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Updated Create Calibration dialog

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matlabbe
2017-05-26 11:46:02 -04:00
parent d795bea543
commit 6d6c5e2e17
2 changed files with 15 additions and 13 deletions
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guilib/src/CreateSimpleCalibrationDialog.cpp
+13 -11
View File
@@ -60,6 +60,7 @@ CreateSimpleCalibrationDialog::CreateSimpleCalibrationDialog(
connect(ui_->comboBox_advanced, SIGNAL(currentIndexChanged(int)), ui_->stackedWidget, SLOT(setCurrentIndex(int))); connect(ui_->comboBox_advanced, SIGNAL(currentIndexChanged(int)), ui_->stackedWidget, SLOT(setCurrentIndex(int)));
connect(ui_->checkBox_stereo, SIGNAL(stateChanged(int)), this, SLOT(updateStereoView())); connect(ui_->checkBox_stereo, SIGNAL(stateChanged(int)), this, SLOT(updateStereoView()));
connect(ui_->comboBox_advanced, SIGNAL(currentIndexChanged(int)), this, SLOT(updateStereoView()));
connect(ui_->checkBox_stereo, SIGNAL(stateChanged(int)), this, SLOT(updateSaveStatus())); connect(ui_->checkBox_stereo, SIGNAL(stateChanged(int)), this, SLOT(updateSaveStatus()));
connect(ui_->comboBox_advanced, SIGNAL(currentIndexChanged(int)), this, SLOT(updateSaveStatus())); connect(ui_->comboBox_advanced, SIGNAL(currentIndexChanged(int)), this, SLOT(updateSaveStatus()));
@@ -107,7 +108,7 @@ void CreateSimpleCalibrationDialog::updateStereoView()
ui_->doubleSpinBox_cx_r->setVisible(checked); ui_->doubleSpinBox_cx_r->setVisible(checked);
ui_->doubleSpinBox_cy_r->setVisible(checked); ui_->doubleSpinBox_cy_r->setVisible(checked);
ui_->lineEdit_D_r->setVisible(checked); ui_->lineEdit_D_r->setVisible(checked);
ui_->groupBox_stereo_extrinsics->setVisible(checked); ui_->groupBox_stereo_extrinsics->setVisible(ui_->comboBox_advanced->currentIndex() == 1 && checked);
ui_->label_left->setVisible(checked); ui_->label_left->setVisible(checked);
} }
@@ -140,12 +141,13 @@ void CreateSimpleCalibrationDialog::updateSaveStatus()
(!ui_->checkBox_stereo->isChecked() || !ui_->lineEdit_RT->text().isEmpty())) (!ui_->checkBox_stereo->isChecked() || !ui_->lineEdit_RT->text().isEmpty()))
{ {
//advanced //advanced
QStringList distorsionsStrListL = ui_->lineEdit_D_l->text().trimmed().split(' '); QStringList distorsionsStrListL = ui_->lineEdit_D_l->text().remove('[').remove(']').replace(',',' ').replace(';',' ').trimmed().split(' ');
QStringList distorsionsStrListR = ui_->lineEdit_D_r->text().trimmed().split(' '); QStringList distorsionsStrListR = ui_->lineEdit_D_r->text().remove('[').remove(']').replace(',',' ').replace(';',' ').trimmed().split(' ');
std::string RT = ui_->lineEdit_RT->text().remove('[').remove(']').replace(',',' ').replace(';',' ').trimmed().toStdString();
if((distorsionsStrListL.size() == 4 || distorsionsStrListL.size() == 5 || distorsionsStrListL.size() == 8) && if((distorsionsStrListL.size() == 4 || distorsionsStrListL.size() == 5 || distorsionsStrListL.size() == 8) &&
(!ui_->checkBox_stereo->isChecked() || distorsionsStrListL.size() == 4 || distorsionsStrListL.size() == 5 || distorsionsStrListL.size() == 8) && (!ui_->checkBox_stereo->isChecked() || (distorsionsStrListR.size() == 4 || distorsionsStrListR.size() == 5 || distorsionsStrListR.size() == 8)) &&
(!ui_->checkBox_stereo->isChecked() || Transform::canParseString(ui_->lineEdit_RT->text().trimmed().toStdString()))) (!ui_->checkBox_stereo->isChecked() || (!RT.empty() && Transform::canParseString(RT))))
{ {
valid = true; valid = true;
} }
@@ -190,7 +192,7 @@ void CreateSimpleCalibrationDialog::saveCalibration()
cv::Mat P = cv::Mat::zeros(3, 4, CV_64FC1); cv::Mat P = cv::Mat::zeros(3, 4, CV_64FC1);
K.copyTo(cv::Mat(P, cv::Range(0,3), cv::Range(0,3))); K.copyTo(cv::Mat(P, cv::Range(0,3), cv::Range(0,3)));
QStringList distorsionCoeffs = ui_->lineEdit_D_l->text().trimmed().split(' '); QStringList distorsionCoeffs = ui_->lineEdit_D_l->text().remove('[').remove(']').replace(',',' ').replace(';',' ').trimmed().split(' ');
UASSERT(distorsionCoeffs.size() == 4 || distorsionCoeffs.size() == 5 || distorsionCoeffs.size() == 8); UASSERT(distorsionCoeffs.size() == 4 || distorsionCoeffs.size() == 5 || distorsionCoeffs.size() == 8);
cv::Mat D = cv::Mat::zeros(1, distorsionCoeffs.size(), CV_64FC1); cv::Mat D = cv::Mat::zeros(1, distorsionCoeffs.size(), CV_64FC1);
bool ok; bool ok;
@@ -199,7 +201,7 @@ void CreateSimpleCalibrationDialog::saveCalibration()
D.at<double>(i) = distorsionCoeffs.at(i).toDouble(&ok); D.at<double>(i) = distorsionCoeffs.at(i).toDouble(&ok);
if(!ok) if(!ok)
{ {
QMessageBox::warning(this, tr("Save"), tr("Error parsing left distorsion coefficients \"%1\".").arg(ui_->lineEdit_D_l->text())); QMessageBox::warning(this, tr("Save"), tr("Error parsing left distortion coefficients \"%1\".").arg(ui_->lineEdit_D_l->text()));
return; return;
} }
} }
@@ -238,7 +240,7 @@ void CreateSimpleCalibrationDialog::saveCalibration()
cv::Mat P = cv::Mat::zeros(3, 4, CV_64FC1); cv::Mat P = cv::Mat::zeros(3, 4, CV_64FC1);
K.copyTo(cv::Mat(P, cv::Range(0,3), cv::Range(0,3))); K.copyTo(cv::Mat(P, cv::Range(0,3), cv::Range(0,3)));
QStringList distorsionCoeffs = ui_->lineEdit_D_r->text().trimmed().split(' '); QStringList distorsionCoeffs = ui_->lineEdit_D_r->text().remove('[').remove(']').replace(',',' ').replace(';',' ').trimmed().split(' ');
UASSERT(distorsionCoeffs.size() == 4 || distorsionCoeffs.size() == 5 || distorsionCoeffs.size() == 8); UASSERT(distorsionCoeffs.size() == 4 || distorsionCoeffs.size() == 5 || distorsionCoeffs.size() == 8);
cv::Mat D = cv::Mat::zeros(1, distorsionCoeffs.size(), CV_64FC1); cv::Mat D = cv::Mat::zeros(1, distorsionCoeffs.size(), CV_64FC1);
bool ok; bool ok;
@@ -247,7 +249,7 @@ void CreateSimpleCalibrationDialog::saveCalibration()
D.at<double>(i) = distorsionCoeffs.at(i).toDouble(&ok); D.at<double>(i) = distorsionCoeffs.at(i).toDouble(&ok);
if(!ok) if(!ok)
{ {
QMessageBox::warning(this, tr("Save"), tr("Error parsing right distorsion coefficients \"%1\".").arg(ui_->lineEdit_D_l->text())); QMessageBox::warning(this, tr("Save"), tr("Error parsing right distortion coefficients \"%1\".").arg(ui_->lineEdit_D_r->text()));
return; return;
} }
} }
@@ -255,8 +257,8 @@ void CreateSimpleCalibrationDialog::saveCalibration()
modelRight = CameraModel(name.toStdString(), cv::Size(width,height), K, D, R, P); modelRight = CameraModel(name.toStdString(), cv::Size(width,height), K, D, R, P);
UASSERT(modelRight.isValidForRectification()); UASSERT(modelRight.isValidForRectification());
UASSERT(Transform::canParseString(ui_->lineEdit_RT->text().trimmed().toStdString())); UASSERT(Transform::canParseString(ui_->lineEdit_RT->text().remove('[').remove(']').replace(',',' ').replace(';',' ').trimmed().toStdString()));
stereoModel = StereoCameraModel(name.toStdString(), modelLeft, modelRight, Transform::fromString(ui_->lineEdit_RT->text().toStdString())); stereoModel = StereoCameraModel(name.toStdString(), modelLeft, modelRight, Transform::fromString(ui_->lineEdit_RT->text().remove('[').remove(']').replace(',',' ').replace(';',' ').trimmed().toStdString()));
UASSERT(stereoModel.isValidForRectification()); UASSERT(stereoModel.isValidForRectification());
} }
guilib/src/ui/createSimpleCalibrationDialog.ui
+2 -2
View File
@@ -350,14 +350,14 @@
<item row="0" column="0" rowspan="2" colspan="2"> <item row="0" column="0" rowspan="2" colspan="2">
<widget class="QLineEdit" name="lineEdit_RT"> <widget class="QLineEdit" name="lineEdit_RT">
<property name="toolTip"> <property name="toolTip">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Format (3 values): x y z&lt;br/&gt;Format (6 values): x y z roll pitch yaw&lt;br/&gt;Format (7 values): x y z qx qy qz qw&lt;br/&gt;Format (9 values, 3x3 rotation): r11 r12 r13 r21 r22 r23 r31 r32 r33&lt;br/&gt;Format (12 values, 3x4 transform): r11 r12 r13 tx r21 r22 r23 ty r31 r32 r33 tz&lt;/p&gt;&lt;p&gt;KITTI: /base_link to /gray_camera = 0 0 1 -1 0 0 0 -1 0&lt;br/&gt;KITTI: /base_link to /color_camera = 0 0 1 0 -1 0 0 -0.06 0 -1 0 0&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string> <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Format (3 values): x y z&lt;br/&gt;Format (6 values): x y z roll pitch yaw&lt;br/&gt;Format (7 values): x y z qx qy qz qw&lt;br/&gt;Format (9 values, 3x3 rotation): r11 r12 r13 r21 r22 r23 r31 r32 r33&lt;br/&gt;Format (12 values, 3x4 transform): r11 r12 r13 tx r21 r22 r23 ty r31 r32 r33 tz&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property> </property>
</widget> </widget>
</item> </item>
<item row="0" column="2"> <item row="0" column="2">
<widget class="QLabel" name="label_6"> <widget class="QLabel" name="label_6">
<property name="text"> <property name="text">
<string>Transform between the cameras</string> <string>Transform between the cameras used for stereo rectification.</string>
</property> </property>
<property name="wordWrap"> <property name="wordWrap">
<bool>true</bool> <bool>true</bool>