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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/ui/calibrationDialog.ui
+427 -153
View File
@@ -6,34 +6,16 @@
<rect>
<x>0</x>
<y>0</y>
<width>1189</width>
<height>692</height>
<width>1100</width>
<height>828</height>
</rect>
</property>
<property name="windowTitle">
<string>Dialog</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_5">
<property name="spacing">
<number>0</number>
</property>
<property name="leftMargin">
<number>0</number>
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<property name="topMargin">
<number>0</number>
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<property name="bottomMargin">
<number>0</number>
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<item>
<layout class="QHBoxLayout" name="horizontalLayout_4" stretch="1,0">
<property name="sizeConstraint">
<enum>QLayout::SetMaximumSize</enum>
</property>
<item>
<layout class="QVBoxLayout" name="verticalLayout_4">
<property name="spacing">
@@ -155,9 +137,6 @@
<property name="horizontalScrollBarPolicy">
<enum>Qt::ScrollBarAlwaysOff</enum>
</property>
<property name="sizeAdjustPolicy">
<enum>QAbstractScrollArea::AdjustToContents</enum>
</property>
<property name="widgetResizable">
<bool>false</bool>
</property>
@@ -166,8 +145,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>387</width>
<height>928</height>
<width>428</width>
<height>1070</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout">
@@ -186,20 +165,274 @@
<item>
<widget class="QGroupBox" name="groupBox">
<property name="title">
<string>Chessboard</string>
<string>Configuration</string>
</property>
<layout class="QGridLayout" name="gridLayout_3">
<item row="8" column="0">
<widget class="QLabel" name="label_stereoBaseline_2">
<item row="0" column="0">
<widget class="QLabel" name="label_13">
<property name="toolTip">
<string>If &gt; 1, image is scaled down to help board detection on high definition images</string>
<string>Number of inner squares on the board</string>
</property>
<property name="text">
<string>Calibration Model</string>
<string>Board Type</string>
</property>
</widget>
</item>
<item row="0" column="2" colspan="3">
<layout class="QHBoxLayout" name="horizontalLayout_7">
<item>
<widget class="QComboBox" name="comboBox_board_type">
<item>
<property name="text">
<string>Chessboard</string>
</property>
</item>
<item>
<property name="text">
<string>ChArUco Board</string>
</property>
</item>
</widget>
</item>
<item>
<widget class="QToolButton" name="toolButton_generateBoard">
<property name="toolTip">
<string>Generate image of the board</string>
</property>
<property name="text">
<string>...</string>
</property>
<property name="autoRaise">
<bool>false</bool>
</property>
<property name="arrowType">
<enum>Qt::RightArrow</enum>
</property>
</widget>
</item>
</layout>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label_markerDictionary">
<property name="toolTip">
<string>Number of inner squares on the board</string>
</property>
<property name="text">
<string>Marker Dictionary</string>
</property>
</widget>
</item>
<item row="1" column="2" colspan="3">
<widget class="QComboBox" name="comboBox_marker_dictionary">
<property name="currentIndex">
<number>3</number>
</property>
<item>
<property name="text">
<string>4X4_50</string>
</property>
</item>
<item>
<property name="text">
<string>4X4_100</string>
</property>
</item>
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<property name="text">
<string>4X4_250</string>
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<item>
<property name="text">
<string>4X4_1000</string>
</property>
</item>
<item>
<property name="text">
<string>5X5_50</string>
</property>
</item>
<item>
<property name="text">
<string>5X5_100</string>
</property>
</item>
<item>
<property name="text">
<string>5X5_250</string>
</property>
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<item>
<property name="text">
<string>5X5_1000</string>
</property>
</item>
<item>
<property name="text">
<string>6X6_50</string>
</property>
</item>
<item>
<property name="text">
<string>6X6_100</string>
</property>
</item>
<item>
<property name="text">
<string>6X6_250</string>
</property>
</item>
<item>
<property name="text">
<string>6X6_1000</string>
</property>
</item>
<item>
<property name="text">
<string>7X7_50</string>
</property>
</item>
<item>
<property name="text">
<string>7X7_100</string>
</property>
</item>
<item>
<property name="text">
<string>7X7_250</string>
</property>
</item>
<item>
<property name="text">
<string>7X7_1000</string>
</property>
</item>
<item>
<property name="text">
<string>ARUCO_ORIGINAL</string>
</property>
</item>
<item>
<property name="text">
<string>APRILTAG_16h5</string>
</property>
</item>
<item>
<property name="text">
<string>APRILTAG_25h9</string>
</property>
</item>
<item>
<property name="text">
<string>APRILTAG_36h10</string>
</property>
</item>
<item>
<property name="text">
<string>APRILTAG_36h11</string>
</property>
</item>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="label_15">
<property name="toolTip">
<string/>
</property>
<property name="text">
<string>Square Size</string>
</property>
</widget>
</item>
<item row="2" column="2" colspan="3">
<layout class="QHBoxLayout" name="horizontalLayout">
<item>
<widget class="QSpinBox" name="spinBox_boardWidth">
<property name="keyboardTracking">
<bool>false</bool>
</property>
<property name="minimum">
<number>2</number>
</property>
<property name="value">
<number>8</number>
</property>
</widget>
</item>
<item>
<widget class="QSpinBox" name="spinBox_boardHeight">
<property name="keyboardTracking">
<bool>false</bool>
</property>
<property name="minimum">
<number>2</number>
</property>
<property name="value">
<number>6</number>
</property>
</widget>
</item>
</layout>
</item>
<item row="3" column="0">
<widget class="QLabel" name="label_12">
<property name="toolTip">
<string>Number of inner squares on the board</string>
</property>
<property name="text">
<string>Board Size</string>
</property>
</widget>
</item>
<item row="3" column="2" colspan="3">
<widget class="QDoubleSpinBox" name="doubleSpinBox_squareSize">
<property name="keyboardTracking">
<bool>false</bool>
</property>
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="value">
<double>0.033000000000000</double>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QLabel" name="label_markerLength">
<property name="toolTip">
<string/>
</property>
<property name="text">
<string>Marker Length</string>
</property>
</widget>
</item>
<item row="4" column="2" colspan="3">
<widget class="QDoubleSpinBox" name="doubleSpinBox_markerLength">
<property name="keyboardTracking">
<bool>false</bool>
</property>
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="value">
<double>0.024750000000000</double>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QLabel" name="label_22">
<property name="toolTip">
<string>If &gt; 1, image is scaled down to help board detection on high definition images</string>
@@ -209,7 +442,78 @@
</property>
</widget>
</item>
<item row="6" column="1">
<item row="5" column="2" colspan="2">
<widget class="QSpinBox" name="spinBox_maxScale">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>3</number>
</property>
<property name="value">
<number>1</number>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QLabel" name="label_stereoBaseline_4">
<property name="toolTip">
<string>If &gt; 1, image is scaled down to help board detection on high definition images</string>
</property>
<property name="text">
<string>Sub Pixel Refinement</string>
</property>
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</item>
<item row="6" column="2">
<widget class="QCheckBox" name="checkBox_subpixel_refinement">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="6" column="4">
<widget class="QDoubleSpinBox" name="doubleSpinBox_subpixel_error">
<property name="toolTip">
<string>0 means infinity (accept all)</string>
</property>
<property name="keyboardTracking">
<bool>false</bool>
</property>
<property name="suffix">
<string> pix</string>
</property>
<property name="decimals">
<number>2</number>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="maximum">
<double>9.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>1.000000000000000</double>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QLabel" name="label_stereoBaseline">
<property name="toolTip">
<string>If &gt; 1, image is scaled down to help board detection on high definition images</string>
</property>
<property name="text">
<string>Stereo Expected Baseline</string>
</property>
</widget>
</item>
<item row="7" column="2" colspan="3">
<widget class="QDoubleSpinBox" name="doubleSpinBox_stereoBaseline">
<property name="toolTip">
<string>If you know the exact baseline of the stereo cameras, you can set it here in case the square size is not super accurate.</string>
@@ -228,40 +532,17 @@
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_20">
<property name="toolTip">
<string>Number of inner squares on the board</string>
</property>
<property name="text">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;&lt;a href=&quot;https://github.com/introlab/rtabmap/raw/master/data/check-108.pdf&quot;&gt;&lt;span style=&quot; text-decoration: underline; color:#0000ff;&quot;&gt;Sample8x6&lt;/span&gt;&lt;/a&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="openExternalLinks">
<bool>true</bool>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QLabel" name="label_stereoBaseline">
<item row="8" column="0">
<widget class="QLabel" name="label_stereoBaseline_2">
<property name="toolTip">
<string>If &gt; 1, image is scaled down to help board detection on high definition images</string>
</property>
<property name="text">
<string>Stereo Expected Baseline</string>
<string>Calibration Model</string>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="label_15">
<property name="toolTip">
<string/>
</property>
<property name="text">
<string>Square Size</string>
</property>
</widget>
</item>
<item row="8" column="1">
<item row="8" column="2" colspan="3">
<widget class="QComboBox" name="comboBox_calib_model">
<property name="currentIndex">
<number>1</number>
@@ -283,16 +564,6 @@
</item>
</widget>
</item>
<item row="0" column="0">
<widget class="QLabel" name="label_21">
<property name="toolTip">
<string/>
</property>
<property name="text">
<string>Download</string>
</property>
</widget>
</item>
<item row="9" column="0">
<widget class="QLabel" name="label_stereoBaseline_3">
<property name="toolTip">
@@ -303,76 +574,23 @@
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QDoubleSpinBox" name="doubleSpinBox_squareSize">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>4</number>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="value">
<double>0.033000000000000</double>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label_12">
<property name="toolTip">
<string>Number of inner squares on the board</string>
</property>
<property name="text">
<string>Board Size</string>
</property>
</widget>
</item>
<item row="1" column="1">
<layout class="QHBoxLayout" name="horizontalLayout">
<item>
<widget class="QSpinBox" name="spinBox_boardWidth">
<property name="minimum">
<number>2</number>
</property>
<property name="value">
<number>8</number>
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</item>
<item>
<widget class="QSpinBox" name="spinBox_boardHeight">
<property name="minimum">
<number>2</number>
</property>
<property name="value">
<number>6</number>
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</widget>
</item>
</layout>
</item>
<item row="3" column="1">
<widget class="QSpinBox" name="spinBox_maxScale">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>3</number>
</property>
<property name="value">
<number>1</number>
</property>
</widget>
</item>
<item row="9" column="1">
<item row="9" column="2">
<widget class="QCheckBox" name="checkBox_saveCalibrationData">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="6" column="3">
<widget class="QLabel" name="label_stereoBaseline_5">
<property name="toolTip">
<string>If &gt; 1, image is scaled down to help board detection on high definition images</string>
</property>
<property name="text">
<string>Max Error</string>
</property>
</widget>
</item>
</layout>
</widget>
</item>
@@ -390,22 +608,15 @@
</property>
<layout class="QVBoxLayout" name="verticalLayout_6">
<item>
<layout class="QGridLayout" name="gridLayout" columnstretch="0,0,0">
<item row="5" column="0">
<widget class="QLabel" name="label_4">
<property name="text">
<string>Skew</string>
</property>
</widget>
</item>
<item row="0" column="0">
<layout class="QHBoxLayout" name="horizontalLayout_6">
<item>
<widget class="QLabel" name="label_19">
<property name="text">
<string>Serial</string>
</property>
</widget>
</item>
<item row="0" column="1">
<item>
<widget class="QLabel" name="label_serial">
<property name="text">
<string>0</string>
@@ -415,6 +626,49 @@
</property>
</widget>
</item>
</layout>
</item>
<item>
<layout class="QGridLayout" name="gridLayout">
<item row="0" column="1">
<layout class="QHBoxLayout" name="horizontalLayout_8">
<item>
<widget class="QCheckBox" name="checkBox_keep_all">
<property name="text">
<string>Keep all</string>
</property>
</widget>
</item>
<item>
<widget class="QDoubleSpinBox" name="doubleSpinBox_sample_factor">
<property name="toolTip">
<string>Sample factor to adjust how often a new sample is added. The larger the factor is, less samples are generated.</string>
</property>
<property name="keyboardTracking">
<bool>false</bool>
</property>
<property name="suffix">
<string>x</string>
</property>
<property name="decimals">
<number>1</number>
</property>
<property name="minimum">
<double>0.100000000000000</double>
</property>
<property name="maximum">
<double>9.900000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
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<property name="value">
<double>1.000000000000000</double>
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</widget>
</item>
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</item>
<item row="0" column="2">
<widget class="QCheckBox" name="checkBox_switchImages">
<property name="text">
@@ -533,6 +787,13 @@
</property>
</widget>
</item>
<item row="5" column="0">
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<property name="text">
<string>Skew</string>
</property>
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</item>
<item row="5" column="1">
<widget class="QProgressBar" name="progressBar_skew">
<property name="value">
@@ -703,8 +964,11 @@
</item>
<item row="7" column="0">
<widget class="QLabel" name="label_baseline_name">
<property name="toolTip">
<string>Stereo</string>
</property>
<property name="text">
<string>baseline</string>
<string>Baseline/Err</string>
</property>
</widget>
</item>
@@ -776,16 +1040,6 @@
</property>
</widget>
</item>
<item row="7" column="2">
<widget class="QLabel" name="label_baseline">
<property name="text">
<string>0</string>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="11" column="2">
<widget class="QLineEdit" name="lineEdit_P_2">
<property name="readOnly">
@@ -900,6 +1154,26 @@
</property>
</widget>
</item>
<item row="7" column="1">
<widget class="QLabel" name="label_baseline">
<property name="text">
<string>0</string>
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<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</widget>
</item>
<item row="7" column="2">
<widget class="QLabel" name="label_stereoError">
<property name="text">
<string>0</string>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
</layout>
</widget>
</item>