diff --git a/applications/gui2/src/modules/calibration/calibration.hpp b/applications/gui2/src/modules/calibration/calibration.hpp
index a55f3d77dbe78ca0bea068d6aca07f8dde236768..00b33b3ec5288c7f49469f8c51002e2a33efa372 100644
--- a/applications/gui2/src/modules/calibration/calibration.hpp
+++ b/applications/gui2/src/modules/calibration/calibration.hpp
@@ -262,6 +262,7 @@ public:
int cameraCount();
std::string cameraName(int camera);
+ std::vector<std::string> cameraNames();
ftl::calibration::ExtrinsicCalibration& calib();
diff --git a/applications/gui2/src/modules/calibration/extrinsic.cpp b/applications/gui2/src/modules/calibration/extrinsic.cpp
index 21246352da2d5ebf8686ad0b15b22ec5f57aa569..b0ced5bb10af804b3c3a1f999c4fa344bf2a69d6 100644
--- a/applications/gui2/src/modules/calibration/extrinsic.cpp
+++ b/applications/gui2/src/modules/calibration/extrinsic.cpp
@@ -121,6 +121,15 @@ std::string ExtrinsicCalibration::cameraName(int c) {
((camera.channel == Channel::Left) ? "Left" : "Right");
}
+std::vector<std::string> ExtrinsicCalibration::cameraNames() {
+ std::vector<std::string> names;
+ names.reserve(cameraCount());
+ for (int i = 0; i < cameraCount(); i++) {
+ names.push_back(cameraName(i));
+ }
+ return names;
+}
+
CalibrationData::Calibration ExtrinsicCalibration::calibration(int c) {
return state_.calib.calibrationOptimized(c);
}
diff --git a/applications/gui2/src/views/calibration/extrinsicview.cpp b/applications/gui2/src/views/calibration/extrinsicview.cpp
index 2b8be17b76664a700e65ab712ca017ce06e1dbba..c637ab249563d615984f2ab60f8c43862df5f65a 100644
--- a/applications/gui2/src/views/calibration/extrinsicview.cpp
+++ b/applications/gui2/src/views/calibration/extrinsicview.cpp
@@ -407,6 +407,9 @@ class ExtrinsicCalibrationView::ResultsWindow : public FixedWindow {
public:
ResultsWindow(nanogui::Widget* parent, ExtrinsicCalibrationView* view);
virtual void draw(NVGcontext* ctx) override;
+ virtual void performLayout(NVGcontext* ctx);
+ //virtual nanogui::Vector2i preferredSize(NVGcontext* ctx) const override;
+
void update();
private:
@@ -416,7 +419,7 @@ private:
std::vector<ftl::calibration::CalibrationData::Calibration> calib_;
std::vector<std::string> names_;
- nanogui::TabWidget* tabs_;
+ nanogui::TabWidget* tabs_ = nullptr;
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
@@ -425,6 +428,9 @@ public:
ExtrinsicCalibrationView::ResultsWindow::ResultsWindow(nanogui::Widget* parent, ExtrinsicCalibrationView* view) :
FixedWindow(parent, "Results"), view_(view), ctrl_(view->ctrl_) {
+ setLayout(new nanogui::BoxLayout
+ (nanogui::Orientation::Vertical, nanogui::Alignment::Maximum));
+
(new nanogui::Button(buttonPanel(), "", ENTYPO_ICON_CROSS))->setCallback(
[view = view_]() {
view->setMode(Mode::VIDEO);
@@ -432,20 +438,35 @@ ExtrinsicCalibrationView::ResultsWindow::ResultsWindow(nanogui::Widget* parent,
tabs_ = new nanogui::TabWidget(this);
tabs_->createTab("Extrinsic");
+}
+/*nanogui::Vector2i ExtrinsicCalibrationView::ResultsWindow::preferredSize(NVGcontext* ctx) const {
+ return {600, 400};
+}*/
+
+void ExtrinsicCalibrationView::ResultsWindow::ResultsWindow::performLayout(NVGcontext* ctx) {
setFixedSize({600, 400});
- tabs_->setFixedSize(fixedSize());
+ tabs_->setFixedWidth(width());
+ FixedWindow::performLayout(ctx);
}
void ExtrinsicCalibrationView::ResultsWindow::ResultsWindow::update() {
calib_.resize(ctrl_->cameraCount());
while (tabs_->tabCount() > 1) {
- tabs_->removeTab(tabs_->tabCount() - 1);
+ // bug in nanogui: incorrect assert in removeTab(int).
+ // workaround: use tabLabelAt()
+ tabs_->removeTab(tabs_->tabLabelAt(tabs_->tabCount() - 1));
}
for (int i = 0; i < ctrl_->cameraCount(); i++) {
calib_[i] = ctrl_->calibration(i);
+ // nanogui issue: too many tabs/long names header goes outside of widget
+ // use just idx for now
auto* tab = tabs_->createTab(std::to_string(i));
+ new nanogui::Label(tab, ctrl_->cameraName(i), "sans-bold", 18);
+ tab->setLayout(new nanogui::BoxLayout
+ (nanogui::Orientation::Vertical, nanogui::Alignment::Middle, 0, 8));
+
auto* display = new IntrinsicDetails(tab);
display->update(calib_[i].intrinsic);
}
@@ -471,6 +492,73 @@ static void drawText(NVGcontext* ctx, nanogui::Vector2f &pos, const std::string
nvgText(ctx, pos.x() + 1, pos.y() + 1, text.c_str(), nullptr);
}
+////////////////////////////////////////////////////////////////////////////////
+
+class StereoCalibrationImageView : public ftl::gui2::StereoImageView {
+public:
+ using ftl::gui2::StereoImageView::StereoImageView;
+ virtual bool mouseButtonEvent(const nanogui::Vector2i &p, int button, bool down, int modifiers) override;
+ virtual void draw(NVGcontext* ctx) override;
+private:
+ bool draw_line_ = false;
+ float row_image_ = 0;
+
+public:
+ EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
+};
+
+bool StereoCalibrationImageView::mouseButtonEvent(const nanogui::Vector2i &p, int button, bool down, int 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;
+ }
+ }
+ return true;
+}
+
+void StereoCalibrationImageView::draw(NVGcontext* ctx) {
+ StereoImageView::draw(ctx);
+ if (!draw_line_) { return; }
+
+ // assumes vertical alignment (horizontal not tested)
+ 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());
+
+ 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);
+
+ if (swidth*0.5f > 2.0f) {
+ 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 += h;
+ }
+}
+
+////////////////////////////////////////////////////////////////////////////////
+
ExtrinsicCalibrationView::ExtrinsicCalibrationView(Screen* widget, ExtrinsicCalibration* ctrl) :
ftl::gui2::View(widget), ctrl_(ctrl), rows_(0) {
@@ -483,7 +571,7 @@ ExtrinsicCalibrationView::ExtrinsicCalibrationView(Screen* widget, ExtrinsicCali
// assumes all cameras stereo cameras, indexed in order
for (int i = 0; i < ctrl_->cameraCount(); i += 2) {
- new StereoImageView(frames_, nanogui::Orientation::Vertical);
+ new StereoCalibrationImageView(frames_, nanogui::Orientation::Vertical);
}
paused_ = false;
wcontrol_ = new ControlWindow(screen(), this);
@@ -505,7 +593,7 @@ void ExtrinsicCalibrationView::performLayout(NVGcontext* ctx) {
nanogui::Vector2i fsize = { width()/(frames_->childCount()), height() };
for (int i = 0; i < frames_->childCount(); i++) {
- auto* stereo = dynamic_cast<StereoImageView*>(frames_->childAt(i));
+ auto* stereo = dynamic_cast<StereoCalibrationImageView*>(frames_->childAt(i));
stereo->setFixedSize(fsize);
stereo->fit();
}
diff --git a/applications/gui2/src/views/calibration/widgets.cpp b/applications/gui2/src/views/calibration/widgets.cpp
index f907b2ce1a37ecb5f69504b6987f3d186ae361a7..80a4af5d5d4a43ff19b3bf206891af924de456aa 100644
--- a/applications/gui2/src/views/calibration/widgets.cpp
+++ b/applications/gui2/src/views/calibration/widgets.cpp
@@ -126,17 +126,23 @@ void IntrinsicDetails::update(const ftl::calibration::CalibrationData::Intrinsic
"(" + to_string(values.cx) + ", " +
to_string(values.cy) + ")");
+ new nanogui::Widget(params_);
+ new nanogui::Label(params_,
+ "(" + to_string(100.0*(2.0*values.cx/double(imsize.width) - 1.0)) + "% , " +
+ to_string(100.0*(2.0*values.cy/double(imsize.height) - 1.0)) + "%)");
+ if (use_physical) new nanogui::Widget(params_);
+
new nanogui::Label(params_, "Field of View (x):");
new nanogui::Label(params_, to_string(fovx) + "°");
- if (use_physical) new nanogui::Label(params_, "");
+ if (use_physical) new nanogui::Widget(params_);
new nanogui::Label(params_, "Field of View (y):");
new nanogui::Label(params_, to_string(fovy)+ "°");
- if (use_physical) new nanogui::Label(params_, "");
+ if (use_physical) new nanogui::Widget(params_);
new nanogui::Label(params_, "Aspect ratio:");
new nanogui::Label(params_, to_string(ar));
- if (use_physical) new nanogui::Label(params_, "");
+ if (use_physical) new nanogui::Widget(params_);
std::string pK;
std::string pP;
diff --git a/applications/gui2/src/widgets/imageview.cpp b/applications/gui2/src/widgets/imageview.cpp
index 3562577975d3d882b3599e6efbbc693811bb5c8f..2137b1ce9f8124c65234952dfaaa93605323bbb5 100644
--- a/applications/gui2/src/widgets/imageview.cpp
+++ b/applications/gui2/src/widgets/imageview.cpp
@@ -538,6 +538,24 @@ StereoImageView::StereoImageView(nanogui::Widget* parent, nanogui::Orientation o
right_->setFixedScale(true);
}
+
+nanogui::Vector2f StereoImageView::imageCoordinateAt(const nanogui::Vector2f& p) const {
+
+ nanogui::Vector2f pos = position().cast<float>();
+ nanogui::Vector2f posr = pos + right_->position().cast<float>();
+
+ bool is_right =
+ ((p.x() >= posr.x()) && (orientation_ == nanogui::Orientation::Horizontal)) ||
+ ((p.y() >= posr.y()) && (orientation_ == nanogui::Orientation::Vertical));
+
+ if (is_right) {
+ return right_->imageCoordinateAt(p - right_->position().cast<float>());
+ }
+ else {
+ return left_->imageCoordinateAt(p);
+ }
+}
+
bool StereoImageView::mouseMotionEvent(const nanogui::Vector2i &p, const nanogui::Vector2i &rel, int button, int modifiers) {
if ((button & (1 << GLFW_MOUSE_BUTTON_RIGHT)) != 0) {
nanogui::Vector2f posl = left_->imageCoordinateAt(p.cast<float>());
@@ -554,7 +572,7 @@ bool StereoImageView::mouseMotionEvent(const nanogui::Vector2i &p, const nanogui
}
return false;
}
-#include <loguru.hpp>
+
bool StereoImageView::scrollEvent(const nanogui::Vector2i& p, const nanogui::Vector2f& rel) {
// synchronized zoom
diff --git a/applications/gui2/src/widgets/imageview.hpp b/applications/gui2/src/widgets/imageview.hpp
index 740152cdf15183a2aed2440c53ea52edb1059fa3..0209636fafd0049e4fcc8304db2b0240f15c8f2d 100644
--- a/applications/gui2/src/widgets/imageview.hpp
+++ b/applications/gui2/src/widgets/imageview.hpp
@@ -217,7 +217,10 @@ public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
-/** Two ImageViews with synchronized zoom and pan. */
+/** Two ImageViews with synchronized zoom and pan. Widget split in two equal
+ * size sections (left and right). With vertical orientation right is the lower
+ * image.
+*/
class StereoImageView : public nanogui::Widget {
public:
StereoImageView(nanogui::Widget* parent, nanogui::Orientation orientation = nanogui::Orientation::Horizontal);
@@ -232,6 +235,11 @@ public:
FTLImageView* left() { return left_; }
FTLImageView* right() { return right_; }
+ /** get image coordinate at given widget coordinate */
+ nanogui::Vector2f imageCoordinateAt(const nanogui::Vector2f& position) const;
+
+ nanogui::Orientation orientation() { return orientation_; }
+
void fit();
void bindLeft(GLuint id) { left_->texture().free(); left_->bindImage(id); }
diff --git a/components/calibration/src/extrinsic.cpp b/components/calibration/src/extrinsic.cpp
index 99bbf4036d954200abc0ff184d12f65a648495ad..d32961040338efec217048c1017b84588b12d443 100644
--- a/components/calibration/src/extrinsic.cpp
+++ b/components/calibration/src/extrinsic.cpp
@@ -356,6 +356,7 @@ double calibratePair(const cv::Mat &K1, const cv::Mat &D1,
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;
}
@@ -363,6 +364,7 @@ unsigned int ExtrinsicCalibration::addCamera(const CalibrationData::Intrinsic &c
unsigned int ExtrinsicCalibration::addCamera(const CalibrationData::Calibration &c) {
unsigned int idx = calib_.size();
calib_.push_back(c);
+ calib_optimized_.push_back(calib_.back());
is_calibrated_.push_back(true);
return idx;
}
@@ -370,7 +372,9 @@ unsigned int ExtrinsicCalibration::addCamera(const CalibrationData::Calibration
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());
calib_.push_back({c2, {}});
+ calib_optimized_.push_back(calib_.back());
is_calibrated_.push_back(false);
is_calibrated_.push_back(false);
mask_.insert({idx, idx + 1});
@@ -380,7 +384,9 @@ unsigned int ExtrinsicCalibration::addStereoCamera(const CalibrationData::Intrin
unsigned int ExtrinsicCalibration::addStereoCamera(const CalibrationData::Calibration &c1, const CalibrationData::Calibration &c2) {
unsigned int idx = calib_.size();
calib_.push_back({c1.intrinsic, c1.extrinsic});
+ calib_optimized_.push_back(calib_.back());
calib_.push_back({c2.intrinsic, c2.extrinsic});
+ calib_optimized_.push_back(calib_.back());
is_calibrated_.push_back(c1.extrinsic.valid());
is_calibrated_.push_back(c2.extrinsic.valid());
mask_.insert({idx, idx + 1});
@@ -673,9 +679,9 @@ double ExtrinsicCalibration::optimize() {
LOG(INFO) << "fix distortion: " << (options_.fix_distortion ? "yes" : "no");
ba.run(options_);
- LOG(INFO) << "removed points: " << ba.removeObservations(1.0);
+ LOG(INFO) << "removed points: " << ba.removeObservations(2.0);
ba.run(options_);
- LOG(INFO) << "removed points: " << ba.removeObservations(0.67);
+ LOG(INFO) << "removed points: " << ba.removeObservations(1.0);
ba.run(options_);
calib_optimized_.resize(calib_.size());
diff --git a/components/calibration/src/optimize.cpp b/components/calibration/src/optimize.cpp
index 65e10fb512a83503e8178cd5c818c5e4f5983448..a7ff076238bfdadaf835bc1db5c644f5f0b566d3 100644
--- a/components/calibration/src/optimize.cpp
+++ b/components/calibration/src/optimize.cpp
@@ -445,7 +445,7 @@ void BundleAdjustment::addPoints(const vector<vector<Point2d>>& observations, st
void BundleAdjustment::_setCameraParametrization(ceres::Problem &problem, const BundleAdjustment::Options &options) {
- vector<int> constant_camera_parameters;
+ std::set<int> constant_camera_parameters;
// apply options
for (size_t i = 0; i < cameras_.size(); i++) {
@@ -453,6 +453,9 @@ void BundleAdjustment::_setCameraParametrization(ceres::Problem &problem, const
cameras_[i]->data[Camera::Parameter::K4] = 0.0;
cameras_[i]->data[Camera::Parameter::K5] = 0.0;
cameras_[i]->data[Camera::Parameter::K6] = 0.0;
+ constant_camera_parameters.insert(Camera::Parameter::K4);
+ constant_camera_parameters.insert(Camera::Parameter::K5);
+ constant_camera_parameters.insert(Camera::Parameter::K6);
}
if (options.zero_distortion) {
cameras_[i]->data[Camera::Parameter::K1] = 0.0;
@@ -468,33 +471,33 @@ void BundleAdjustment::_setCameraParametrization(ceres::Problem &problem, const
// set extrinsic paramters constant for all cameras
if (!options.optimize_motion) {
- constant_camera_parameters.push_back(Camera::Parameter::Q1);
- constant_camera_parameters.push_back(Camera::Parameter::Q2);
- constant_camera_parameters.push_back(Camera::Parameter::Q3);
- constant_camera_parameters.push_back(Camera::Parameter::Q4);
- constant_camera_parameters.push_back(Camera::Parameter::TX);
- constant_camera_parameters.push_back(Camera::Parameter::TY);
- constant_camera_parameters.push_back(Camera::Parameter::TZ);
+ constant_camera_parameters.insert(Camera::Parameter::Q1);
+ constant_camera_parameters.insert(Camera::Parameter::Q2);
+ constant_camera_parameters.insert(Camera::Parameter::Q3);
+ constant_camera_parameters.insert(Camera::Parameter::Q4);
+ constant_camera_parameters.insert(Camera::Parameter::TX);
+ constant_camera_parameters.insert(Camera::Parameter::TY);
+ constant_camera_parameters.insert(Camera::Parameter::TZ);
}
// set intrinsic parameters constant for all cameras
if (!options.optimize_intrinsic || options.fix_focal) {
- constant_camera_parameters.push_back(Camera::Parameter::F);
+ constant_camera_parameters.insert(Camera::Parameter::F);
}
if (!options.optimize_intrinsic || options.fix_principal_point) {
- constant_camera_parameters.push_back(Camera::Parameter::CX);
- constant_camera_parameters.push_back(Camera::Parameter::CY);
+ constant_camera_parameters.insert(Camera::Parameter::CX);
+ constant_camera_parameters.insert(Camera::Parameter::CY);
}
if (!options.optimize_intrinsic || options.fix_distortion) {
- constant_camera_parameters.push_back(Camera::Parameter::K1);
- constant_camera_parameters.push_back(Camera::Parameter::K2);
- constant_camera_parameters.push_back(Camera::Parameter::K3);
- constant_camera_parameters.push_back(Camera::Parameter::K4);
- constant_camera_parameters.push_back(Camera::Parameter::K5);
- constant_camera_parameters.push_back(Camera::Parameter::K6);
- constant_camera_parameters.push_back(Camera::Parameter::P1);
- constant_camera_parameters.push_back(Camera::Parameter::P2);
+ constant_camera_parameters.insert(Camera::Parameter::K1);
+ constant_camera_parameters.insert(Camera::Parameter::K2);
+ constant_camera_parameters.insert(Camera::Parameter::K3);
+ constant_camera_parameters.insert(Camera::Parameter::K4);
+ constant_camera_parameters.insert(Camera::Parameter::K5);
+ constant_camera_parameters.insert(Camera::Parameter::K6);
+ constant_camera_parameters.insert(Camera::Parameter::P1);
+ constant_camera_parameters.insert(Camera::Parameter::P2);
}
if (!options.optimize_motion && !options.optimize_intrinsic) {
@@ -504,14 +507,14 @@ void BundleAdjustment::_setCameraParametrization(ceres::Problem &problem, const
}
}
else {
- std::unordered_set<int> fix_extrinsic(
+ std::set<int> fix_extrinsic(
options.fix_camera_extrinsic.begin(), options.fix_camera_extrinsic.end());
- std::unordered_set<int> fix_intrinsic(
+ std::set<int> fix_intrinsic(
options.fix_camera_extrinsic.begin(), options.fix_camera_extrinsic.end());
for (size_t i = 0; i < cameras_.size(); i++) {
- std::unordered_set<int> constant_parameters(
+ std::set<int> constant_parameters(
constant_camera_parameters.begin(),
constant_camera_parameters.end());