i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-09 03:07:45 +08:00
Code Issues Packages Projects Releases Wiki Activity

Calibration 3-steps: fixed crash on step 3 if intrinsic parameters are not correctly loaded (empty distorsion model)

Browse Source
This commit is contained in:
matlabbe
2016-09-30 14:38:45 -04:00
parent 403bfc2b44
commit b17e0dc26d
2 changed files with 31 additions and 14 deletions
Download Patch File Download Diff File Expand all files Collapse all files
guilib/src/CalibrationDialog.cpp
+26 -13
View File
@@ -825,36 +825,49 @@ void CalibrationDialog::calibrate()
StereoCameraModel CalibrationDialog::stereoCalibration(const CameraModel & left, const CameraModel & right, bool ignoreStereoRectification) const
{
StereoCameraModel output;
if(stereoImagePoints_[0].empty())
if (stereoImagePoints_[0].empty())
{
UERROR("No stereo correspondences!");
return output;
}
UINFO("stereo calibration (samples=%d)...", (int)stereoImagePoints_[0].size());
if(left.imageSize()!=imageSize_[0])
if (left.K_raw().empty() || left.D_raw().empty())
{
UERROR("left model (%dx%d) has not the same size as the processed images (%dx%d)",
left.imageSize().width, left.imageSize().height,
imageSize_[0].width, imageSize_[0].height);
UERROR("Empty intrinsic parameters (K, D) for the %s camera! Aborting stereo calibration...", leftSuffix_.toStdString().c_str());
return output;
}
if(right.imageSize()!=imageSize_[1])
if (right.K_raw().empty() || right.D_raw().empty())
{
UERROR("right model (%dx%d) has not the same size as the processed images (%dx%d)",
right.imageSize().width, right.imageSize().height,
imageSize_[1].width, imageSize_[1].height);
UERROR("Empty intrinsic parameters (K, D) for the %s camera! Aborting stereo calibration...", rightSuffix_.toStdString().c_str());
return output;
}
cv::Size imageSize = imageSize_[0].width > imageSize_[1].width?imageSize_[0]:imageSize_[1];
if (left.imageSize() != imageSize_[0])
{
UERROR("left model (%dx%d) has not the same size as the processed images (%dx%d)",
left.imageSize().width, left.imageSize().height,
imageSize_[0].width, imageSize_[0].height);
return output;
}
if (right.imageSize() != imageSize_[1])
{
UERROR("right model (%dx%d) has not the same size as the processed images (%dx%d)",
right.imageSize().width, right.imageSize().height,
imageSize_[1].width, imageSize_[1].height);
return output;
}
cv::Size imageSize = imageSize_[0].width > imageSize_[1].width ? imageSize_[0] : imageSize_[1];
cv::Mat R, T, E, F;
std::vector<std::vector<cv::Point3f> > objectPoints(1);
cv::Size boardSize(ui_->spinBox_boardWidth->value(), ui_->spinBox_boardHeight->value());
float squareSize = ui_->doubleSpinBox_squareSize->value();
// compute board corner positions
for( int i = 0; i < boardSize.height; ++i )
for( int j = 0; j < boardSize.width; ++j )
objectPoints[0].push_back(cv::Point3f(float( j*squareSize ), float( i*squareSize ), 0));
for (int i = 0; i < boardSize.height; ++i)
for (int j = 0; j < boardSize.width; ++j)
objectPoints[0].push_back(cv::Point3f(float(j*squareSize), float(i*squareSize), 0));
objectPoints.resize(stereoImagePoints_[0].size(), objectPoints[0]);
// calibrate extrinsic