Calibration tool: added support for rational model (8 coeff)

introlab · May 31, 2024 · 2f21d42 · 2f21d42
1 parent 32e03aa
commit 2f21d42
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Showing 6 changed files with 455 additions and 227 deletions.
diff --git a/corelib/src/CameraModel.cpp b/corelib/src/CameraModel.cpp
@@ -60,7 +60,7 @@ CameraModel::CameraModel(
 		localTransform_(localTransform)
 {
 	UASSERT(K_.empty() || (K_.rows == 3 && K_.cols == 3 && K_.type() == CV_64FC1));
-	UASSERT(D_.empty() || (D_.rows == 1 && (D_.cols == 4 || D_.cols == 5 || D_.cols == 6 || D_.cols == 8) && D_.type() == CV_64FC1));
+	UASSERT(D_.empty() || (D_.rows == 1 && (D_.cols == 4 || D_.cols == 5 || D_.cols == 6 || D_.cols == 8 || D_.cols == 12 || D_.cols == 14) && D_.type() == CV_64FC1));
 	UASSERT(R_.empty() || (R_.rows == 3 && R_.cols == 3 && R_.type() == CV_64FC1));
 	UASSERT(P_.empty() || (P_.rows == 3 && P_.cols == 4 && P_.type() == CV_64FC1));
 }
@@ -156,7 +156,7 @@ CameraModel::CameraModel(
 bool CameraModel::initRectificationMap()
 {
 	UASSERT(imageSize_.height > 0 && imageSize_.width > 0);
-	UASSERT(D_.rows == 1 && (D_.cols == 4 || D_.cols == 5 || D_.cols == 6 || D_.cols == 8));
+	UASSERT(D_.rows == 1 && (D_.cols == 4 || D_.cols == 5 || D_.cols == 6 || D_.cols == 8 || D_.cols == 12 || D_.cols == 14));
 	UASSERT(R_.rows == 3 && R_.cols == 3);
 	UASSERT(P_.rows == 3 && P_.cols == 4);
 	// init rectification map
@@ -279,7 +279,7 @@ bool CameraModel::load(const std::string & filePath)
 				std::vector<double> data;
 				n["data"] >> data;
 				UASSERT(rows*cols == (int)data.size());
-				UASSERT(rows == 1 && (cols == 4 || cols == 5 || cols == 8));
+				UASSERT(rows == 1 && (cols == 4 || cols == 5 || cols == 8 || cols == 12 || cols == 14));
 				D_ = cv::Mat(rows, cols, CV_64FC1, data.data()).clone();
 			}
 			else

diff --git a/guilib/include/rtabmap/gui/CalibrationDialog.h b/guilib/include/rtabmap/gui/CalibrationDialog.h
@@ -68,7 +68,9 @@ class RTABMAP_GUI_EXPORT CalibrationDialog  : public QDialog, public UEventsHand
 	void setCameraName(const QString & name);
 	void setProgressVisibility(bool visible);
 	void setSwitchedImages(bool switched);
-	void setFisheyeImages(bool enabled);
+	void setFisheyeModel();
+	void setPlumbobModel();
+	void setRationalModel();
 	void setStereoMode(bool stereo, const QString & leftSuffix = "left", const QString & rightSuffix = "right");
 	void setSavingDirectory(const QString & savingDirectory) {savingDirectory_ = savingDirectory;}
 
@@ -78,6 +80,7 @@ public Q_SLOTS:
 	void setBoardWidth(int width);
 	void setBoardHeight(int height);
 	void setSquareSize(double size);
+	void setCalibrationDataSaved(bool enabled);
 	void setExpectedStereoBaseline(double length);
 	void setMaxScale(int scale);
 
@@ -114,10 +117,14 @@ private Q_SLOTS:
 	QString cameraName_;
 	bool processingData_;
 	bool savedCalibration_;
+	int currentId_;
+	QString timestamp_;
 
 	std::vector<std::vector<std::vector<cv::Point2f> > > imagePoints_;
 	std::vector<std::vector<std::vector<float> > > imageParams_;
+	std::vector<std::vector<int > > imageIds_;
 	std::vector<std::vector<std::vector<cv::Point2f> > > stereoImagePoints_;
+	std::vector<int> stereoImageIds_;
 	std::vector<cv::Size > imageSize_;
 	std::vector<rtabmap::CameraModel> models_;
 	rtabmap::StereoCameraModel stereoModel_;