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-Updated CameraModel and StereoCameraModel so that a stereo camera model can be initialization from know intrinsics and extrinsics

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-CreateSimpleCalibrationDialog updated to create mono/stereo calibration files with advanced option (setting intrinsics of each camera + extrinsics between them). Rectification R and new camera P matrices are then automatically computed.
-Added GeodeticCoords class for convience conversion between GPS values (latitude/longitude/altitude) to local coordinate (ENU).
-Added support of Malaga Urban and St Lucia ground truths.
-CameraImages: added option to debayer images. Timestamps file: added support of "sec millisec" format.
-Added UException class: exceptions are sent instead of exiting the application on UASSERT or UFATAL.
This commit is contained in:
matlabbe
2016-01-19 17:43:33 -05:00
parent 72e66605e4
commit 7bfd76e747
29 changed files with 1739 additions and 702 deletions
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guilib/src/CalibrationDialog.cpp
+17 -11
View File
@@ -75,6 +75,7 @@ CalibrationDialog::CalibrationDialog(bool stereo, const QString & savingDirector
connect(ui_->pushButton_restart, SIGNAL(clicked()), this, SLOT(restart()));
connect(ui_->pushButton_save, SIGNAL(clicked()), this, SLOT(save()));
connect(ui_->checkBox_switchImages, SIGNAL(stateChanged(int)), this, SLOT(restart()));
connect(ui_->checkBox_unlock, SIGNAL(stateChanged(int)), SLOT(unlock()));
connect(ui_->spinBox_boardWidth, SIGNAL(valueChanged(int)), this, SLOT(setBoardWidth(int)));
connect(ui_->spinBox_boardHeight, SIGNAL(valueChanged(int)), this, SLOT(setBoardHeight(int)));
@@ -506,27 +507,27 @@ void CalibrationDialog::processImages(const cv::Mat & imageLeft, const cv::Mat &
if(!stereo_ && readyToCalibrate[0])
{
ui_->pushButton_calibrate->setEnabled(true);
unlock();
}
else if(stereo_ && readyToCalibrate[0] && readyToCalibrate[1] && stereoImagePoints_[0].size())
{
ui_->pushButton_calibrate->setEnabled(true);
unlock();
}
if(ui_->radioButton_rectified->isChecked())
{
if(models_[0].isValid())
if(models_[0].isValidForRectification())
{
images[0] = models_[0].rectifyImage(images[0]);
}
if(models_[1].isValid())
if(models_[1].isValidForRectification())
{
images[1] = models_[1].rectifyImage(images[1]);
}
}
else if(ui_->radioButton_stereoRectified->isChecked() &&
(stereoModel_.left().isValid() &&
stereoModel_.right().isValid()&&
(stereoModel_.left().isValidForRectification() &&
stereoModel_.right().isValidForRectification()&&
(!ui_->label_baseline->isVisible() || stereoModel_.baseline() > 0.0)))
{
images[0] = stereoModel_.left().rectifyImage(images[0]);
@@ -576,7 +577,7 @@ void CalibrationDialog::restart()
minIrs_[1] = 0x0000;
maxIrs_[1] = 0x7fff;
ui_->pushButton_calibrate->setEnabled(false);
ui_->pushButton_calibrate->setEnabled(ui_->checkBox_unlock->isChecked());
ui_->pushButton_save->setEnabled(false);
ui_->radioButton_raw->setChecked(true);
ui_->radioButton_rectified->setEnabled(false);
@@ -617,6 +618,11 @@ void CalibrationDialog::restart()
ui_->lineEdit_P_2->clear();
}
void CalibrationDialog::unlock()
{
ui_->pushButton_calibrate->setEnabled(true);
}
void CalibrationDialog::calibrate()
{
processingData_ = true;
@@ -845,17 +851,17 @@ void CalibrationDialog::calibrate()
}
if(stereo_ &&
stereoModel_.left().isValid() &&
stereoModel_.right().isValid()&&
(!ui_->label_baseline->isVisible() || stereoModel_.baseline() > 0.0))
stereoModel_.isValidForRectification())
{
stereoModel_.initRectificationMap();
ui_->radioButton_rectified->setEnabled(true);
ui_->radioButton_stereoRectified->setEnabled(true);
ui_->radioButton_stereoRectified->setChecked(true);
ui_->pushButton_save->setEnabled(true);
}
else if(models_[0].isValid())
else if(models_[0].isValidForRectification())
{
models_[0].initRectificationMap();
ui_->radioButton_rectified->setEnabled(true);
ui_->radioButton_rectified->setChecked(true);
ui_->pushButton_save->setEnabled(!stereo_);