mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-06 09:47:46 +08:00
-Updated CameraModel and StereoCameraModel so that a stereo camera model can be initialization from know intrinsics and extrinsics
-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
@@ -46,16 +46,49 @@ CreateSimpleCalibrationDialog::CreateSimpleCalibrationDialog(
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savingFolder_(savingFolder),
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cameraName_(cameraName)
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{
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if(cameraName_.isEmpty())
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{
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cameraName_ = "calib";
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}
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ui_ = new Ui_createSimpleCalibrationDialog();
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ui_->setupUi(this);
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connect(ui_->buttonBox->button(QDialogButtonBox::Save), SIGNAL(clicked()), this, SLOT(saveCalibration()));
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connect(ui_->buttonBox, SIGNAL(rejected()), this, SLOT(reject()));
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connect(ui_->comboBox_advanced, SIGNAL(currentIndexChanged(int)), ui_->stackedWidget, SLOT(setCurrentIndex(int)));
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connect(ui_->checkBox_stereo, SIGNAL(stateChanged(int)), this, SLOT(updateStereoView()));
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connect(ui_->checkBox_stereo, SIGNAL(stateChanged(int)), this, SLOT(updateSaveStatus()));
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connect(ui_->comboBox_advanced, SIGNAL(currentIndexChanged(int)), this, SLOT(updateSaveStatus()));
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connect(ui_->doubleSpinBox_fx, SIGNAL(valueChanged(double)), this, SLOT(updateSaveStatus()));
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connect(ui_->doubleSpinBox_fy, SIGNAL(valueChanged(double)), this, SLOT(updateSaveStatus()));
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connect(ui_->doubleSpinBox_fx_l, SIGNAL(valueChanged(double)), this, SLOT(updateSaveStatus()));
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connect(ui_->doubleSpinBox_fy_l, SIGNAL(valueChanged(double)), this, SLOT(updateSaveStatus()));
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connect(ui_->doubleSpinBox_cx_l, SIGNAL(valueChanged(double)), this, SLOT(updateSaveStatus()));
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connect(ui_->doubleSpinBox_cy_l, SIGNAL(valueChanged(double)), this, SLOT(updateSaveStatus()));
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connect(ui_->lineEdit_D_l, SIGNAL(textEdited(const QString &)), this, SLOT(updateSaveStatus()));
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connect(ui_->doubleSpinBox_fx_r, SIGNAL(valueChanged(double)), this, SLOT(updateSaveStatus()));
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connect(ui_->doubleSpinBox_fy_r, SIGNAL(valueChanged(double)), this, SLOT(updateSaveStatus()));
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connect(ui_->doubleSpinBox_cx_r, SIGNAL(valueChanged(double)), this, SLOT(updateSaveStatus()));
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connect(ui_->doubleSpinBox_cy_r, SIGNAL(valueChanged(double)), this, SLOT(updateSaveStatus()));
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connect(ui_->lineEdit_D_r, SIGNAL(textEdited(const QString &)), this, SLOT(updateSaveStatus()));
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connect(ui_->spinBox_width, SIGNAL(valueChanged(int)), this, SLOT(updateSaveStatus()));
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connect(ui_->spinBox_height, SIGNAL(valueChanged(int)), this, SLOT(updateSaveStatus()));
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connect(ui_->doubleSpinBox_baseline, SIGNAL(valueChanged(double)), this, SLOT(updateSaveStatus()));
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connect(ui_->lineEdit_RT, SIGNAL(textEdited(const QString &)), this, SLOT(updateSaveStatus()));
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ui_->stackedWidget->setCurrentIndex(ui_->comboBox_advanced->currentIndex());
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ui_->buttonBox->button(QDialogButtonBox::Save)->setEnabled(false);
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updateStereoView();
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}
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CreateSimpleCalibrationDialog::~CreateSimpleCalibrationDialog()
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@@ -63,29 +96,189 @@ CreateSimpleCalibrationDialog::~CreateSimpleCalibrationDialog()
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delete ui_;
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}
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void CreateSimpleCalibrationDialog::updateStereoView()
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{
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bool checked = ui_->checkBox_stereo->isChecked();
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ui_->doubleSpinBox_baseline->setVisible(checked);
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ui_->label_baseline->setVisible(checked);
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ui_->label_right->setVisible(checked);
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ui_->doubleSpinBox_fx_r->setVisible(checked);
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ui_->doubleSpinBox_fy_r->setVisible(checked);
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ui_->doubleSpinBox_cx_r->setVisible(checked);
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ui_->doubleSpinBox_cy_r->setVisible(checked);
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ui_->lineEdit_D_r->setVisible(checked);
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ui_->groupBox_stereo_extrinsics->setVisible(checked);
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ui_->label_left->setVisible(checked);
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}
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void CreateSimpleCalibrationDialog::updateSaveStatus()
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{
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ui_->buttonBox->button(QDialogButtonBox::Save)->setEnabled(ui_->doubleSpinBox_fx->value() > 0.0 && ui_->doubleSpinBox_fy->value() > 0.0);
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bool valid = false;
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if(ui_->comboBox_advanced->currentIndex() == 0 &&
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ui_->doubleSpinBox_fx->value() > 0.0 &&
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ui_->doubleSpinBox_fy->value() > 0.0 &&
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(!ui_->checkBox_stereo->isChecked() || ui_->doubleSpinBox_baseline->value() != 0.0))
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{
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// basic
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valid = true;
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}
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else if(ui_->comboBox_advanced->currentIndex() == 1 &&
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ui_->doubleSpinBox_fx_l->value() > 0.0 &&
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ui_->doubleSpinBox_fy_l->value() > 0.0 &&
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ui_->doubleSpinBox_cx_l->value() > 0.0 &&
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ui_->doubleSpinBox_cy_l->value() > 0.0 &&
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(!ui_->checkBox_stereo->isChecked() || ui_->doubleSpinBox_fx_r->value() > 0.0) &&
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(!ui_->checkBox_stereo->isChecked() || ui_->doubleSpinBox_fy_r->value() > 0.0) &&
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(!ui_->checkBox_stereo->isChecked() || ui_->doubleSpinBox_cx_r->value() > 0.0) &&
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(!ui_->checkBox_stereo->isChecked() || ui_->doubleSpinBox_cy_r->value() > 0.0) &&
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ui_->spinBox_width->value() > 0 &&
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ui_->spinBox_height->value() > 0 &&
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!ui_->lineEdit_D_l->text().isEmpty() &&
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(!ui_->checkBox_stereo->isChecked() || !ui_->lineEdit_D_r->text().isEmpty()) &&
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(!ui_->checkBox_stereo->isChecked() || !ui_->lineEdit_RT->text().isEmpty()))
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{
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//advanced
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QStringList distorsionsStrListL = ui_->lineEdit_D_l->text().trimmed().split(' ');
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QStringList distorsionsStrListR = ui_->lineEdit_D_r->text().trimmed().split(' ');
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if((distorsionsStrListL.size() == 4 || distorsionsStrListL.size() == 5 || distorsionsStrListL.size() == 8) &&
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(!ui_->checkBox_stereo->isChecked() || distorsionsStrListL.size() == 4 || distorsionsStrListL.size() == 5 || distorsionsStrListL.size() == 8) &&
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(!ui_->checkBox_stereo->isChecked() || Transform::canParseString(ui_->lineEdit_RT->text().trimmed().toStdString())))
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{
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valid = true;
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}
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}
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ui_->buttonBox->button(QDialogButtonBox::Save)->setEnabled(valid);
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}
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void CreateSimpleCalibrationDialog::saveCalibration()
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{
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if(ui_->doubleSpinBox_baseline->value()==0)
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QString filePath = QFileDialog::getSaveFileName(this, tr("Save"), savingFolder_+"/"+cameraName_+".yaml", "*.yaml");
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QString name = QFileInfo(filePath).baseName();
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QString dir = QFileInfo(filePath).absoluteDir().absolutePath();
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if(!filePath.isEmpty())
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{
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QString filePath = QFileDialog::getSaveFileName(this, tr("Save"), savingFolder_+"/"+cameraName_+".yaml", "*.yaml");
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QString name = QFileInfo(filePath).baseName();
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QString dir = QFileInfo(filePath).absoluteDir().absolutePath();
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if(!filePath.isEmpty())
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cameraName_ = name;
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CameraModel modelLeft;
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float width = ui_->spinBox_width->value();
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float height = ui_->spinBox_height->value();
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if(ui_->comboBox_advanced->currentIndex() == 0)
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{
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cameraName_ = name;
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CameraModel model(
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//basic
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modelLeft = CameraModel(
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name.toStdString(),
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ui_->doubleSpinBox_fx->value(),
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ui_->doubleSpinBox_fy->value(),
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ui_->doubleSpinBox_cx->value(),
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ui_->doubleSpinBox_cy->value());
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UASSERT(model.isValid());
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if(model.save(dir.toStdString()))
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UASSERT(modelLeft.isValid());
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}
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else
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{
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//advanced
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cv::Mat K = cv::Mat::eye(3, 3, CV_64FC1);
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K.at<double>(0,0) = ui_->doubleSpinBox_fx_l->value();
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K.at<double>(1,1) = ui_->doubleSpinBox_fy_l->value();
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K.at<double>(0,2) = ui_->doubleSpinBox_cx_l->value();
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K.at<double>(1,2) = ui_->doubleSpinBox_cy_l->value();
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cv::Mat R = cv::Mat::eye(3, 3, CV_64FC1);
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cv::Mat P = cv::Mat::zeros(3, 4, CV_64FC1);
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K.copyTo(cv::Mat(P, cv::Range(0,3), cv::Range(0,3)));
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QStringList distorsionCoeffs = ui_->lineEdit_D_l->text().trimmed().split(' ');
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UASSERT(distorsionCoeffs.size() == 4 || distorsionCoeffs.size() == 5 || distorsionCoeffs.size() == 8);
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cv::Mat D = cv::Mat::zeros(1, distorsionCoeffs.size(), CV_64FC1);
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bool ok;
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for(int i=0; i<distorsionCoeffs.size(); ++i)
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{
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D.at<double>(i) = distorsionCoeffs.at(i).toDouble(&ok);
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if(!ok)
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{
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QMessageBox::warning(this, tr("Save"), tr("Error parsing left distorsion coefficients \"%1\".").arg(ui_->lineEdit_D_l->text()));
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return;
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}
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}
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modelLeft = CameraModel(name.toStdString(), cv::Size(width,height), K, D, R, P);
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UASSERT(modelLeft.isValidForRectification());
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}
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if(ui_->checkBox_stereo->isChecked())
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{
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StereoCameraModel stereoModel;
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if(ui_->comboBox_advanced->currentIndex() == 0)
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{
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CameraModel modelRight(
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name.toStdString(),
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ui_->doubleSpinBox_fx->value(),
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ui_->doubleSpinBox_fy->value(),
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ui_->doubleSpinBox_cx->value(),
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ui_->doubleSpinBox_cy->value(),
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Transform::getIdentity(),
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ui_->doubleSpinBox_baseline->value()*-ui_->doubleSpinBox_fx->value());
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UASSERT(modelRight.isValid());
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stereoModel = StereoCameraModel(name.toStdString(), modelLeft, modelRight, Transform());
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}
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else if(ui_->comboBox_advanced->currentIndex() == 1)
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{
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CameraModel modelRight;
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cv::Mat K = cv::Mat::eye(3, 3, CV_64FC1);
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K.at<double>(0,0) = ui_->doubleSpinBox_fx_r->value();
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K.at<double>(1,1) = ui_->doubleSpinBox_fy_r->value();
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K.at<double>(0,2) = ui_->doubleSpinBox_cx_r->value();
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K.at<double>(1,2) = ui_->doubleSpinBox_cy_r->value();
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cv::Mat R = cv::Mat::eye(3, 3, CV_64FC1);
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cv::Mat P = cv::Mat::zeros(3, 4, CV_64FC1);
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K.copyTo(cv::Mat(P, cv::Range(0,3), cv::Range(0,3)));
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QStringList distorsionCoeffs = ui_->lineEdit_D_r->text().trimmed().split(' ');
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UASSERT(distorsionCoeffs.size() == 4 || distorsionCoeffs.size() == 5 || distorsionCoeffs.size() == 8);
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cv::Mat D = cv::Mat::zeros(1, distorsionCoeffs.size(), CV_64FC1);
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bool ok;
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for(int i=0; i<distorsionCoeffs.size(); ++i)
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{
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D.at<double>(i) = distorsionCoeffs.at(i).toDouble(&ok);
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if(!ok)
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{
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QMessageBox::warning(this, tr("Save"), tr("Error parsing right distorsion coefficients \"%1\".").arg(ui_->lineEdit_D_l->text()));
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return;
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}
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}
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modelRight = CameraModel(name.toStdString(), cv::Size(width,height), K, D, R, P);
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UASSERT(modelRight.isValidForRectification());
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UASSERT(Transform::canParseString(ui_->lineEdit_RT->text().trimmed().toStdString()));
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stereoModel = StereoCameraModel(name.toStdString(), modelLeft, modelRight, Transform::fromString(ui_->lineEdit_RT->text().toStdString()));
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}
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std::string base = (dir+QDir::separator()+name).toStdString();
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std::string leftPath = base+"_left.yaml";
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std::string rightPath = base+"_right.yaml";
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if(stereoModel.save(dir.toStdString(), ui_->comboBox_advanced->currentIndex() != 1))
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{
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if(ui_->comboBox_advanced->currentIndex() == 0)
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{
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QMessageBox::information(this, tr("Save"), tr("Calibration files saved:\n \"%1\"\n \"%2\".").
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arg(leftPath.c_str()).arg(rightPath.c_str()));
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}
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else
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{
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std::string posePath = base+"_pose.yaml";
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QMessageBox::information(this, tr("Save"), tr("Calibration files saved:\n \"%1\"\n \"%2\"\n \"%3\".").
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arg(leftPath.c_str()).arg(rightPath.c_str()).arg(posePath.c_str()));
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}
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this->accept();
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}
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else
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{
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QMessageBox::warning(this, tr("Save"), tr("Error saving \"%1\" and \"%2\"").arg(leftPath.c_str()).arg(rightPath.c_str()));
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}
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}
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else
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{
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if(modelLeft.save(dir.toStdString()))
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{
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QMessageBox::information(this, tr("Save"), tr("Calibration file saved to \"%1\".").arg(filePath));
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this->accept();
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@@ -96,42 +289,6 @@ void CreateSimpleCalibrationDialog::saveCalibration()
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}
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}
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}
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else
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{
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QString filePath = QFileDialog::getSaveFileName(this, tr("Save"), savingFolder_ + "/" + cameraName_, "*.yaml");
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QString name = QFileInfo(filePath).baseName();
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QString dir = QFileInfo(filePath).absoluteDir().absolutePath();
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if(!name.isEmpty())
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{
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cameraName_ = name;
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std::string base = (dir+QDir::separator()+name).toStdString();
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std::string leftPath = base+"_left.yaml";
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std::string rightPath = base+"_right.yaml";
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std::string posePath = base+"_pose.yaml";
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StereoCameraModel model(
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name.toStdString(),
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ui_->doubleSpinBox_fx->value(),
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ui_->doubleSpinBox_fy->value(),
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ui_->doubleSpinBox_cx->value(),
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ui_->doubleSpinBox_cy->value(),
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ui_->doubleSpinBox_baseline->value());
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UASSERT(model.left().isValid() &&
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model.right().isValid()&&
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model.baseline() > 0.0);
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if(model.save(dir.toStdString(), true))
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{
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QMessageBox::information(this, tr("Save"), tr("Calibration files saved:\n \"%1\"\n \"%2\"\n \"%3\".").
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arg(leftPath.c_str()).arg(rightPath.c_str()).arg(posePath.c_str()));
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this->accept();
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}
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else
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{
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QMessageBox::warning(this, tr("Save"), tr("Error saving \"%1\" and \"%2\"").arg(leftPath.c_str()).arg(rightPath.c_str()));
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}
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}
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}
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}
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}
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