diff --git a/applications/gui2/src/modules/calibration/extrinsic.cpp b/applications/gui2/src/modules/calibration/extrinsic.cpp
index b0ced5bb10af804b3c3a1f999c4fa344bf2a69d6..c1e4c07e3764bcfe62f9eadf50952b81f0cc7c8d 100644
--- a/applications/gui2/src/modules/calibration/extrinsic.cpp
+++ b/applications/gui2/src/modules/calibration/extrinsic.cpp
@@ -56,6 +56,8 @@ void ExtrinsicCalibration::start(unsigned int fsid, std::vector<FrameID> sources
reset();
state_.cameras.reserve(sources.size()*2);
+ state_.maps1.resize(sources.size()*2);
+ state_.maps2.resize(sources.size()*2);
auto* filter = io->feed()->filter
(std::unordered_set<uint32_t>{fsid}, {Channel::Left, Channel::Right});
@@ -75,11 +77,17 @@ void ExtrinsicCalibration::start(unsigned int fsid, std::vector<FrameID> sources
auto sz = cv::Size((int) frame.getLeftCamera().width, (int) frame.getLeftCamera().height);
state_.cameras.push_back(cl);
state_.cameras.push_back(cr);
+ auto calibl = getCalibration(cl);
+ calibl.intrinsic = CalibrationData::Intrinsic(calibl.intrinsic, sz);
+ auto calibr = getCalibration(cr);
+ calibr.intrinsic = CalibrationData::Intrinsic(calibr.intrinsic, sz);
// Scale intrinsics
- state_.calib.addStereoCamera(
- CalibrationData::Intrinsic(getCalibration(cl).intrinsic, sz),
- CalibrationData::Intrinsic(getCalibration(cr).intrinsic, sz));
+ state_.calib.addStereoCamera(calibl.intrinsic, calibr.intrinsic);
+
+ // Update rectification
+ unsigned int idx = state_.cameras.size() - 2;
+ stereoRectify(idx, idx + 1, calibl, calibr);
}
// initialize last points structure; can't be resized while running (without
@@ -298,6 +306,8 @@ void ExtrinsicCalibration::stereoRectify(int cl, int cr,
CHECK_NE(l.extrinsic.tvec, r.extrinsic.tvec);
CHECK_EQ(l.intrinsic.resolution, r.intrinsic.resolution);
+ CHECK_LT(cr, state_.maps1.size());
+ CHECK_LT(cr, state_.maps2.size());
auto size = l.intrinsic.resolution;
cv::Mat T = r.extrinsic.matrix() * inverse(l.extrinsic.matrix());
diff --git a/applications/gui2/src/views/calibration/extrinsicview.cpp b/applications/gui2/src/views/calibration/extrinsicview.cpp
index c637ab249563d615984f2ab60f8c43862df5f65a..863d26ef97cd98c3d2c756c4392bd22cc3f53dd5 100644
--- a/applications/gui2/src/views/calibration/extrinsicview.cpp
+++ b/applications/gui2/src/views/calibration/extrinsicview.cpp
@@ -481,7 +481,7 @@ void ExtrinsicCalibrationView::ResultsWindow::draw(NVGcontext* ctx) {
////////////////////////////////////////////////////////////////////////////////
-static void drawText(NVGcontext* ctx, nanogui::Vector2f &pos, const std::string& text,
+static void drawText(NVGcontext* ctx, const nanogui::Vector2f &pos, const std::string& text,
float size=12.0f, int align=NVG_ALIGN_MIDDLE|NVG_ALIGN_CENTER) {
nvgFontSize(ctx, size);
nvgFontFace(ctx, "sans-bold");
@@ -497,63 +497,88 @@ static void drawText(NVGcontext* ctx, nanogui::Vector2f &pos, const std::string
class StereoCalibrationImageView : public ftl::gui2::StereoImageView {
public:
using ftl::gui2::StereoImageView::StereoImageView;
+
+ virtual bool keyboardCharacterEvent(unsigned int codepoint) override;
virtual bool mouseButtonEvent(const nanogui::Vector2i &p, int button, bool down, int modifiers) override;
virtual void draw(NVGcontext* ctx) override;
+
+ void reset();
+
private:
- bool draw_line_ = false;
- float row_image_ = 0;
+ std::set<int> rows_;
+ std::map<int, nanogui::Color> colors_;
+
+ int n_colors_ = 16;
+ float alpha_threshold_ = 2.0f;
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
};
+void StereoCalibrationImageView::reset() {
+ rows_.clear();
+}
+
+bool StereoCalibrationImageView::keyboardCharacterEvent(unsigned int codepoint) {
+ if (codepoint == 'r') {
+ reset();
+ return true;
+ }
+ return StereoImageView::keyboardCharacterEvent(codepoint);
+}
+
bool StereoCalibrationImageView::mouseButtonEvent(const nanogui::Vector2i &p, int button, bool down, int modifiers) {
+ nanogui::Widget::mouseButtonEvent(p, button, down, modifiers);
if (button == GLFW_MOUSE_BUTTON_1 && !down) {
- float row = round(imageCoordinateAt(p.cast<float>()).y());
- if (row == row_image_ && draw_line_) {
- draw_line_ = false;
- }
- else {
- draw_line_ = true;
- row_image_ = row;
- }
+ // half a pixel offset to match "square pixel" visualization
+ nanogui::Vector2f offset{left()->scale()/2.0f, left()->scale()/2.0f};
+ float row = round(imageCoordinateAt(p.cast<float>() + offset).y());
+
+ if (rows_.count(row)) { rows_.erase(row); }
+ else { rows_.insert(row); }
}
return true;
}
void StereoCalibrationImageView::draw(NVGcontext* ctx) {
StereoImageView::draw(ctx);
- if (!draw_line_) { return; }
-
- // assumes vertical alignment (horizontal not tested)
+ // assumes vertical alignment (horizontal not implemented)
CHECK(orientation() == nanogui::Orientation::Vertical);
+
int x = position().x();
int y = position().y();
int w = width();
int h = left()->height();
- nanogui::Vector2f l = left()->positionForCoordinate({0.0f, row_image_}) + left()->position().cast<float>();
- nanogui::Vector2f r = right()->positionForCoordinate({0.0f, row_image_}) + right()->position().cast<float>();
float swidth = std::max(1.0f, left()->scale());
+ int c = 0; // color
- for (auto& p : {l, r}) {
- nvgScissor(ctx, x, y, w, h);
- nvgBeginPath(ctx);
- nvgMoveTo(ctx, x, p.y() - swidth*0.5f); // "half a pixel" shift
- nvgLineTo(ctx, x + w, p.y() - swidth*0.5f);
- nvgStrokeColor(ctx, nvgRGBA(255, 32, 32, (swidth == 1.0f) ? 255 : 96));
- nvgStrokeWidth(ctx, swidth);
- nvgStroke(ctx);
+ for (int row : rows_) {
+ int y_im = y;
+ nanogui::Vector2f l = left()->positionForCoordinate({0.0f, row}) + left()->position().cast<float>();
+ nanogui::Vector2f r = right()->positionForCoordinate({0.0f, row}) + right()->position().cast<float>();
+ auto color = nvgHSLA(float(c%n_colors_)/float(n_colors_), 0.9, 0.5, (swidth < alpha_threshold_) ? 255 : 96);
- if (swidth*0.5f > 2.0f) {
+ for (auto& p : {l, r}) {
+ nvgScissor(ctx, x, y_im, w, h);
nvgBeginPath(ctx);
nvgMoveTo(ctx, x, p.y() - swidth*0.5f);
nvgLineTo(ctx, x + w, p.y() - swidth*0.5f);
- nvgStrokeColor(ctx, nvgRGBA(0, 0, 0, 196));
- nvgStrokeWidth(ctx, 1.0f);
+ nvgStrokeColor(ctx, color);
+ nvgStrokeWidth(ctx, swidth);
nvgStroke(ctx);
+
+ if (swidth*0.5f > alpha_threshold_) {
+ nvgBeginPath(ctx);
+ nvgMoveTo(ctx, x, p.y() - swidth*0.5f);
+ nvgLineTo(ctx, x + w, p.y() - swidth*0.5f);
+ nvgStrokeColor(ctx, nvgRGBA(0, 0, 0, 196));
+ nvgStrokeWidth(ctx, 1.0f);
+ nvgStroke(ctx);
+ }
+ nvgResetScissor(ctx);
+ y_im += h;
}
- nvgResetScissor(ctx);
- y += h;
+ c++;
}
}
@@ -672,6 +697,8 @@ void ExtrinsicCalibrationView::draw(NVGcontext* ctx) {
drawText(ctx, paths[p], std::to_string(p), 14.0f);
}
}*/
+
+ // TODO: move to stereocalibrateimageview
nanogui::Vector2f tpos = wpos + nanogui::Vector2f{10.0f, 10.0f};
drawText(ctx, tpos, std::to_string(ctrl_->getFrameCount(i)), 20.0f, NVG_ALIGN_TOP|NVG_ALIGN_LEFT);
@@ -680,6 +707,20 @@ void ExtrinsicCalibrationView::draw(NVGcontext* ctx) {
nvgResetScissor(ctx);
}
+
+ {
+ float h = 14.0f;
+ for (const auto& text : {"Left click: draw line",
+ "Right click: pan",
+ "Scroll: zoom",
+ "C center",
+ "F fit",
+ "R clear lines"
+ }) {
+ drawText(ctx, {float(width()) - 60.0, h}, text, 14, NVGalign::NVG_ALIGN_BOTTOM | NVG_ALIGN_MIDDLE);
+ h += 20.0;
+ }
+ }
}
ExtrinsicCalibrationView::~ExtrinsicCalibrationView() {