r21 r22 r23 ty r31 r32 r33 tz</p><p>RGBD-SLAM (stamp tx ty tz qx qy qz qw)<br/>RGBD-SLAM + ID (stamp id tx ty tz qx qy qz qw)<br/>KITTI (stamp + 12 values transform)<br/>TORO<br/>g2o<br/>NewCollege (stamp x y)<br/>Malaga Urban (GPS)<br/>St Lucia Stereo (INS)<br/>EuRoC MAV (stamp,tx,ty,tz,qw,qx,qy,qz...)</p></body></html></string>
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</property>
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<property name="sizeAdjustPolicy">
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<enum>QComboBox::AdjustToContents</enum>
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</property>
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<item>
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<property name="text">
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<string>Raw</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>RGBD-SLAM (motion capture)</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>KITTI</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>TORO</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>g2o</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>NewCollege</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>Malaga Urban</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>St Lucia Stereo</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>Karlsruhe</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>EuRoC MAV</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>RGBD-SLAM</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>RGBD-SLAM + ID</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>rgbd_bonn</string>
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</property>
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</item>
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</widget>
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</item>
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<item row="17" column="2">
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<widget class="QLabel" name="label_465">
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<property name="text">
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<string>IMU Rate. To synchronize capture rate with IMU timestamps, set to 0. This can be set a little over the actual IMU rate to keep up with camera capture rate if images are dropped by odometry.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="3" column="2">
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<widget class="QLabel" name="label_256">
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<property name="text">
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<string>Synchronize capture rate with timestamps.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
|
||||
</widget>
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</item>
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<item row="13" column="2">
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<widget class="QLabel" name="label_294">
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||||
<property name="text">
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||||
<string>Local transform from /base_link to /laser_link. Mouse over the box to show formats.</string>
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||||
</property>
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<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="2">
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||||
<widget class="QLabel" name="label_348">
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||||
<property name="text">
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||||
<string>Odometry file. Select the correct format below.</string>
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||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="15" column="1">
|
||||
<widget class="QLineEdit" name="lineEdit_cameraImages_path_imu">
|
||||
<property name="toolTip">
|
||||
<string><html><head/><body><p>cvs format (comma split): &quot;stamp_sec,gyro_x,gyro_y,gyro_z,acc_x,acc_y,acc_z&quot;</p><p>EuRoC format: &quot;stamp_nanosec,gyro_x,gyro_y,gyro_z,acc_x,acc_y,acc_z&quot;</p></body></html></string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="16" column="2">
|
||||
<widget class="QLabel" name="label_464">
|
||||
<property name="text">
|
||||
<string>Local transform from /base_link to /imu_link. Mouse over the box to show formats.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="12" column="1">
|
||||
<widget class="QLineEdit" name="lineEdit_cameraImages_path_scans">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="13" column="1">
|
||||
<widget class="QLineEdit" name="lineEdit_cameraImages_laser_transform">
|
||||
<property name="toolTip">
|
||||
<string><html><head/><body><p>Format (3 values): x y z<br/>Format (6 values): x y z roll pitch yaw<br/>Format (7 values): x y z qx qy qz qw<br/>Format (9 values, 3x3 rotation): r11 r12 r13 r21 r22 r23 r31 r32 r33<br/>Format (12 values, 3x4 transform): r11 r12 r13 tx r21 r22 r23 ty r31 r32 r33 tz</p><p>KITTI: /base_link to /scan = -0.27 0 0.08 0 0 0<br/>KITTI: /base_footprint to /scan = -0.27 0 1.75 0 0 0</p></body></html></string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>0 0 0 0 0 0</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="12" column="2">
|
||||
<widget class="QLabel" name="label_293">
|
||||
<property name="text">
|
||||
<string>Path to directory containing optional laser scans (*.pcd, *.ply, *.bin [KITTI format]). The directory should have the same size has the images directory. </string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="1">
|
||||
<widget class="QCheckBox" name="checkBox_cameraImages_timestamps">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="14" column="2">
|
||||
<widget class="QLabel" name="label_292">
|
||||
<property name="text">
|
||||
<string>Maximum laser scan points.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="14" column="1">
|
||||
<widget class="QSpinBox" name="spinBox_cameraImages_max_scan_pts">
|
||||
<property name="toolTip">
|
||||
<string><html><head/><body><p>KITTI: 130 000 points</p></body></html></string>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>99999999</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="17" column="1">
|
||||
<widget class="QSpinBox" name="spinBox_cameraImages_max_imu_rate">
|
||||
<property name="toolTip">
|
||||
<string>EuRoC: 200 Hz -> 250 Hz</string>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>99999999</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="1">
|
||||
<widget class="QComboBox" name="comboBox_cameraImages_bayerMode">
|
||||
<property name="sizeAdjustPolicy">
|
||||
@@ -7861,47 +7588,41 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
|
||||
</item>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="11" column="2">
|
||||
<widget class="QLabel" name="label_443">
|
||||
<item row="14" column="1">
|
||||
<widget class="QLineEdit" name="lineEdit_cameraImages_laser_transform">
|
||||
<property name="toolTip">
|
||||
<string><html><head/><body><p>Format (3 values): x y z<br/>Format (6 values): x y z roll pitch yaw<br/>Format (7 values): x y z qx qy qz qw<br/>Format (9 values, 3x3 rotation): r11 r12 r13 r21 r22 r23 r31 r32 r33<br/>Format (12 values, 3x4 transform): r11 r12 r13 tx r21 r22 r23 ty r31 r32 r33 tz</p><p>KITTI: /base_link to /scan = -0.27 0 0.08 0 0 0<br/>KITTI: /base_footprint to /scan = -0.27 0 1.75 0 0 0</p></body></html></string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Max time difference between data and corresponding pose for format with stamps. If delay is over this threshold, the pose won't be set on data loaded. This is used when odometry and/or ground truth files are set.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
<string>0 0 0 0 0 0</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="12" column="0">
|
||||
<widget class="QToolButton" name="toolButton_cameraImages_path_scans">
|
||||
<item row="15" column="1">
|
||||
<widget class="QSpinBox" name="spinBox_cameraImages_max_scan_pts">
|
||||
<property name="toolTip">
|
||||
<string><html><head/><body><p>KITTI: 130 000 points</p></body></html></string>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>99999999</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="9" column="0">
|
||||
<widget class="QToolButton" name="toolButton_cameraImages_gt">
|
||||
<property name="text">
|
||||
<string>...</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="1">
|
||||
<widget class="QLineEdit" name="lineEdit_cameraImages_timestamps">
|
||||
<item row="9" column="1">
|
||||
<widget class="QLineEdit" name="lineEdit_cameraImages_gt">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="2">
|
||||
<widget class="QLabel" name="label_255">
|
||||
<property name="text">
|
||||
<string>Use file names as timestamps. Format is epoch time. Example: "1305031102.175304.png".</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="16" column="1">
|
||||
<item row="18" column="1">
|
||||
<widget class="QLineEdit" name="lineEdit_cameraImages_imu_transform">
|
||||
<property name="toolTip">
|
||||
<string><html><head/><body><p>Format (3 values): x y z<br/>Format (6 values): x y z roll pitch yaw<br/>Format (7 values): x y z qx qy qz qw<br/>Format (9 values, 3x3 rotation): r11 r12 r13 r21 r22 r23 r31 r32 r33<br/>Format (12 values, 3x4 transform): r11 r12 r13 tx r21 r22 r23 ty r31 r32 r33 tz</p><p>EuRoC: /base_link to /imu = 0 0 1 0 -1 0 1 0 0</p></body></html></string>
|
||||
@@ -7911,10 +7632,10 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="8" column="2">
|
||||
<widget class="QLabel" name="label_288">
|
||||
<item row="18" column="2">
|
||||
<widget class="QLabel" name="label_464">
|
||||
<property name="text">
|
||||
<string>Ground truth file. Select the correct format below.</string>
|
||||
<string>Local transform from /base_link to /imu_link. Mouse over the box to show formats.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
@@ -7924,28 +7645,53 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="8" column="0">
|
||||
<widget class="QToolButton" name="toolButton_cameraImages_gt">
|
||||
<item row="19" column="2">
|
||||
<widget class="QLabel" name="label_465">
|
||||
<property name="text">
|
||||
<string>...</string>
|
||||
<string>IMU Rate. To synchronize capture rate with IMU timestamps, set to 0. This can be set a little over the actual IMU rate to keep up with camera capture rate if images are dropped by odometry.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="8" column="1">
|
||||
<widget class="QLineEdit" name="lineEdit_cameraImages_gt">
|
||||
<item row="1" column="2">
|
||||
<widget class="QLabel" name="label_605">
|
||||
<property name="text">
|
||||
<string>Load config file for each frame. For calibration, global calibration path above should be empty. Config files should be in the same directory than RGB frames and they should have the same name than the corresponding frame file. Currently supporting 3DScannerApp for iOS export config format (JSON, intrinsics, pose and stamp) and RTAB-Map calibration file format.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="7" column="1">
|
||||
<widget class="QLineEdit" name="lineEdit_cameraImages_odom">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="0">
|
||||
<widget class="QToolButton" name="toolButton_cameraImages_timestamps">
|
||||
<item row="4" column="2">
|
||||
<widget class="QLabel" name="label_256">
|
||||
<property name="text">
|
||||
<string>...</string>
|
||||
<string>Synchronize capture rate with timestamps.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="9" column="1">
|
||||
<item row="10" column="1">
|
||||
<widget class="QComboBox" name="comboBox_cameraImages_gtFormat">
|
||||
<property name="toolTip">
|
||||
<string><html><head/><body><p>Raw Format (3 values): x y z<br/>Raw Format (6 values): x y z roll pitch yaw<br/>Raw Format (7 values): x y z qx qy qz qw<br/>Raw Format (9 values, 3x3 rotation): r11 r12 r13 r21 r22 r23 r31 r32 r33<br/>Raw Format (12 values, 3x4 transform): r11 r12 r13 tx r21 r22 r23 ty r31 r32 r33 tz</p><p>RGBD-SLAM (stamp tx ty tz qx qy qz qw)<br/>RGBD-SLAM + ID (stamp id tx ty tz qx qy qz qw)<br/>KITTI (stamp + 12 values transform)<br/>TORO<br/>g2o<br/>NewCollege (stamp x y)<br/>Malaga Urban (GPS)<br/>St Lucia Stereo (INS)<br/>EuRoC MAV (stamp,tx,ty,tz,qw,qx,qy,qz...)</p></body></html></string>
|
||||
@@ -8020,72 +7766,6 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
|
||||
</item>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="2">
|
||||
<widget class="QLabel" name="label_605">
|
||||
<property name="text">
|
||||
<string>Load config file for each frame. For calibration, global calibration path above should be empty. Config files should be in the same directory than RGB frames and they should have the same name than the corresponding frame file. Currently supporting 3DScannerApp for iOS export config format (JSON, intrinsics, pose and stamp) and RTAB-Map calibration file format.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="0">
|
||||
<widget class="QToolButton" name="toolButton_cameraImages_odom">
|
||||
<property name="text">
|
||||
<string>...</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="7" column="2">
|
||||
<widget class="QLabel" name="label_349">
|
||||
<property name="text">
|
||||
<string>Odometry format. See tool tip for more details on formats. Note that formats without stamps should have the same number of values than the source images.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="1">
|
||||
<widget class="QLineEdit" name="lineEdit_cameraImages_odom">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="9" column="2">
|
||||
<widget class="QLabel" name="label_289">
|
||||
<property name="text">
|
||||
<string>Ground truth format. See tool tip for more details on formats. Note that formats without stamps should have the same number of values than the source images.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="2">
|
||||
<widget class="QLabel" name="label_251">
|
||||
<property name="text">
|
||||
<string>Timestamps file (*.txt). The file should contain one column. The number of rows should be the same than the number of images in the folder. Not used if "Use file names as timestamps" above is checked. </string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="2">
|
||||
<widget class="QLabel" name="label_265">
|
||||
<property name="text">
|
||||
@@ -8099,7 +7779,344 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="2">
|
||||
<widget class="QLabel" name="label_255">
|
||||
<property name="text">
|
||||
<string>Use file names as timestamps. Format is epoch time. Example: "1305031102.175304.png".</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="13" column="0">
|
||||
<widget class="QToolButton" name="toolButton_cameraImages_path_scans">
|
||||
<property name="text">
|
||||
<string>...</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="2">
|
||||
<widget class="QLabel" name="label_798">
|
||||
<property name="text">
|
||||
<string>Multi-camera mode: each image is a horizontal stack of N sub-camera images. One calibration file per sub-camera (named <imageBaseName>_<index>.yaml, index starting at 0) must be in the calibration folder. The number of cameras is auto-detected and a local_transform (rig extrinsics) is required in each file.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="17" column="0">
|
||||
<widget class="QToolButton" name="toolButton_cameraImages_path_imu">
|
||||
<property name="text">
|
||||
<string>...</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="7" column="2">
|
||||
<widget class="QLabel" name="label_348">
|
||||
<property name="text">
|
||||
<string>Odometry file. Select the correct format below.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="7" column="0">
|
||||
<widget class="QToolButton" name="toolButton_cameraImages_odom">
|
||||
<property name="text">
|
||||
<string>...</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="19" column="1">
|
||||
<widget class="QSpinBox" name="spinBox_cameraImages_max_imu_rate">
|
||||
<property name="toolTip">
|
||||
<string>EuRoC: 200 Hz -> 250 Hz</string>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>99999999</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="8" column="2">
|
||||
<widget class="QLabel" name="label_349">
|
||||
<property name="text">
|
||||
<string>Odometry format. See tool tip for more details on formats. Note that formats without stamps should have the same number of values than the source images.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="17" column="1">
|
||||
<widget class="QLineEdit" name="lineEdit_cameraImages_path_imu">
|
||||
<property name="toolTip">
|
||||
<string><html><head/><body><p>cvs format (comma split): &quot;stamp_sec,gyro_x,gyro_y,gyro_z,acc_x,acc_y,acc_z&quot;</p><p>EuRoC format: &quot;stamp_nanosec,gyro_x,gyro_y,gyro_z,acc_x,acc_y,acc_z&quot;</p></body></html></string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="10" column="2">
|
||||
<widget class="QLabel" name="label_289">
|
||||
<property name="text">
|
||||
<string>Ground truth format. See tool tip for more details on formats. Note that formats without stamps should have the same number of values than the source images.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="2">
|
||||
<widget class="QLabel" name="label_251">
|
||||
<property name="text">
|
||||
<string>Timestamps file (*.txt). The file should contain one column. The number of rows should be the same than the number of images in the folder. Not used if "Use file names as timestamps" above is checked. </string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="1">
|
||||
<widget class="QCheckBox" name="checkBox_cameraImages_timestamps">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="12" column="1">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_maxPoseTimeDiff">
|
||||
<property name="suffix">
|
||||
<string> s</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>4</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>9.990000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.010000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.020000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="1">
|
||||
<widget class="QLineEdit" name="lineEdit_cameraImages_timestamps">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="13" column="1">
|
||||
<widget class="QLineEdit" name="lineEdit_cameraImages_path_scans">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="1">
|
||||
<widget class="QCheckBox" name="checkBox_cameraImages_multiCameraCalibration">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="13" column="2">
|
||||
<widget class="QLabel" name="label_293">
|
||||
<property name="text">
|
||||
<string>Path to directory containing optional laser scans (*.pcd, *.ply, *.bin [KITTI format]). The directory should have the same size has the images directory. </string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<widget class="QCheckBox" name="checkBox_cameraImages_configForEachFrame">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="0">
|
||||
<widget class="QToolButton" name="toolButton_cameraImages_timestamps">
|
||||
<property name="text">
|
||||
<string>...</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="9" column="2">
|
||||
<widget class="QLabel" name="label_288">
|
||||
<property name="text">
|
||||
<string>Ground truth file. Select the correct format below.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="17" column="2">
|
||||
<widget class="QLabel" name="label_463">
|
||||
<property name="text">
|
||||
<string>Path to file containing optional IMU data (*.csv [EuRoC format]). Mouse over the box to show formats.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="11" column="1">
|
||||
<widget class="QLineEdit" name="lineEdit_cameraImages_gt_transform">
|
||||
<property name="toolTip">
|
||||
<string><html><head/><body><p>Format (3 values): x y z<br/>Format (6 values): x y z roll pitch yaw<br/>Format (7 values): x y z qx qy qz qw<br/>Format (9 values, 3x3 rotation): r11 r12 r13 r21 r22 r23 r31 r32 r33<br/>Format (12 values, 3x4 transform): r11 r12 r13 tx r21 r22 r23 ty r31 r32 r33 tz</p></body></html></string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>0 0 0 0 0 0</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="14" column="2">
|
||||
<widget class="QLabel" name="label_294">
|
||||
<property name="text">
|
||||
<string>Local transform from /base_link to /laser_link. Mouse over the box to show formats.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="8" column="1">
|
||||
<widget class="QComboBox" name="comboBox_cameraImages_odomFormat">
|
||||
<property name="toolTip">
|
||||
<string><html><head/><body><p>Raw Format (3 values): x y z<br/>Raw Format (6 values): x y z roll pitch yaw<br/>Raw Format (7 values): x y z qx qy qz qw<br/>Raw Format (9 values, 3x3 rotation): r11 r12 r13 r21 r22 r23 r31 r32 r33<br/>Raw Format (12 values, 3x4 transform): r11 r12 r13 tx r21 r22 r23 ty r31 r32 r33 tz</p><p>RGBD-SLAM (stamp tx ty tz qx qy qz qw)<br/>RGBD-SLAM + ID (stamp id tx ty tz qx qy qz qw)<br/>KITTI (stamp + 12 values transform)<br/>TORO<br/>g2o<br/>NewCollege (stamp x y)<br/>Malaga Urban (GPS)<br/>St Lucia Stereo (INS)<br/>EuRoC MAV (stamp,tx,ty,tz,qw,qx,qy,qz...)</p></body></html></string>
|
||||
</property>
|
||||
<property name="sizeAdjustPolicy">
|
||||
<enum>QComboBox::AdjustToContents</enum>
|
||||
</property>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>Raw</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>RGBD-SLAM (motion capture)</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>KITTI</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>TORO</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>g2o</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>NewCollege</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>Malaga Urban</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>St Lucia Stereo</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>Karlsruhe</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>EuRoC MAV</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>RGBD-SLAM</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>RGBD-SLAM + ID</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>rgbd_bonn</string>
|
||||
</property>
|
||||
</item>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="1">
|
||||
<widget class="QCheckBox" name="checkBox_cameraImages_syncTimeStamps">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="15" column="2">
|
||||
<widget class="QLabel" name="label_292">
|
||||
<property name="text">
|
||||
<string>Maximum laser scan points.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="11" column="2">
|
||||
<widget class="QLabel" name="label_794">
|
||||
<property name="text">
|
||||
<string>Local transform from /base_link to /gt_link. Mouse over the box to show formats. By default, we assume the ground truth matches the base frame, if the ground truth refers to another frame, set this to convert the poses in base frame.</string>
|
||||
@@ -8112,13 +8129,16 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="10" column="1">
|
||||
<widget class="QLineEdit" name="lineEdit_cameraImages_gt_transform">
|
||||
<property name="toolTip">
|
||||
<string><html><head/><body><p>Format (3 values): x y z<br/>Format (6 values): x y z roll pitch yaw<br/>Format (7 values): x y z qx qy qz qw<br/>Format (9 values, 3x3 rotation): r11 r12 r13 r21 r22 r23 r31 r32 r33<br/>Format (12 values, 3x4 transform): r11 r12 r13 tx r21 r22 r23 ty r31 r32 r33 tz</p></body></html></string>
|
||||
</property>
|
||||
<item row="12" column="2">
|
||||
<widget class="QLabel" name="label_443">
|
||||
<property name="text">
|
||||
<string>0 0 0 0 0 0</string>
|
||||
<string>Max time difference between data and corresponding pose for format with stamps. If delay is over this threshold, the pose won't be set on data loaded. This is used when odometry and/or ground truth files are set.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
|
||||
Reference in New Issue
Block a user