mirror of
https://github.com/introlab/rtabmap_ros.git
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matlabbe
7bfd76e747
-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.
116 lines
4.4 KiB
C++
116 lines
4.4 KiB
C++
/*
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Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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* Neither the name of the Universite de Sherbrooke nor the
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names of its contributors may be used to endorse or promote products
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derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
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DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#ifndef CALIBRATIONDIALOG_H_
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#define CALIBRATIONDIALOG_H_
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#include "rtabmap/gui/RtabmapGuiExp.h" // DLL export/import defines
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#include <QDialog>
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#include <QSettings>
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#include <opencv2/opencv.hpp>
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#include <rtabmap/core/CameraModel.h>
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#include <rtabmap/core/StereoCameraModel.h>
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#include <rtabmap/utilite/UEventsHandler.h>
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class Ui_calibrationDialog;
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namespace rtabmap {
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class RTABMAPGUI_EXP CalibrationDialog : public QDialog, public UEventsHandler
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{
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Q_OBJECT;
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public:
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CalibrationDialog(bool stereo = false, const QString & savingDirectory = ".", bool switchImages = false, QWidget * parent = 0);
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virtual ~CalibrationDialog();
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bool isCalibrated() const {return models_[0].isValid() && (stereo_?models_[1].isValid():true);}
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const rtabmap::CameraModel & getLeftCameraModel() const {return models_[0];}
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const rtabmap::CameraModel & getRightCameraModel() const {return models_[1];}
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const rtabmap::StereoCameraModel & getStereoCameraModel() const {return stereoModel_;}
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void saveSettings(QSettings & settings, const QString & group = "") const;
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void loadSettings(QSettings & settings, const QString & group = "");
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void setSwitchedImages(bool switched);
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void setStereoMode(bool stereo);
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void setSavingDirectory(const QString & savingDirectory) {savingDirectory_ = savingDirectory;}
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public slots:
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void setBoardWidth(int width);
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void setBoardHeight(int height);
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void setSquareSize(double size);
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private slots:
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void processImages(const cv::Mat & imageLeft, const cv::Mat & imageRight, const QString & cameraName);
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void restart();
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void calibrate();
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bool save();
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void unlock();
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protected:
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virtual void closeEvent(QCloseEvent* event);
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virtual void handleEvent(UEvent * event);
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private:
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float getArea(const std::vector<cv::Point2f> & corners, const cv::Size & boardSize);
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float getSkew(const std::vector<cv::Point2f> & corners, const cv::Size & boardSize);
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// x -> [0, 1] (left, right)
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// y -> [0, 1] (top, bottom)
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// size -> [0, 1] (small -> big)
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// skew -> [0, 1] (low, high)
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void getParams(const std::vector<cv::Point2f> & corners, const cv::Size & boardSize, const cv::Size & imageSize,
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float & x, float & y, float & size, float & skew);
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private:
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// parameters
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bool stereo_;
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QString savingDirectory_;
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QString cameraName_;
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bool processingData_;
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bool savedCalibration_;
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std::vector<std::vector<std::vector<cv::Point2f> > > imagePoints_;
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std::vector<std::vector<std::vector<float> > > imageParams_;
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std::vector<std::vector<std::vector<cv::Point2f> > > stereoImagePoints_;
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std::vector<cv::Size > imageSize_;
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std::vector<rtabmap::CameraModel> models_;
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rtabmap::StereoCameraModel stereoModel_;
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std::vector<unsigned short> minIrs_;
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std::vector<unsigned short> maxIrs_;
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Ui_calibrationDialog * ui_;
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};
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} /* namespace rtabmap */
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#endif /* CALIBRATIONDIALOG_H_ */
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