From 76f937ad0cfdce365a11629495ad3b76c2cddd30 Mon Sep 17 00:00:00 2001
From: Sebastian Hahta <joseha@utu.fi>
Date: Mon, 27 Jul 2020 11:06:43 +0300
Subject: [PATCH] rectification visualization fix
---
.../src/modules/calibration/intrinsic.cpp | 2 +-
.../src/views/calibration/extrinsicview.cpp | 24 ++++++++++++++++---
.../src/views/calibration/extrinsicview.hpp | 2 ++
.../src/views/calibration/intrinsicview.cpp | 2 +-
4 files changed, 25 insertions(+), 5 deletions(-)
diff --git a/applications/gui2/src/modules/calibration/intrinsic.cpp b/applications/gui2/src/modules/calibration/intrinsic.cpp
index ab9b78486..da9ff2199 100644
--- a/applications/gui2/src/modules/calibration/intrinsic.cpp
+++ b/applications/gui2/src/modules/calibration/intrinsic.cpp
@@ -246,7 +246,7 @@ void IntrinsicCalibration::run() {
state_->flags, term);
state_->calib = CalibrationData::Intrinsic(K, distCoeffs, size);
- state_->calib.sensorSize = ssize; // TODO: save somewhere else
+ state_->calib.sensorSize = ssize;
state_->calibrated = true;
}
catch (std::exception &e) {
diff --git a/applications/gui2/src/views/calibration/extrinsicview.cpp b/applications/gui2/src/views/calibration/extrinsicview.cpp
index d403d7678..606464e87 100644
--- a/applications/gui2/src/views/calibration/extrinsicview.cpp
+++ b/applications/gui2/src/views/calibration/extrinsicview.cpp
@@ -165,6 +165,7 @@ private:
nanogui::Button* bsave_;
nanogui::Button* bupload_;
+ nanogui::Button* bapply_;
nanogui::Button* bcalibrate_;
nanogui::Button* bpause_;
nanogui::Button* bresults_;
@@ -204,6 +205,16 @@ ExtrinsicCalibrationView::ControlWindow::ControlWindow(nanogui::Widget* parent,
bupload_->setTextColor(nanogui::Color(32, 192, 32, 255));
});
+ bapply_ = new nanogui::Button(buttons, "");
+ bapply_->setFixedWidth(40);
+ bapply_->setTooltip("Rectify stereo images");
+
+ bapply_->setFlags(nanogui::Button::Flags::ToggleButton);
+ bapply_->setPushed(view_->rectify());
+ bapply_->setChangeCallback([button = bapply_, view = view_](bool v){
+ view->setRectify(v);
+ });
+
bresults_ = new nanogui::Button(buttons, "Show Calibration");
//bresults_->setEnabled(ctrl_->calib().calibrated());
bresults_->setCallback([view = view_, button = bresults_]{
@@ -224,8 +235,15 @@ ExtrinsicCalibrationView::ControlWindow::ControlWindow(nanogui::Widget* parent,
}
void ExtrinsicCalibrationView::ControlWindow::draw(NVGcontext* ctx) {
- if (ctrl_->capturing()) { bpause_->setCaption("Pause"); }
- else { bpause_->setCaption("Continue"); }
+ if (ctrl_->capturing()) {
+ bpause_->setCaption("Pause");
+ view_->setRectify(false);
+ }
+ else {
+ bpause_->setCaption("Continue");
+ }
+ bapply_->setIcon(view_->rectify() ? ENTYPO_ICON_EYE : ENTYPO_ICON_EYE_WITH_LINE);
+ bapply_->setPushed(view_->rectify());
//bcalibrate_->setEnabled(ctrl_->calib().nFrames() > 0);
//bresults_->setEnabled(ctrl_->calib().calibrated());
FixedWindow::draw(ctx);
@@ -430,7 +448,7 @@ ExtrinsicCalibrationView::ExtrinsicCalibrationView(Screen* widget, ExtrinsicCali
frames_ = new nanogui::Widget(this);
draw_number_ = false;
- rectify_ = true;
+ rectify_ = false;
frames_->setLayout(new nanogui::BoxLayout
(nanogui::Orientation::Horizontal, nanogui::Alignment::Maximum, 0, 0));
diff --git a/applications/gui2/src/views/calibration/extrinsicview.hpp b/applications/gui2/src/views/calibration/extrinsicview.hpp
index 6a5825ec5..10066d9c7 100644
--- a/applications/gui2/src/views/calibration/extrinsicview.hpp
+++ b/applications/gui2/src/views/calibration/extrinsicview.hpp
@@ -65,6 +65,8 @@ public:
virtual void draw(NVGcontext *ctx) override;
virtual void performLayout(NVGcontext *ctx) override;
+ bool rectify() { return rectify_; };
+ void setRectify(bool v) { rectify_ = v; };
void setMode(Mode m);
protected:
diff --git a/applications/gui2/src/views/calibration/intrinsicview.cpp b/applications/gui2/src/views/calibration/intrinsicview.cpp
index be714ab20..a8708183c 100644
--- a/applications/gui2/src/views/calibration/intrinsicview.cpp
+++ b/applications/gui2/src/views/calibration/intrinsicview.cpp
@@ -356,7 +356,7 @@ void IntrinsicCalibrationView::ControlWindow::draw(NVGcontext* ctx) {
bresults_->setEnabled(ctrl_->calibrated());
bsave_->setEnabled(ctrl_->calibrated());
bapply_->setEnabled(ctrl_->calibrated());
- bapply_->setIcon(view_->undistort() ? ENTYPO_ICON_EYE : ENTYPO_ICON_EYE);
+ bapply_->setIcon(view_->undistort() ? ENTYPO_ICON_EYE : ENTYPO_ICON_EYE_WITH_LINE);
bapply_->setPushed(view_->undistort());
updateCount();
FixedWindow::draw(ctx);
--
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