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Charuco calibration + depthai calibration support (#1302)

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* In progress: adding charuco option

* DepthAI: added raw image publishing mode (added support rtabmap's calibration file). Calibration: working charuco board calibration (on opencv 4.5).

* fixed build with Qt<5.14

* Updated calibration options

* Removed depthai flashing delays

* depthai: fixed camera not detected as calibrated in Mono-depth mode. Calibration: added option to scale sampling factor.
This commit is contained in:
matlabbe
2024-06-30 17:11:37 -07:00
committed by GitHub
parent 2fbe31f7cb
commit f5a477f0f4
10 changed files with 1457 additions and 405 deletions
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23
guilib/include/rtabmap/gui/CalibrationDialog.h
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@@ -39,7 +39,10 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/utilite/UEventsHandler.h>
#include <opencv2/aruco/charuco.hpp>
class Ui_calibrationDialog;
class QTextStream;
namespace rtabmap {
@@ -60,6 +63,7 @@ public:
int boardWidth() const;
int boardHeight() const;
double squareSize() const;
double markerLength() const;
void saveSettings(QSettings & settings, const QString & group = "") const;
void loadSettings(QSettings & settings, const QString & group = "");
@@ -74,17 +78,24 @@ public:
void setStereoMode(bool stereo, const QString & leftSuffix = "left", const QString & rightSuffix = "right");
void setSavingDirectory(const QString & savingDirectory) {savingDirectory_ = savingDirectory;}
StereoCameraModel stereoCalibration(const CameraModel & left, const CameraModel & right, bool ignoreStereoRectification) const;
StereoCameraModel stereoCalibration(const CameraModel & left, const CameraModel & right, bool ignoreStereoRectification, QTextStream * logStream = 0) const;
public Q_SLOTS:
void setBoardType(int type);
void setBoardWidth(int width);
void setBoardHeight(int height);
void setSquareSize(double size);
void setMarkerDictionary(int dictionary);
void setMarkerLength(double length);
void setSubpixelRefinement(bool enabled);
void setSubpixelMaxError(double value);
void setCalibrationDataSaved(bool enabled);
void setExpectedStereoBaseline(double length);
void setMaxScale(int scale);
void processImages(const cv::Mat & imageLeft, const cv::Mat & imageRight, const QString & cameraName);
void generateBoard();
void calibrate();
void restart();
bool save();
@@ -98,6 +109,7 @@ protected:
private:
float getArea(const std::vector<cv::Point2f> & corners, const cv::Size & boardSize);
float getSkew(const std::vector<cv::Point2f> & fourCorners);
float getSkew(const std::vector<cv::Point2f> & corners, const cv::Size & boardSize);
// x -> [0, 1] (left, right)
@@ -120,10 +132,19 @@ private:
int currentId_;
QString timestamp_;
std::vector<cv::Point3f> chessboardPoints_;
std::vector<int> chessboardPointIds_;
cv::Ptr<cv::aruco::Dictionary> markerDictionary_;
cv::Ptr<cv::aruco::DetectorParameters> arucoDetectorParams_;
cv::Ptr<cv::aruco::CharucoBoard> charucoBoard_;
std::vector<std::vector<std::vector<cv::Point2f> > > imagePoints_;
std::vector<std::vector<std::vector<cv::Point3f> > > objectPoints_;
std::vector<std::vector<std::vector<float> > > imageParams_;
std::vector<std::vector<int > > imageIds_;
std::vector<std::vector<std::vector<cv::Point2f> > > stereoImagePoints_;
std::vector<std::vector<cv::Point3f> > stereoObjectPoints_;
std::vector<int> stereoImageIds_;
std::vector<cv::Size > imageSize_;
std::vector<rtabmap::CameraModel> models_;

3
guilib/include/rtabmap/gui/CameraViewer.h
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@@ -44,6 +44,7 @@ namespace rtabmap {
class ImageView;
class CloudViewer;
class MarkerDetector;
class RTABMAP_GUI_EXPORT CameraViewer : public QDialog, public UEventsHandler
{
@@ -70,6 +71,8 @@ private:
QLabel * imageSizeLabel_;
QCheckBox * showCloudCheckbox_;
QCheckBox * showScanCheckbox_;
QCheckBox * markerCheckbox_;
MarkerDetector * markerDetector_;
};
} /* namespace rtabmap */

4
guilib/include/rtabmap/gui/PreferencesDialog.h
View File

@@ -76,7 +76,8 @@ public:
kPanelCloudRendering = 2,
kPanelLogging = 4,
kPanelSource = 8,
kPanelAll = 15
kPanelCalibration = 16,
kPanelAll = 31
};
// TODO, tried to change the name of PANEL_FLAGS to PanelFlags... but signals/slots errors appeared...
Q_DECLARE_FLAGS(PANEL_FLAGS, PanelFlag);
@@ -347,6 +348,7 @@ private Q_SLOTS:
void makeObsoleteCloudRenderingPanel();
void makeObsoleteLoggingPanel();
void makeObsoleteSourcePanel();
void makeObsoleteCalibrationPanel();
void clicked(const QModelIndex & current, const QModelIndex & previous);
void addParameter(int value);
void addParameter(bool value);