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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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guilib/src/CameraViewer.cpp
+61 -2
View File
@@ -31,6 +31,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/core/util3d.h>
#include <rtabmap/core/util2d.h>
#include <rtabmap/core/util3d_filtering.h>
#include <rtabmap/core/MarkerDetector.h>
#include <rtabmap/gui/ImageView.h>
#include <rtabmap/gui/CloudViewer.h>
#include <rtabmap/utilite/UCv2Qt.h>
@@ -52,7 +53,8 @@ CameraViewer::CameraViewer(QWidget * parent, const ParametersMap & parameters) :
imageView_(new ImageView(this)),
cloudView_(new CloudViewer(this)),
processingImages_(false),
parameters_(parameters)
parameters_(parameters),
markerDetector_(0)
{
qRegisterMetaType<rtabmap::SensorData>("rtabmap::SensorData");
@@ -79,6 +81,16 @@ CameraViewer::CameraViewer(QWidget * parent, const ParametersMap & parameters) :
showScanCheckbox_->setEnabled(false);
showScanCheckbox_->setChecked(true);
markerCheckbox_ = new QCheckBox("Detect markers", this);
#ifdef HAVE_OPENCV_ARUCO
markerCheckbox_->setEnabled(true);
markerDetector_ = new MarkerDetector(parameters);
#else
markerCheckbox_->setEnabled(false);
markerCheckbox_->setToolTip("Disabled: RTAB-Map is not built with OpenCV's aruco module.");
#endif
markerCheckbox_->setChecked(false);
imageSizeLabel_ = new QLabel(this);
QDialogButtonBox * buttonBox = new QDialogButtonBox(this);
@@ -91,6 +103,7 @@ CameraViewer::CameraViewer(QWidget * parent, const ParametersMap & parameters) :
layout2->addWidget(decimationSpin_);
layout2->addWidget(showCloudCheckbox_);
layout2->addWidget(showScanCheckbox_);
layout2->addWidget(markerCheckbox_);
layout2->addWidget(imageSizeLabel_);
layout2->addStretch(1);
layout2->addWidget(buttonBox);
@@ -107,6 +120,7 @@ CameraViewer::CameraViewer(QWidget * parent, const ParametersMap & parameters) :
CameraViewer::~CameraViewer()
{
this->unregisterFromEventsManager();
delete markerDetector_;
}
void CameraViewer::setDecimation(int value)
@@ -119,9 +133,32 @@ void CameraViewer::showImage(const rtabmap::SensorData & data)
processingImages_ = true;
QString sizes;
imageView_->setVisible(!data.imageRaw().empty() || !data.imageRaw().empty());
std::map<int, MarkerInfo> detections;
if(!data.imageRaw().empty())
{
imageView_->setImage(uCvMat2QImage(data.imageRaw()));
std::vector<CameraModel> models;
if(markerCheckbox_->isEnabled() && markerCheckbox_->isChecked())
{
models = data.cameraModels();
if(models.empty())
{
for(size_t i=0; i<data.stereoCameraModels().size(); ++i)
{
models.push_back(data.stereoCameraModels()[i].left());
}
}
}
if(!models.empty() && models[0].isValidForProjection())
{
cv::Mat imageWithDetections;
detections = markerDetector_->detect(data.imageRaw(), models, data.depthRaw(), std::map<int, float>(), &imageWithDetections);
imageView_->setImage(uCvMat2QImage(imageWithDetections));
}
else
{
imageView_->setImage(uCvMat2QImage(data.imageRaw()));
}
sizes.append(QString("Color=%1x%2").arg(data.imageRaw().cols).arg(data.imageRaw().rows));
}
if(!data.depthOrRightRaw().empty())
@@ -146,6 +183,28 @@ void CameraViewer::showImage(const rtabmap::SensorData & data)
showCloudCheckbox_->setEnabled(true);
cloudView_->addCloud("cloud", util3d::cloudFromSensorData(data, decimationSpin_->value()!=0?fabs(decimationSpin_->value()):1, 0, 0, 0, parameters_));
}
// Add landmarks to 3D Map view
#if PCL_VERSION_COMPARE(>=, 1, 7, 2)
cloudView_->removeAllCoordinates("landmark_");
#endif
cloudView_->removeAllTexts();
if(!detections.empty())
{
for(std::map<int, MarkerInfo>::const_iterator iter=detections.begin(); iter!=detections.end(); ++iter)
{
#if PCL_VERSION_COMPARE(>=, 1, 7, 2)
cloudView_->addOrUpdateCoordinate(uFormat("landmark_%d", iter->first), iter->second.pose(), iter->second.length(), false);
#endif
std::string num = uNumber2Str(iter->first);
cloudView_->addOrUpdateText(
std::string("landmark_str_") + num,
num,
iter->second.pose(),
0.05,
Qt::yellow);
}
}
}
}