From 9312b369b91e6788136b7470268971f2f0d4b790 Mon Sep 17 00:00:00 2001
From: Sebastian Hahta <joseha@utu.fi>
Date: Wed, 5 Aug 2020 13:16:25 +0300
Subject: [PATCH] ui to use existing extrinsic params
---
.../src/modules/calibration/calibration.hpp | 2 +-
.../src/modules/calibration/extrinsic.cpp | 2 +-
.../src/views/calibration/extrinsicview.cpp | 76 +++++++++++++++++++
.../include/ftl/calibration/extrinsic.hpp | 18 ++---
.../include/ftl/calibration/optimize.hpp | 4 +-
components/calibration/src/extrinsic.cpp | 8 +-
6 files changed, 92 insertions(+), 18 deletions(-)
diff --git a/applications/gui2/src/modules/calibration/calibration.hpp b/applications/gui2/src/modules/calibration/calibration.hpp
index 00b33b3ec..d98be6023 100644
--- a/applications/gui2/src/modules/calibration/calibration.hpp
+++ b/applications/gui2/src/modules/calibration/calibration.hpp
@@ -264,7 +264,7 @@ public:
std::string cameraName(int camera);
std::vector<std::string> cameraNames();
- ftl::calibration::ExtrinsicCalibration& calib();
+ ftl::calibration::ExtrinsicCalibration& calib() { return state_.calib; } // should avoid
/** hasFrame(int) must be true before calling getFrame() **/
bool hasFrame(int camera);
diff --git a/applications/gui2/src/modules/calibration/extrinsic.cpp b/applications/gui2/src/modules/calibration/extrinsic.cpp
index c1e4c07e3..9ed307139 100644
--- a/applications/gui2/src/modules/calibration/extrinsic.cpp
+++ b/applications/gui2/src/modules/calibration/extrinsic.cpp
@@ -83,7 +83,7 @@ void ExtrinsicCalibration::start(unsigned int fsid, std::vector<FrameID> sources
calibr.intrinsic = CalibrationData::Intrinsic(calibr.intrinsic, sz);
// Scale intrinsics
- state_.calib.addStereoCamera(calibl.intrinsic, calibr.intrinsic);
+ state_.calib.addStereoCamera(calibl, calibr);
// Update rectification
unsigned int idx = state_.cameras.size() - 2;
diff --git a/applications/gui2/src/views/calibration/extrinsicview.cpp b/applications/gui2/src/views/calibration/extrinsicview.cpp
index b59f2ffa4..d2f9f64dd 100644
--- a/applications/gui2/src/views/calibration/extrinsicview.cpp
+++ b/applications/gui2/src/views/calibration/extrinsicview.cpp
@@ -368,6 +368,82 @@ void ExtrinsicCalibrationView::CalibrationWindow::build() {
else { flags &= ~ExtrinsicCalibration::Flags::RATIONAL_MODEL; }
});
+ ////////////////////////////////////////////////////////////////////////////
+
+ new nanogui::Label(wfreeze, "Use available (calibrated) extrinsics for cameras: ");
+ auto* use_extrinsics = new nanogui::Widget(wfreeze);
+ use_extrinsics->setLayout(new nanogui::BoxLayout
+ (nanogui::Orientation::Horizontal, nanogui::Alignment::Minimum));
+ for (int n = 0; n < ctrl_->cameraCount(); n++) {
+ auto* b = new nanogui::Button(use_extrinsics, std::to_string(n));
+ b->setFlags(nanogui::Button::Flags::ToggleButton);
+ b->setPushed(ctrl_->calib().useExtrinsic(n));
+ b->setChangeCallback([this, n](bool v){
+ LOG(INFO) << "CHANGED";
+ ctrl_->calib().setUseExtrinsic(n, v);
+ });
+ }
+ {
+ auto* b = new nanogui::Button(use_extrinsics, "All");
+ b->setCallback([this, use_extrinsics](){
+ for (int i = 0; i < use_extrinsics->childCount() - 2; i ++) {
+ auto* b = dynamic_cast<nanogui::Button*>(use_extrinsics->childAt(i));
+ b->setPushed(true);
+ b->changeCallback()(true);
+ }
+ });
+ }
+ {
+ auto* b = new nanogui::Button(use_extrinsics, "None");
+ b->setCallback([this, use_extrinsics](){
+ for (int i = 0; i < use_extrinsics->childCount() - 2; i ++) {
+ auto* b = dynamic_cast<nanogui::Button*>(use_extrinsics->childAt(i));
+ b->setPushed(false);
+ b->changeCallback()(false);
+ }
+ });
+ }
+
+ ////////////////////////////////////////////////////////////////////////////
+
+ new nanogui::Label(wfreeze, "Fix extrinsics for cameras: ");
+ auto* fix_extrinsics = new nanogui::Widget(wfreeze);
+ fix_extrinsics->setLayout(new nanogui::BoxLayout
+ (nanogui::Orientation::Horizontal, nanogui::Alignment::Minimum));
+ for (int n = 0; n < ctrl_->cameraCount(); n++) {
+ auto* b = new nanogui::Button(fix_extrinsics, std::to_string(n));
+ b->setFlags(nanogui::Button::Flags::ToggleButton);
+ b->setPushed(ctrl_->calib().options().fix_camera_extrinsic.count(n));
+ b->setChangeCallback([this, n](bool v){
+ if (v) {
+ ctrl_->calib().options().fix_camera_extrinsic.insert(n);
+ }
+ else {
+ ctrl_->calib().options().fix_camera_extrinsic.erase(n);
+ }
+ });
+ }
+ {
+ auto* b = new nanogui::Button(fix_extrinsics, "All");
+ b->setCallback([this, fix_extrinsics](){
+ for (int i = 0; i < fix_extrinsics->childCount() - 2; i ++) {
+ auto* b = dynamic_cast<nanogui::Button*>(fix_extrinsics->childAt(i));
+ b->setPushed(true);
+ b->changeCallback()(true);
+ }
+ });
+ }
+ {
+ auto* b = new nanogui::Button(fix_extrinsics, "None");
+ b->setCallback([this, fix_extrinsics](){
+ for (int i = 0; i < fix_extrinsics->childCount() - 2; i ++) {
+ auto* b = dynamic_cast<nanogui::Button*>(fix_extrinsics->childAt(i));
+ b->setPushed(false);
+ b->changeCallback()(false);
+ }
+ });
+ }
+
/* Needs thinking: visualize visibility graph? Use earlier alignment (if
* some of the cameras already calibrated), do elsewhere?
*/
diff --git a/components/calibration/include/ftl/calibration/extrinsic.hpp b/components/calibration/include/ftl/calibration/extrinsic.hpp
index a9f7208e3..185a45c17 100644
--- a/components/calibration/include/ftl/calibration/extrinsic.hpp
+++ b/components/calibration/include/ftl/calibration/extrinsic.hpp
@@ -158,17 +158,10 @@ double calibratePair(const cv::Mat &K1, const cv::Mat &D1,
class ExtrinsicCalibration {
public:
- /** add a single (uncalibrated) camera. Returns index of camera. */
- unsigned int addCamera(const CalibrationData::Intrinsic &);
-
- /** add a single calibrated camera (if valid calibration). Returns index of camera. */
+ /** add a single camera (if valid calibration). Returns index of camera. */
unsigned int addCamera(const CalibrationData::Calibration &);
- /** Add a stereo camera pair. Pairs always use other cameras to estimate
- * initial pose. Returns index of first camera. */
- unsigned int addStereoCamera(const CalibrationData::Intrinsic &, const CalibrationData::Intrinsic &);
-
- /** Add calibrated stereo camera (if contains valid calibration) */
+ /** Add stereo camera */
unsigned int addStereoCamera(const CalibrationData::Calibration &, const CalibrationData::Calibration &);
const CalibrationData::Intrinsic& intrinsic(unsigned int c);
@@ -187,11 +180,16 @@ public:
/* set bundle adjustment options */
void setOptions(ftl::calibration::BundleAdjustment::Options options) { options_ = options; }
- ftl::calibration::BundleAdjustment::Options options() { return options_; }
+ ftl::calibration::BundleAdjustment::Options& options() { return options_; }
/** Number of cameras added */
unsigned int camerasCount() { return calib_.size(); }
+ /** use existing extrinsic calibration for camera */
+ void setUseExtrinsic(unsigned int c, bool v) { is_calibrated_.at(c) = v; }
+ /** is existing extrinsic parameters used for given camera */
+ bool useExtrinsic(unsigned int c) { return is_calibrated_.at(c); };
+
/** status message */
std::string status();
diff --git a/components/calibration/include/ftl/calibration/optimize.hpp b/components/calibration/include/ftl/calibration/optimize.hpp
index 2e694cd9d..5a2911732 100644
--- a/components/calibration/include/ftl/calibration/optimize.hpp
+++ b/components/calibration/include/ftl/calibration/optimize.hpp
@@ -143,10 +143,10 @@ public:
// specific extrinsic/intrinsic options are applied on top of those.
// fix extrinsic paramters for cameras
- std::vector<int> fix_camera_extrinsic = {};
+ std::set<int> fix_camera_extrinsic = {};
// fix intrinsic paramters for cameras
- std::vector<int> fix_camera_intrinsic = {};
+ std::set<int> fix_camera_intrinsic = {};
bool fix_focal = false;
bool fix_principal_point = false;
diff --git a/components/calibration/src/extrinsic.cpp b/components/calibration/src/extrinsic.cpp
index d32961040..ac8c037a5 100644
--- a/components/calibration/src/extrinsic.cpp
+++ b/components/calibration/src/extrinsic.cpp
@@ -353,13 +353,13 @@ double calibratePair(const cv::Mat &K1, const cv::Mat &D1,
// ==== Extrinsic Calibration ==================================================
-unsigned int ExtrinsicCalibration::addCamera(const CalibrationData::Intrinsic &c) {
+/*unsigned int ExtrinsicCalibration::addCamera(const CalibrationData::Intrinsic &c) {
unsigned int idx = calib_.size();
calib_.push_back({c, {}});
calib_optimized_.push_back(calib_.back());
is_calibrated_.push_back(false);
return idx;
-}
+}*/
unsigned int ExtrinsicCalibration::addCamera(const CalibrationData::Calibration &c) {
unsigned int idx = calib_.size();
@@ -369,7 +369,7 @@ unsigned int ExtrinsicCalibration::addCamera(const CalibrationData::Calibration
return idx;
}
-unsigned int ExtrinsicCalibration::addStereoCamera(const CalibrationData::Intrinsic &c1, const CalibrationData::Intrinsic &c2) {
+/*unsigned int ExtrinsicCalibration::addStereoCamera(const CalibrationData::Intrinsic &c1, const CalibrationData::Intrinsic &c2) {
unsigned int idx = calib_.size();
calib_.push_back({c1, {}});
calib_optimized_.push_back(calib_.back());
@@ -379,7 +379,7 @@ unsigned int ExtrinsicCalibration::addStereoCamera(const CalibrationData::Intrin
is_calibrated_.push_back(false);
mask_.insert({idx, idx + 1});
return idx;
-}
+}*/
unsigned int ExtrinsicCalibration::addStereoCamera(const CalibrationData::Calibration &c1, const CalibrationData::Calibration &c2) {
unsigned int idx = calib_.size();
--
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