Added StereoVideo source input (side-by-side video)

corelib/include/rtabmap/core/CameraModel.h

@@ -80,6 +80,7 @@ public:
 	const cv::Mat & R() const {return R_;} //rectification matrix
 	const cv::Mat & P() const {return P_;} //projection matrix
 
+	void setLocalTransform(const Transform & transform) {localTransform_ = transform;}
 	const Transform & localTransform() const {return localTransform_;}
 
 	const cv::Size & imageSize() const {return imageSize_;}
@@ -157,6 +158,8 @@ public:
 
 	void scale(double scale);
 
+	void setLocalTransform(const Transform & transform) {left_.setLocalTransform(transform);}
+	const Transform & localTransform() const {return left_.localTransform();}
 	Transform stereoTransform() const;
 
 	const CameraModel & left() const {return left_;}

corelib/include/rtabmap/core/CameraRGB.h

@@ -52,6 +52,7 @@ public:
 	CameraImages(const std::string & path,
 			int startAt = 1,
 			bool refreshDir = false,
+			bool rectifyImages = false,
 			float imageRate = 0,
 			const Transform & localTransform = Transform::getIdentity());
 	virtual ~CameraImages();
@@ -71,9 +72,13 @@ private:
 	// If the list of files in the directory is refreshed
 	// on each call of takeImage()
 	bool _refreshDir;
+	bool _rectifyImages;
 	int _count;
 	UDirectory * _dir;
 	std::string _lastFileName;
+
+	std::string _cameraName;
+	CameraModel _model;
 };
 
 
@@ -93,6 +98,7 @@ public:
 			float imageRate = 0,
 			const Transform & localTransform = Transform::getIdentity());
 	CameraVideo(const std::string & filePath,
+			bool rectifyImages = false,
 			float imageRate = 0,
 			const Transform & localTransform = Transform::getIdentity());
 	virtual ~CameraVideo();
@@ -109,6 +115,7 @@ protected:
 private:
 	// File type
 	std::string _filePath;
+	bool _rectifyImages;
 
 	cv::VideoCapture _capture;
 	Source _src;

corelib/include/rtabmap/core/CameraStereo.h

@@ -107,6 +107,7 @@ public:
 	CameraStereoImages(
 			const std::string & path,
 			const std::string & timestampsPath = "", // "times.txt"
+			bool rectifyImages = false,
 			float imageRate=0.0f,
 			const Transform & localTransform = Transform::getIdentity());
 	virtual ~CameraStereoImages();
@@ -122,9 +123,44 @@ private:
 	CameraImages * camera_;
 	CameraImages * camera2_;
 	std::string timestampsPath_;
+	bool rectifyImages_;
 	std::list<double> stamps_;
 	StereoCameraModel stereoModel_;
 	std::string cameraName_;
 };
 
+
+/////////////////////////
+// CameraStereoVideo
+/////////////////////////
+class CameraImages;
+class RTABMAP_EXP CameraStereoVideo :
+	public Camera
+{
+public:
+	static bool available();
+
+public:
+	CameraStereoVideo(
+			const std::string & path,
+			bool rectifyImages = false,
+			float imageRate=0.0f,
+			const Transform & localTransform = Transform::getIdentity());
+	virtual ~CameraStereoVideo();
+
+	virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
+	virtual bool isCalibrated() const;
+	virtual std::string getSerial() const;
+
+protected:
+	virtual SensorData captureImage();
+
+private:
+	cv::VideoCapture capture_;
+	std::string path_;
+	bool rectifyImages_;
+	StereoCameraModel stereoModel_;
+	std::string cameraName_;
+};
+
 } // namespace rtabmap

corelib/src/CameraRGB.cpp

@@ -50,12 +50,14 @@ namespace rtabmap
 CameraImages::CameraImages(const std::string & path,
 					 int startAt,
 					 bool refreshDir,
+					 bool rectifyImages,
 					 float imageRate,
 					 const Transform & localTransform) :
 	Camera(imageRate, localTransform),
 	_path(path),
 	_startAt(startAt),
 	_refreshDir(refreshDir),
+	_rectifyImages(rectifyImages),
 	_count(0),
 	_dir(0)
 {
@@ -72,6 +74,8 @@ CameraImages::~CameraImages(void)
 
 bool CameraImages::init(const std::string & calibrationFolder, const std::string & cameraName)
 {
+	_cameraName = cameraName;
+
 	UDEBUG("");
 	if(_dir)
 	{
@@ -98,17 +102,43 @@ bool CameraImages::init(const std::string & calibrationFolder, const std::string
 	{
 		UINFO("path=%s images=%d", _path.c_str(), (int)this->imagesCount());
 	}
+
+	// look for calibration files
+	if(!calibrationFolder.empty() && !cameraName.empty())
+	{
+		if(!_model.load(calibrationFolder + "/" + cameraName + ".yaml"))
+		{
+			UWARN("Missing calibration files for camera \"%s\" in \"%s\" folder, you should calibrate the camera!",
+					cameraName.c_str(), calibrationFolder.c_str());
+		}
+		else
+		{
+			UINFO("Camera parameters: fx=%f fy=%f cx=%f cy=%f",
+					_model.fx(),
+					_model.fy(),
+					_model.cx(),
+					_model.cy());
+		}
+	}
+
+	_model.setLocalTransform(this->getLocalTransform());
+	if(_rectifyImages && !_model.isValid())
+	{
+		UERROR("Parameter \"rectifyImages\" is set, but no camera model is loaded or valid.");
+		return false;
+	}
+
 	return _dir->isValid();
 }
 
 bool CameraImages::isCalibrated() const
 {
-	return false;
+	return _model.isValid();
 }
 
 std::string CameraImages::getSerial() const
 {
-	return "";
+	return _cameraName;
 }
 
 unsigned int CameraImages::imagesCount() const
@@ -189,13 +219,18 @@ SensorData CameraImages::captureImage()
 				}
 			}
 		}
+
+		if(!img.empty() && _model.isValid() && _rectifyImages)
+		{
+			img = _model.rectifyImage(img);
+		}
 	}
 	else
 	{
 		UWARN("Directory is not set, camera must be initialized.");
 	}
 
-	return SensorData(img);
+	return SensorData(img, _model, this->getNextSeqID(), UTimer::now());
 }
 
 
@@ -203,21 +238,26 @@ SensorData CameraImages::captureImage()
 /////////////////////////
 // CameraVideo
 /////////////////////////
-CameraVideo::CameraVideo(int usbDevice,
+CameraVideo::CameraVideo(
-						 float imageRate,
+		int usbDevice,
-						 const Transform & localTransform) :
+		float imageRate,
+		const Transform & localTransform) :
 	Camera(imageRate, localTransform),
+	_rectifyImages(false),
 	_src(kUsbDevice),
 	_usbDevice(usbDevice)
 {
 
 }
 
-CameraVideo::CameraVideo(const std::string & filePath,
+CameraVideo::CameraVideo(
-						   float imageRate,
+		const std::string & filePath,
-						   const Transform & localTransform) :
+		bool rectifyImages,
+		float imageRate,
+		const Transform & localTransform) :
 	Camera(imageRate, localTransform),
 	_filePath(filePath),
+	_rectifyImages(rectifyImages),
 	_src(kVideoFile),
 	_usbDevice(0)
 {
@@ -274,13 +314,19 @@ bool CameraVideo::init(const std::string & calibrationFolder, const std::string
 			}
 			else
 			{
-				UINFO("Camera parameters: fx=%f cx=%f cy=%f cy=%f",
+				UINFO("Camera parameters: fx=%f fy=%f cx=%f cy=%f",
 						_model.fx(),
+						_model.fy(),
 						_model.cx(),
-						_model.cy(),
 						_model.cy());
 			}
 		}
+		_model.setLocalTransform(this->getLocalTransform());
+		if(_rectifyImages && !_model.isValid())
+		{
+			UERROR("Parameter \"rectifyImages\" is set, but no camera model is loaded or valid.");
+			return false;
+		}
 	}
 	return true;
 }
@@ -302,7 +348,7 @@ SensorData CameraVideo::captureImage()
 	{
 		if(_capture.read(img))
 		{
-			if(_model.isValid())
+			if(_model.isValid() && (_src != kVideoFile || _rectifyImages))
 			{
 				img = _model.rectifyImage(img);
 			}
@@ -322,7 +368,7 @@ SensorData CameraVideo::captureImage()
 		ULOGGER_WARN("The camera must be initialized before requesting an image.");
 	}
 
-	return SensorData(img);
+	return SensorData(img, _model, this->getNextSeqID(), UTimer::now());
 }
 
 } // namespace rtabmap

corelib/src/CameraStereo.cpp

@@ -733,12 +733,14 @@ bool CameraStereoImages::available()
 CameraStereoImages::CameraStereoImages(
 		const std::string & path,
 		const std::string & timestampsPath,
+		bool rectifyImages,
 		float imageRate,
 		const Transform & localTransform) :
 		Camera(imageRate, localTransform),
 		camera_(0),
 		camera2_(0),
-		timestampsPath_(timestampsPath)
+		timestampsPath_(timestampsPath),
+		rectifyImages_(rectifyImages)
 {
 	std::vector<std::string> paths = uListToVector(uSplit(path, uStrContains(path, ":")?':':';'));
 	if(paths.size() >= 1)
@@ -771,10 +773,9 @@ CameraStereoImages::~CameraStereoImages()
 bool CameraStereoImages::init(const std::string & calibrationFolder, const std::string & cameraName)
 {
 	// look for calibration files
-	cameraName_.clear();
+	cameraName_ = cameraName;
 	if(!calibrationFolder.empty() && !cameraName.empty())
 	{
-		cameraName_ = cameraName;
 		if(!stereoModel_.load(calibrationFolder, cameraName))
 		{
 			UWARN("Missing calibration files for camera \"%s\" in \"%s\" folder, you should calibrate the camera!",
@@ -789,6 +790,13 @@ bool CameraStereoImages::init(const std::string & calibrationFolder, const std::
 					stereoModel_.baseline());
 		}
 	}
+	stereoModel_.setLocalTransform(this->getLocalTransform());
+	if(rectifyImages_ && !stereoModel_.isValid())
+	{
+		UERROR("Parameter \"rectifyImages\" is set, but no stereo model is loaded or valid.");
+		return false;
+	}
+
 	bool success = false;
 	if(camera_ == 0)
 	{
@@ -893,20 +901,148 @@ SensorData CameraStereoImages::captureImage()
 			if(!right.imageRaw().empty())
 			{
 				// Rectification
-				//left = stereoModel_.left().rectifyImage(left);
+				cv::Mat leftImage = left.imageRaw();
-				//right = stereoModel_.right().rectifyImage(right);
+				cv::Mat rightImage = right.imageRaw();
-				StereoCameraModel model(
+				if(rightImage.type() != CV_8UC1)
-						stereoModel_.left().fx(), //fx
+				{
-						stereoModel_.left().fy(), //fy
+					cv::Mat tmp;
-						stereoModel_.left().cx(), //cx
+					cv::cvtColor(rightImage, tmp, CV_BGR2GRAY);
-						stereoModel_.left().cy(), //cy
+					rightImage = tmp;
-						stereoModel_.baseline(),
+				}
-						this->getLocalTransform());
+				if(rectifyImages_ && stereoModel_.left().isValid() && stereoModel_.right().isValid())
-				data = SensorData(left.imageRaw(), right.imageRaw(), model, this->getNextSeqID(), stamp);
+				{
+					leftImage = stereoModel_.left().rectifyImage(leftImage);
+					rightImage = stereoModel_.right().rectifyImage(rightImage);
+				}
+				data = SensorData(leftImage, rightImage, stereoModel_, this->getNextSeqID(), stamp);
 			}
 		}
 	}
 	return data;
 }
 
+//
+// CameraStereoVideo
+//
+bool CameraStereoVideo::available()
+{
+	return true;
+}
+
+CameraStereoVideo::CameraStereoVideo(
+		const std::string & path,
+		bool rectifyImages,
+		float imageRate,
+		const Transform & localTransform) :
+		Camera(imageRate, localTransform),
+		path_(path),
+		rectifyImages_(rectifyImages)
+{
+}
+
+CameraStereoVideo::~CameraStereoVideo()
+{
+	capture_.release();
+}
+
+bool CameraStereoVideo::init(const std::string & calibrationFolder, const std::string & cameraName)
+{
+	if(capture_.isOpened())
+	{
+		capture_.release();
+	}
+	ULOGGER_DEBUG("Camera: filename=\"%s\"", path_.c_str());
+	capture_.open(path_.c_str());
+
+	if(!capture_.isOpened())
+	{
+		ULOGGER_ERROR("Camera: Failed to create a capture object!");
+		capture_.release();
+		return false;
+	}
+	else
+	{
+		// look for calibration files
+		cameraName_ = cameraName;
+		if(!calibrationFolder.empty() && !cameraName.empty())
+		{
+			if(!stereoModel_.load(calibrationFolder, cameraName))
+			{
+				UWARN("Missing calibration files for camera \"%s\" in \"%s\" folder, you should calibrate the camera!",
+						cameraName.c_str(), calibrationFolder.c_str());
+			}
+			else
+			{
+				UINFO("Stereo parameters: fx=%f cx=%f cy=%f baseline=%f",
+						stereoModel_.left().fx(),
+						stereoModel_.left().cx(),
+						stereoModel_.left().cy(),
+						stereoModel_.baseline());
+			}
+		}
+		stereoModel_.setLocalTransform(this->getLocalTransform());
+		if(rectifyImages_ && !stereoModel_.isValid())
+		{
+			UERROR("Parameter \"rectifyImages\" is set, but no stereo model is loaded or valid.");
+			return false;
+		}
+	}
+	return true;
+}
+
+bool CameraStereoVideo::isCalibrated() const
+{
+	return stereoModel_.isValid();
+}
+
+std::string CameraStereoVideo::getSerial() const
+{
+	return cameraName_;
+}
+
+SensorData CameraStereoVideo::captureImage()
+{
+	SensorData data;
+
+	cv::Mat img;
+	if(capture_.isOpened())
+	{
+		if(capture_.read(img))
+		{
+			// Rectification
+			cv::Mat leftImage(img, cv::Rect( 0, 0, img.size().width/2, img.size().height ));
+			cv::Mat rightImage(img, cv::Rect( img.size().width/2, 0, img.size().width/2, img.size().height ));
+			bool rightCvt = false;
+			if(rightImage.type() != CV_8UC1)
+			{
+				cv::Mat tmp;
+				cv::cvtColor(rightImage, tmp, CV_BGR2GRAY);
+				rightImage = tmp;
+				rightCvt = true;
+			}
+			if(rectifyImages_ && stereoModel_.left().isValid() && stereoModel_.right().isValid())
+			{
+				leftImage = stereoModel_.left().rectifyImage(leftImage);
+				rightImage = stereoModel_.right().rectifyImage(rightImage);
+			}
+			else
+			{
+				leftImage = leftImage.clone();
+				if(!rightCvt)
+				{
+					rightImage = rightImage.clone();
+				}
+			}
+			data = SensorData(leftImage, rightImage, stereoModel_, this->getNextSeqID(), UTimer::now());
+		}
+	}
+	else
+	{
+		ULOGGER_WARN("The camera must be initialized before requesting an image.");
+	}
+
+	return data;
+}
+
+
 } // namespace rtabmap

guilib/include/rtabmap/gui/PreferencesDialog.h

@@ -93,6 +93,7 @@ public:
 		kSrcDC1394         = 100,
 		kSrcFlyCapture2    = 101,
 		kSrcStereoImages   = 102,
+		kSrcStereoVideo    = 103,
 
 		kSrcRGB            = 200,
 		kSrcUsbDevice      = 200,
@@ -184,7 +185,9 @@ public:
 	int getSourceImagesSuffixIndex() const;	//Images group
 	int getSourceImagesStartPos() const;	//Images group
 	bool getSourceImagesRefreshDir() const;	//Images group
+	bool getSourceImagesRectify() const; //Images group
 	QString getSourceVideoPath() const;	//Video group
+	bool getSourceVideoRectify() const; //Video group
 	QString getSourceDatabasePath() const; //Database group
 	bool getSourceDatabaseOdometryIgnored() const; //Database group
 	bool getSourceDatabaseGoalDelayIgnored() const; //Database group
@@ -196,6 +199,8 @@ public:
 	int getSourceOpenni2Gain() const;   //Openni group
 	bool getSourceOpenni2Mirroring() const; //Openni group
 	int getSourceFreenect2Format() const; //Openni group
+	bool getSourceStereoImagesRectify() const;
+	bool getSourceStereoVideoRectify() const;
 	bool isSourceRGBDColorOnly() const;
 	Transform getSourceLocalTransform() const;    //Openni group
 	Camera * createCamera(bool useRawImages = false); // return camera should be deleted if not null
@@ -261,6 +266,7 @@ private slots:
 	void selectSourceStereoImagesPath();
 	void selectSourceImagesPath();
 	void selectSourceVideoPath();
+	void selectSourceStereoVideoPath();
 	void selectSourceOniPath();
 	void selectSourceOni2Path();
 	void updateSourceGrpVisibility();

guilib/src/PreferencesDialog.cpp

@@ -333,9 +333,11 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
 	connect(_ui->source_images_lineEdit_path, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
 	connect(_ui->source_images_spinBox_startPos, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
 	connect(_ui->source_images_refreshDir, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
+	connect(_ui->checkBox_rgbImages_rectify, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
 	//video group
 	connect(_ui->source_video_toolButton_selectSource, SIGNAL(clicked()), this, SLOT(selectSourceVideoPath()));
 	connect(_ui->source_video_lineEdit_path, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
+	connect(_ui->checkBox_rgbVideo_rectify, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
 	//database group
 	connect(_ui->source_database_toolButton_selectSource, SIGNAL(clicked()), this, SLOT(selectSourceDatabase()));
 	connect(_ui->toolButton_dbViewer, SIGNAL(clicked()), this, SLOT(openDatabaseViewer()));
@@ -363,6 +365,10 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
 	connect(_ui->lineEdit_cameraStereoImages_timestamps, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
 	connect(_ui->toolButton_cameraStereoImages_path, SIGNAL(clicked()), this, SLOT(selectSourceStereoImagesPath()));
 	connect(_ui->lineEdit_cameraStereoImages_path, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
+	connect(_ui->checkBox_stereoImages_rectify, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
+	connect(_ui->toolButton_cameraStereoVideo_path, SIGNAL(clicked()), this, SLOT(selectSourceStereoVideoPath()));
+	connect(_ui->lineEdit_cameraStereoVideo_path, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
+	connect(_ui->checkBox_stereoVideo_rectify, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
 	connect(_ui->checkbox_rgbd_colorOnly, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
 	connect(_ui->pushButton_calibrate, SIGNAL(clicked()), this, SLOT(calibrate()));
 	connect(_ui->toolButton_openniOniPath, SIGNAL(clicked()), this, SLOT(selectSourceOniPath()));
@@ -1036,6 +1042,8 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
 		_ui->source_comboBox_image_type->setCurrentIndex(kSrcUsbDevice-kSrcUsbDevice);
 		_ui->source_images_spinBox_startPos->setValue(1);
 		_ui->source_images_refreshDir->setChecked(false);
+		_ui->checkBox_rgbImages_rectify->setChecked(false);
+		_ui->checkBox_rgbVideo_rectify->setChecked(false);
 
 		_ui->source_checkBox_ignoreOdometry->setChecked(false);
 		_ui->source_checkBox_ignoreGoalDelay->setChecked(false);
@@ -1084,6 +1092,9 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
 		_ui->source_comboBox_image_type->setCurrentIndex(kSrcDC1394-kSrcDC1394);
 		_ui->lineEdit_cameraStereoImages_timestamps->setText("");
 		_ui->lineEdit_cameraStereoImages_path->setText("");
+		_ui->checkBox_stereoImages_rectify->setChecked(false);
+		_ui->lineEdit_cameraStereoVideo_path->setText("");
+		_ui->checkBox_stereoVideo_rectify->setChecked(false);
 	}
 	else if(groupBox->objectName() == _ui->groupBox_rtabmap_basic0->objectName())
 	{
@@ -1348,16 +1359,24 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
 	settings.beginGroup("StereoImages");
 	_ui->lineEdit_cameraStereoImages_timestamps->setText(settings.value("stamps", _ui->lineEdit_cameraStereoImages_timestamps->text()).toString());
 	_ui->lineEdit_cameraStereoImages_path->setText(settings.value("path", _ui->lineEdit_cameraStereoImages_path->text()).toString());
+	_ui->checkBox_stereoImages_rectify->setChecked(settings.value("rectify",_ui->checkBox_stereoImages_rectify->isChecked()).toBool());
 	settings.endGroup(); // StereoImages
 
+	settings.beginGroup("StereoVideo");
+	_ui->lineEdit_cameraStereoVideo_path->setText(settings.value("path", _ui->lineEdit_cameraStereoVideo_path->text()).toString());
+	_ui->checkBox_stereoVideo_rectify->setChecked(settings.value("rectify",_ui->checkBox_stereoVideo_rectify->isChecked()).toBool());
+	settings.endGroup(); // StereoVideo
+
 	settings.beginGroup("Images");
 	_ui->source_images_lineEdit_path->setText(settings.value("path", _ui->source_images_lineEdit_path->text()).toString());
 	_ui->source_images_spinBox_startPos->setValue(settings.value("startPos",_ui->source_images_spinBox_startPos->value()).toInt());
 	_ui->source_images_refreshDir->setChecked(settings.value("refreshDir",_ui->source_images_refreshDir->isChecked()).toBool());
+	_ui->checkBox_rgbImages_rectify->setChecked(settings.value("rectify",_ui->checkBox_rgbImages_rectify->isChecked()).toBool());
 	settings.endGroup(); // images
 
 	settings.beginGroup("Video");
 	_ui->source_video_lineEdit_path->setText(settings.value("path", _ui->source_video_lineEdit_path->text()).toString());
+	_ui->checkBox_rgbVideo_rectify->setChecked(settings.value("rectify",_ui->checkBox_rgbVideo_rectify->isChecked()).toBool());
 	settings.endGroup(); // video
 
 	settings.beginGroup("Database");
@@ -1639,16 +1658,24 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
 	settings.beginGroup("StereoImages");
 	settings.setValue("stamps", _ui->lineEdit_cameraStereoImages_timestamps->text());
 	settings.setValue("path", _ui->lineEdit_cameraStereoImages_path->text());
+	settings.setValue("rectify", 	    _ui->checkBox_stereoImages_rectify->isChecked());
 	settings.endGroup(); // StereoImages
 
+	settings.beginGroup("StereoVideo");
+	settings.setValue("path", 			_ui->lineEdit_cameraStereoVideo_path->text());
+	settings.setValue("rectify", 	    _ui->checkBox_stereoVideo_rectify->isChecked());
+	settings.endGroup(); // StereoVideo
+
 	settings.beginGroup("Images");
 	settings.setValue("path", 			_ui->source_images_lineEdit_path->text());
 	settings.setValue("startPos", 		_ui->source_images_spinBox_startPos->value());
 	settings.setValue("refreshDir", 	_ui->source_images_refreshDir->isChecked());
+	settings.setValue("rectify", 	    _ui->checkBox_rgbImages_rectify->isChecked());
 	settings.endGroup(); // images
 
 	settings.beginGroup("Video");
 	settings.setValue("path", 			_ui->source_video_lineEdit_path->text());
+	settings.setValue("rectify", 	    _ui->checkBox_rgbVideo_rectify->isChecked());
 	settings.endGroup(); // video
 
 	settings.beginGroup("Database");
@@ -2224,6 +2251,20 @@ void PreferencesDialog::selectSourceVideoPath()
 	}
 }
 
+void PreferencesDialog::selectSourceStereoVideoPath()
+{
+	QString dir = _ui->lineEdit_cameraStereoVideo_path->text();
+	if(dir.isEmpty())
+	{
+		dir = getWorkingDirectory();
+	}
+	QString path = QFileDialog::getOpenFileName(this, tr("Select file"), _ui->lineEdit_cameraStereoVideo_path->text(), tr("Videos (*.avi *.mpg *.mp4)"));
+	if(!path.isEmpty())
+	{
+		_ui->lineEdit_cameraStereoVideo_path->setText(path);
+	}
+}
+
 void PreferencesDialog::selectSourceOniPath()
 {
 	QString dir = _ui->lineEdit_openniOniPath->text();
@@ -3274,10 +3315,18 @@ bool PreferencesDialog::getSourceImagesRefreshDir() const
 {
 	return _ui->source_images_refreshDir->isChecked();
 }
+bool PreferencesDialog::getSourceImagesRectify() const
+{
+	return _ui->checkBox_rgbImages_rectify->isChecked();
+}
 QString PreferencesDialog::getSourceVideoPath() const
 {
 	return _ui->source_video_lineEdit_path->text();
 }
+bool PreferencesDialog::getSourceVideoRectify() const
+{
+	return _ui->checkBox_rgbVideo_rectify->isChecked();
+}
 QString PreferencesDialog::getSourceDatabasePath() const
 {
 	return _ui->source_database_lineEdit_path->text();
@@ -3323,6 +3372,14 @@ int PreferencesDialog::getSourceFreenect2Format() const
 {
 	return _ui->comboBox_freenect2Format->currentIndex();
 }
+bool PreferencesDialog::getSourceStereoImagesRectify() const
+{
+	return _ui->checkBox_stereoImages_rectify->isChecked();
+}
+bool PreferencesDialog::getSourceStereoVideoRectify() const
+{
+	return _ui->checkBox_stereoVideo_rectify->isChecked();
+}
 
 bool PreferencesDialog::isSourceRGBDColorOnly() const
 {
@@ -3438,6 +3495,15 @@ Camera * PreferencesDialog::createCamera(bool useRawImages)
 		camera = new CameraStereoImages(
 			_ui->lineEdit_cameraStereoImages_path->text().append(QDir::separator()).toStdString(),
 			_ui->lineEdit_cameraStereoImages_timestamps->text().toStdString(),
+			_ui->checkBox_stereoImages_rectify->isChecked(),
+			this->getGeneralInputRate(),
+			this->getSourceLocalTransform());
+	}
+	else if(driver == kSrcStereoVideo)
+	{
+		camera = new CameraStereoVideo(
+			_ui->lineEdit_cameraStereoVideo_path->text().toStdString(),
+			_ui->checkBox_stereoVideo_rectify->isChecked(),
 			this->getGeneralInputRate(),
 			this->getSourceLocalTransform());
 	}
@@ -3452,6 +3518,7 @@ Camera * PreferencesDialog::createCamera(bool useRawImages)
 	{
 		camera = new CameraVideo(
 			this->getSourceVideoPath().toStdString(),
+			this->getSourceVideoRectify(),
 			this->getGeneralInputRate(),
 			this->getSourceLocalTransform());
 	}
@@ -3461,6 +3528,7 @@ Camera * PreferencesDialog::createCamera(bool useRawImages)
 			this->getSourceImagesPath().toStdString(),
 			this->getSourceImagesStartPos(),
 			this->getSourceImagesRefreshDir(),
+			this->getSourceVideoRectify(),
 			this->getGeneralInputRate(),
 			this->getSourceLocalTransform());
 	}

guilib/src/ui/preferencesDialog.ui

@@ -63,9 +63,9 @@
           <property name="geometry">
            <rect>
             <x>0</x>
-            <y>0</y>
+            <y>-290</y>
-            <width>760</width>
+            <width>755</width>
-            <height>1570</height>
+            <height>1591</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_16">
@@ -1538,7 +1538,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                     <item>
                      <widget class="QStackedWidget" name="stackedWidget_src">
                       <property name="currentIndex">
-                       <number>0</number>
+                       <number>2</number>
                       </property>
                       <widget class="QWidget" name="page_41">
                        <layout class="QVBoxLayout" name="verticalLayout_64">
@@ -1948,7 +1948,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                             </widget>
                            </item>
                            <item>
-                            <layout class="QGridLayout" name="gridLayout_58" columnstretch="0,0,0">
+                            <layout class="QGridLayout" name="gridLayout_58" columnstretch="0,0,1">
                              <item row="0" column="1">
                               <widget class="QComboBox" name="comboBox_cameraStereo">
                                <property name="sizeAdjustPolicy">
@@ -1969,6 +1969,11 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                                  <string>Images</string>
                                 </property>
                                </item>
+                               <item>
+                                <property name="text">
+                                 <string>Video (Side-by-Side)</string>
+                                </property>
+                               </item>
                               </widget>
                              </item>
                              <item row="0" column="2">
@@ -1986,9 +1991,9 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                            <item>
                             <widget class="QStackedWidget" name="stackedWidget_stereo">
                              <property name="currentIndex">
-                              <number>2</number>
+                              <number>3</number>
                              </property>
-                             <widget class="QWidget" name="page_47"/>
+                             <widget class="QWidget" name="page_49"/>
                              <widget class="QWidget" name="page_48"/>
                              <widget class="QWidget" name="page_53">
                               <layout class="QVBoxLayout" name="verticalLayout_70">
@@ -2001,7 +2006,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                                   </sizepolicy>
                                  </property>
                                  <property name="title">
-                                  <string>CameraStereoImages</string>
+                                  <string>Stereo Images</string>
                                  </property>
                                  <layout class="QGridLayout" name="gridLayout_61" columnstretch="0,0,1">
                                   <item row="1" column="1">
@@ -2018,6 +2023,33 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                                     </property>
                                    </widget>
                                   </item>
+                                  <item row="0" column="1">
+                                   <widget class="QLineEdit" name="lineEdit_cameraStereoImages_path">
+                                    <property name="text">
+                                     <string/>
+                                    </property>
+                                   </widget>
+                                  </item>
+                                  <item row="0" column="0">
+                                   <widget class="QToolButton" name="toolButton_cameraStereoImages_path">
+                                    <property name="text">
+                                     <string>...</string>
+                                    </property>
+                                   </widget>
+                                  </item>
+                                  <item row="3" column="0">
+                                   <spacer name="verticalSpacer_38">
+                                    <property name="orientation">
+                                     <enum>Qt::Vertical</enum>
+                                    </property>
+                                    <property name="sizeHint" stdset="0">
+                                     <size>
+                                      <width>20</width>
+                                      <height>0</height>
+                                     </size>
+                                    </property>
+                                   </spacer>
+                                  </item>
                                   <item row="1" column="2">
                                    <widget class="QLabel" name="label_248">
                                     <property name="text">
@@ -2028,13 +2060,6 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                                     </property>
                                    </widget>
                                   </item>
-                                  <item row="0" column="1">
-                                   <widget class="QLineEdit" name="lineEdit_cameraStereoImages_path">
-                                    <property name="text">
-                                     <string/>
-                                    </property>
-                                   </widget>
-                                  </item>
                                   <item row="0" column="2">
                                    <widget class="QLabel" name="label_249">
                                     <property name="text">
@@ -2045,15 +2070,44 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                                     </property>
                                    </widget>
                                   </item>
-                                  <item row="0" column="0">
+                                  <item row="2" column="2">
-                                   <widget class="QToolButton" name="toolButton_cameraStereoImages_path">
+                                   <widget class="QLabel" name="label_250">
                                     <property name="text">
-                                     <string>...</string>
+                                     <string>Rectify images. If checked, the images will be rectified using the calibration file (if its name is set above). If not checked, we assume that images are already rectified.</string>
+                                    </property>
+                                    <property name="wordWrap">
+                                     <bool>true</bool>
                                     </property>
                                    </widget>
                                   </item>
+                                  <item row="2" column="1">
+                                   <widget class="QCheckBox" name="checkBox_stereoImages_rectify">
+                                    <property name="text">
+                                     <string/>
+                                    </property>
+                                   </widget>
+                                  </item>
+                                 </layout>
+                                </widget>
+                               </item>
+                              </layout>
+                             </widget>
+                             <widget class="QWidget" name="page_50">
+                              <layout class="QVBoxLayout" name="verticalLayout_78">
+                               <item>
+                                <widget class="QGroupBox" name="groupBox_cameraStereoImages_2">
+                                 <property name="sizePolicy">
+                                  <sizepolicy hsizetype="Ignored" vsizetype="Ignored">
+                                   <horstretch>0</horstretch>
+                                   <verstretch>0</verstretch>
+                                  </sizepolicy>
+                                 </property>
+                                 <property name="title">
+                                  <string>Stereo side-by-side video (*.avi)</string>
+                                 </property>
+                                 <layout class="QGridLayout" name="gridLayout_66" columnstretch="0,0">
                                   <item row="2" column="0">
-                                   <spacer name="verticalSpacer_38">
+                                   <spacer name="verticalSpacer_39">
                                     <property name="orientation">
                                      <enum>Qt::Vertical</enum>
                                     </property>
@@ -2065,6 +2119,37 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                                     </property>
                                    </spacer>
                                   </item>
+                                  <item row="0" column="0">
+                                   <widget class="QToolButton" name="toolButton_cameraStereoVideo_path">
+                                    <property name="text">
+                                     <string>...</string>
+                                    </property>
+                                   </widget>
+                                  </item>
+                                  <item row="0" column="1">
+                                   <widget class="QLineEdit" name="lineEdit_cameraStereoVideo_path">
+                                    <property name="text">
+                                     <string/>
+                                    </property>
+                                   </widget>
+                                  </item>
+                                  <item row="1" column="0">
+                                   <widget class="QCheckBox" name="checkBox_stereoVideo_rectify">
+                                    <property name="text">
+                                     <string/>
+                                    </property>
+                                   </widget>
+                                  </item>
+                                  <item row="1" column="1">
+                                   <widget class="QLabel" name="label_234">
+                                    <property name="text">
+                                     <string>Rectify images. If checked, the images will be rectified using the calibration file (if its name is set above). If not checked, we assume that images are already rectified.</string>
+                                    </property>
+                                    <property name="wordWrap">
+                                     <bool>true</bool>
+                                    </property>
+                                   </widget>
+                                  </item>
                                  </layout>
                                 </widget>
                                </item>
@@ -2157,6 +2242,33 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                                   <string>Images dataset</string>
                                  </property>
                                  <layout class="QGridLayout" name="gridLayout_7" columnstretch="0,1">
+                                  <item row="0" column="1">
+                                   <widget class="QLineEdit" name="source_images_lineEdit_path">
+                                    <property name="readOnly">
+                                     <bool>false</bool>
+                                    </property>
+                                   </widget>
+                                  </item>
+                                  <item row="2" column="1">
+                                   <widget class="QLabel" name="label_34">
+                                    <property name="text">
+                                     <string>Refresh the directory files list after each image loaded.</string>
+                                    </property>
+                                    <property name="wordWrap">
+                                     <bool>true</bool>
+                                    </property>
+                                   </widget>
+                                  </item>
+                                  <item row="1" column="1">
+                                   <widget class="QLabel" name="label_21">
+                                    <property name="text">
+                                     <string>Start position (default 1, 0=start from the last).</string>
+                                    </property>
+                                    <property name="wordWrap">
+                                     <bool>true</bool>
+                                    </property>
+                                   </widget>
+                                  </item>
                                   <item row="2" column="0">
                                    <widget class="QCheckBox" name="source_images_refreshDir">
                                     <property name="text">
@@ -2174,13 +2286,6 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                                     </property>
                                    </widget>
                                   </item>
-                                  <item row="0" column="1">
-                                   <widget class="QLineEdit" name="source_images_lineEdit_path">
-                                    <property name="readOnly">
-                                     <bool>false</bool>
-                                    </property>
-                                   </widget>
-                                  </item>
                                   <item row="0" column="0">
                                    <widget class="QToolButton" name="source_images_toolButton_selectSource">
                                     <property name="text">
@@ -2188,17 +2293,20 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                                     </property>
                                    </widget>
                                   </item>
-                                  <item row="2" column="1">
+                                  <item row="3" column="1">
-                                   <widget class="QLabel" name="label_34">
+                                   <widget class="QLabel" name="label_242">
                                     <property name="text">
-                                     <string>Refresh the directory files list after each image loaded.</string>
+                                     <string>Rectify images. If checked, the images will be rectified using the calibration file (if its name is set above). If not checked, we assume that images are already rectified.</string>
+                                    </property>
+                                    <property name="wordWrap">
+                                     <bool>true</bool>
                                     </property>
                                    </widget>
                                   </item>
-                                  <item row="1" column="1">
+                                  <item row="3" column="0">
-                                   <widget class="QLabel" name="label_21">
+                                   <widget class="QCheckBox" name="checkBox_rgbImages_rectify">
                                     <property name="text">
-                                     <string>Start position (default 1, 0=start from the last).</string>
+                                     <string/>
                                     </property>
                                    </widget>
                                   </item>
@@ -2242,6 +2350,23 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                                     </property>
                                    </widget>
                                   </item>
+                                  <item row="1" column="1">
+                                   <widget class="QLabel" name="label_241">
+                                    <property name="text">
+                                     <string>Rectify images. If checked, the images will be rectified using the calibration file (if its name is set above). If not checked, we assume that images are already rectified.</string>
+                                    </property>
+                                    <property name="wordWrap">
+                                     <bool>true</bool>
+                                    </property>
+                                   </widget>
+                                  </item>
+                                  <item row="1" column="0">
+                                   <widget class="QCheckBox" name="checkBox_rgbVideo_rectify">
+                                    <property name="text">
+                                     <string/>
+                                    </property>
+                                   </widget>
+                                  </item>
                                  </layout>
                                 </widget>
                                </item>