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Added rtabmap-camera tool. Added Export button in Calibration dialog to

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save calibration to yaml file (same format as ROS).
This commit is contained in:
Mathieu Labbe
2015-01-19 16:14:49 -05:00
parent e7ae2c5e31
commit fdf7f69783
10 changed files with 458 additions and 20 deletions
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33
guilib/src/CalibrationDialog.cpp
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@@ -33,6 +33,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <opencv2/calib3d/calib3d.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <QtGui/QFileDialog>
#include <QtGui/QMessageBox>
#include <rtabmap/core/CameraEvent.h>
#include <rtabmap/gui/UCv2Qt.h>
@@ -57,6 +60,7 @@ CalibrationDialog::CalibrationDialog(QWidget * parent) :
connect(ui_->pushButton_calibrate, SIGNAL(clicked()), this, SLOT(calibrate()));
connect(ui_->pushButton_restart, SIGNAL(clicked()), this, SLOT(restart()));
connect(ui_->pushButton_save, SIGNAL(clicked()), this, SLOT(save()));
connect(ui_->spinBox_boardWidth, SIGNAL(valueChanged(int)), this, SLOT(setBoardWidth(int)));
connect(ui_->spinBox_boardHeight, SIGNAL(valueChanged(int)), this, SLOT(setBoardHeight(int)));
@@ -254,6 +258,7 @@ void CalibrationDialog::restart()
ui_->pushButton_calibrate->setEnabled(false);
ui_->buttonBox->button(QDialogButtonBox::Ok)->setEnabled(false);
ui_->checkBox_rectified->setEnabled(false);
//ui_->pushButton_save->setEnabled(false);
ui_->progressBar_count->reset();
ui_->progressBar_count->setMaximum(COUNT_MIN);
@@ -343,6 +348,34 @@ void CalibrationDialog::calibrate()
ui_->checkBox_rectified->setChecked(true);
ui_->buttonBox->button(QDialogButtonBox::Ok)->setEnabled(true);
ui_->pushButton_save->setEnabled(true);
}
}
void CalibrationDialog::save()
{
QString fileName = QFileDialog::getSaveFileName(this, tr("Export"), "calibration.yaml", "*.yaml");
if(!fileName.isEmpty())
{
cv::FileStorage fs(fileName.toStdString(), cv::FileStorage::WRITE);
// export in ROS calibration format
fs << "camera_matrix" << "{";
fs << "rows" << cameraMatrix_.rows;
fs << "cols" << cameraMatrix_.cols;
fs << "data" << std::vector<double>((double*)cameraMatrix_.data, ((double*)cameraMatrix_.data)+(cameraMatrix_.rows*cameraMatrix_.cols));
fs << "}";
fs << "distortion_coefficients" << "{";
fs << "rows" << distCoeffs_.rows;
fs << "cols" << distCoeffs_.cols;
fs << "data" << std::vector<double>((double*)distCoeffs_.data, ((double*)distCoeffs_.data)+(distCoeffs_.rows*distCoeffs_.cols));
fs << "}";
fs.release();
QMessageBox::information(this, tr("Export"), tr("Calibration file saved to \"%1\".").arg(fileName));
UINFO("Saved \"%s\"!", fileName.toStdString().c_str());
}
}

10
guilib/src/ui/calibrationDialog.ui
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@@ -199,6 +199,9 @@
<string>Camera intrinsic parameters</string>
</property>
<layout class="QFormLayout" name="formLayout_2">
<property name="fieldGrowthPolicy">
<enum>QFormLayout::AllNonFixedFieldsGrow</enum>
</property>
<item row="0" column="0">
<widget class="QLabel" name="label_8">
<property name="text">
@@ -328,6 +331,13 @@
</layout>
</widget>
</item>
<item>
<widget class="QPushButton" name="pushButton_save">
<property name="text">
<string>Export calibration (*.yaml)</string>
</property>
</widget>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout">
<item>