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g3forcerhololkeolke
g3force
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rhololkeolke
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Add camera intrinsic calibration plugin
Co-authored-by: Devin Schwab <[email protected]>
1 parent 0e3931a commit 17648a3

22 files changed

+1712
-132
lines changed

‎CMakeLists.txt

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Original file line numberDiff line numberDiff line change
@@ -31,7 +31,7 @@ find_package(Qt5Core REQUIRED)
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find_package(Qt5Widgets REQUIRED)
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find_package(Qt5OpenGL REQUIRED)
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# Note: Bluefox SDK is not compatible with some components of OpenCV. Take care when enabling more.
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find_package(OpenCV REQUIRED COMPONENTS core imgproc imgcodecs videoio)
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find_package(OpenCV REQUIRED COMPONENTS core imgproc imgcodecs videoio calib3d)
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include(src/shared/CMakeLists.txt.inc)
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@@ -142,6 +142,7 @@ set (SRCS ${SRCS}
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src/app/gui/maskwidget.cpp
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src/app/gui/automatedcolorcalibwidget.cpp
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src/app/gui/camera_intrinsic_calib_widget.cpp
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src/app/gui/cameracalibwidget.cpp
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src/app/gui/colorpicker.cpp
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src/app/gui/glLUTwidget.cpp
@@ -155,6 +156,7 @@ set (SRCS ${SRCS}
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src/app/plugins/plugin_mask.cpp
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src/app/plugins/plugin_cameracalib.cpp
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src/app/plugins/plugin_camera_intrinsic_calib.cpp
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src/app/plugins/plugin_colorcalib.cpp
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src/app/plugins/plugin_colorthreshold.cpp
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src/app/plugins/plugin_detect_balls.cpp
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src/app/gui/maskwidget.h
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src/app/gui/automatedcolorcalibwidget.h
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src/app/gui/camera_intrinsic_calib_widget.h
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src/app/gui/cameracalibwidget.h
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src/app/gui/glLUTwidget.h
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src/app/gui/glwidget.h
@@ -201,9 +204,12 @@ qt5_wrap_cpp (MOC_SRCS
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src/app/plugins/plugin_colorcalib.h
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src/app/plugins/plugin_colorthreshold.h
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src/app/plugins/plugin_auto_color_calibration.h
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src/app/plugins/plugin_camera_intrinsic_calib.h
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src/app/stacks/multistack_robocup_ssl.h
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src/shared/util/camera_parameters.h
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${OPTIONAL_HEADERS}
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)
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‎src/app/gui/camera_intrinsic_calib_widget.cpp

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#include "camera_intrinsic_calib_widget.h"
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#include <QGroupBox>
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#include <QPushButton>
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#include <QSpinBox>
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#include <QVBoxLayout>
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CameraIntrinsicCalibrationWidget::CameraIntrinsicCalibrationWidget(CameraParameters& camera_params)
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: camera_params{camera_params} {
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auto calibration_steps_layout = new QVBoxLayout;
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// pattern configuration
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{
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auto pattern_config_layout = new QVBoxLayout;
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// pattern select dropdown
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{
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auto pattern_selector_label = new QLabel(tr("Pattern type:"));
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pattern_selector = new QComboBox();
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pattern_selector->addItems({"Checkerboard", "Circles", "Asymmetric Circles"});
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auto hbox = new QHBoxLayout;
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hbox->addWidget(pattern_selector_label);
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hbox->addWidget(pattern_selector);
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pattern_config_layout->addLayout(hbox);
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}
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// pattern size config
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{
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auto grid_dimensions_label = new QLabel(tr("Grid Dimensions (width x height):"));
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grid_width = new QSpinBox();
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grid_width->setMinimum(2);
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grid_width->setValue(camera_params.additional_calibration_information->grid_width->getInt());
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connect(grid_width, SIGNAL(valueChanged(int)), this, SLOT(grid_width_changed(int)));
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connect(camera_params.additional_calibration_information->grid_width, SIGNAL(hasChanged(VarType*)), this,
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SLOT(grid_width_vartype_changed(VarType*)));
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auto grid_dim_separator_label = new QLabel(tr("x"));
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grid_height = new QSpinBox();
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grid_height->setMinimum(2);
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grid_height->setValue(camera_params.additional_calibration_information->grid_height->getInt());
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connect(grid_height, SIGNAL(valueChanged(int)), this, SLOT(grid_height_changed(int)));
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connect(camera_params.additional_calibration_information->grid_height, SIGNAL(hasChanged(VarType*)), this,
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SLOT(grid_height_vartype_changed(VarType*)));
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auto hbox = new QHBoxLayout;
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hbox->addWidget(grid_dimensions_label);
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hbox->addStretch();
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hbox->addWidget(grid_width);
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hbox->addWidget(grid_dim_separator_label);
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hbox->addWidget(grid_height);
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pattern_config_layout->addLayout(hbox);
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}
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auto pattern_config_groupbox = new QGroupBox(tr("Pattern Configuration"));
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pattern_config_groupbox->setLayout(pattern_config_layout);
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calibration_steps_layout->addWidget(pattern_config_groupbox);
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}
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// calibration instructions
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{
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auto calibration_instructions_layout = new QVBoxLayout;
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calibration_instructions_layout->addWidget(
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new QLabel(tr("Enable pattern detection here and enable display in the "
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"VisualizationPlugin.\n"
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"Verify that your pattern is detected properly.\nIf not "
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"detected double check the grid size and pattern type "
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"and verify that greyscale image has good contrast.")));
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// detect pattern checkbox
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{
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auto label = new QLabel(tr("Detect Pattern"));
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detect_pattern_checkbox = new QCheckBox();
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auto hbox = new QHBoxLayout;
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hbox->addWidget(label);
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hbox->addWidget(detect_pattern_checkbox);
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calibration_instructions_layout->addLayout(hbox);
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}
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// do corner subpixel correction checkbox
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{
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auto label = new QLabel(tr("Do Corner Subpixel Correction:"));
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corner_subpixel_correction_checkbox = new QCheckBox();
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corner_subpixel_correction_checkbox->setChecked(true);
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auto hbox = new QHBoxLayout;
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hbox->addWidget(label);
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hbox->addWidget(corner_subpixel_correction_checkbox);
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calibration_instructions_layout->addLayout(hbox);
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calibration_instructions_layout->addWidget(
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new QLabel(tr("When you can see a chessboard in the image, you can "
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"start capturing data.\n"
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"After each new sample, "
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"a calibration will be done and the "
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"calibration error will be shown as RMS.\n"
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"Make sure to capture enough images from different "
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"poses (like ~30).")));
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capture_button = new QPushButton(tr("Capture"));
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capture_button->setCheckable(true);
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connect(capture_button, SIGNAL(clicked()), this, SLOT(updateConfigurationEnabled()));
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calibration_instructions_layout->addWidget(capture_button);
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calibrate_button = new QPushButton(tr("Calibrate"));
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connect(calibrate_button, SIGNAL(clicked()), this, SLOT(calibrateClicked()));
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calibration_instructions_layout->addWidget(calibrate_button);
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calibration_instructions_layout->addWidget(
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new QLabel(tr("Images where a chessboard was detected "
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"are saved in 'test-data/intrinsic_calibration'.\n"
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"You can load all images again to redo or tune "
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"the calibration.")));
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load_images_button = new QPushButton(tr("Load saved images"));
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connect(load_images_button, SIGNAL(clicked()), this, SLOT(loadImagesClicked()));
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calibration_instructions_layout->addWidget(load_images_button);
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reset_model_button = new QPushButton(tr("Reset model"));
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connect(reset_model_button, SIGNAL(clicked()), this, SLOT(resetModelClicked()));
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calibration_instructions_layout->addWidget(reset_model_button);
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}
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// images loaded
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{
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auto hbox = new QHBoxLayout;
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hbox->addWidget(new QLabel(tr("Images loaded: ")));
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images_loaded_label = new QLabel(tr("0 / 0"));
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hbox->addWidget(images_loaded_label);
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calibration_instructions_layout->addLayout(hbox);
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}
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auto calibration_instructions_groupbox = new QGroupBox(tr("Calibration Instructions"));
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calibration_instructions_groupbox->setLayout(calibration_instructions_layout);
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calibration_steps_layout->addWidget(calibration_instructions_groupbox);
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}
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// capture control buttons
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{
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auto capture_control_layout = new QVBoxLayout;
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auto capture_control_groupbox = new QGroupBox(tr("Calibration Data"));
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capture_control_groupbox->setLayout(capture_control_layout);
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// captured data info
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{
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auto hbox = new QHBoxLayout;
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hbox->addWidget(new QLabel(tr("Number of data points: ")));
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num_data_points_label = new QLabel(tr("0"));
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hbox->addWidget(num_data_points_label);
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capture_control_layout->addLayout(hbox);
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}
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// calibration RMS error
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{
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auto hbox = new QHBoxLayout;
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hbox->addWidget(new QLabel(tr("Calibration RMS: ")));
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rms_label = new QLabel(tr("-"));
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hbox->addWidget(rms_label);
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capture_control_layout->addLayout(hbox);
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}
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capture_control_layout->addWidget(
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new QLabel(tr("The calibration result can be found under \n"
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"Camera Calibrator -> Camera Parameters -> Intrinsic Parameters")));
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capture_control_layout->addSpacing(50);
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// control buttons
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{
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clear_data_button = new QPushButton(tr("Clear Data"));
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connect(clear_data_button, SIGNAL(clicked()), this, SLOT(clearDataClicked()));
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auto hbox = new QHBoxLayout;
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hbox->addWidget(clear_data_button);
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capture_control_layout->addLayout(hbox);
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}
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calibration_steps_layout->addWidget(capture_control_groupbox);
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}
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// push widgets to top
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calibration_steps_layout->addStretch();
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this->setLayout(calibration_steps_layout);
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}
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void CameraIntrinsicCalibrationWidget::setNumDataPoints(int n) { num_data_points_label->setText(QString("%1").arg(n)); }
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void CameraIntrinsicCalibrationWidget::clearDataClicked() {
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setImagesLoaded(0, 0);
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should_clear_data = true;
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}
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void CameraIntrinsicCalibrationWidget::calibrateClicked() {
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should_calibrate = true;
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updateConfigurationEnabled();
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}
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void CameraIntrinsicCalibrationWidget::updateConfigurationEnabled() {
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pattern_selector->setEnabled(isConfigurationEnabled());
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grid_width->setEnabled(isConfigurationEnabled());
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grid_height->setEnabled(isConfigurationEnabled());
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clear_data_button->setEnabled(isConfigurationEnabled());
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detect_pattern_checkbox->setEnabled(isConfigurationEnabled());
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corner_subpixel_correction_checkbox->setEnabled(isConfigurationEnabled());
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load_images_button->setEnabled(isConfigurationEnabled());
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calibrate_button->setEnabled(isConfigurationEnabled());
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reset_model_button->setEnabled(isConfigurationEnabled());
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}
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void CameraIntrinsicCalibrationWidget::loadImagesClicked() {
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setImagesLoaded(0, 0);
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should_load_images = true;
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updateConfigurationEnabled();
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}
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void CameraIntrinsicCalibrationWidget::resetModelClicked() const { camera_params.intrinsic_parameters->reset(); }
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void CameraIntrinsicCalibrationWidget::setRms(double rms) { rms_label->setText(QString("%1").arg(rms)); }
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void CameraIntrinsicCalibrationWidget::grid_height_changed(int height) const {
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camera_params.additional_calibration_information->grid_height->setInt(height);
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}
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void CameraIntrinsicCalibrationWidget::grid_height_vartype_changed(VarType* varType) {
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grid_height->setValue(((VarInt*)varType)->getInt());
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}
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void CameraIntrinsicCalibrationWidget::grid_width_changed(int width) const {
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camera_params.additional_calibration_information->grid_width->setInt(width);
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}
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void CameraIntrinsicCalibrationWidget::grid_width_vartype_changed(VarType* varType) {
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grid_width->setValue(((VarInt*)varType)->getInt());
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}
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void CameraIntrinsicCalibrationWidget::setImagesLoaded(int n, int total) {
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images_loaded_label->setText(QString("%1 / %2").arg(n).arg(total));
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}
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void CameraIntrinsicCalibrationWidget::imagesLoaded() { updateConfigurationEnabled(); }

‎src/app/gui/camera_intrinsic_calib_widget.h

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#ifndef CAMERA_INTRINSIC_CALIB_WIDGET_H
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#define CAMERA_INTRINSIC_CALIB_WIDGET_H
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#include <camera_calibration.h>
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#include <QCheckBox>
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#include <QComboBox>
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#include <QLabel>
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#include <QPushButton>
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#include <QSpinBox>
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#include <QWidget>
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class CameraIntrinsicCalibrationWidget : public QWidget {
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Q_OBJECT
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public:
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enum class Pattern : int { CHECKERBOARD = 0, CIRCLES, ASYMMETRIC_CIRCLES };
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public:
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explicit CameraIntrinsicCalibrationWidget(CameraParameters &camera_params);
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~CameraIntrinsicCalibrationWidget() override = default;
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CameraParameters &camera_params;
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protected:
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QComboBox *pattern_selector;
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QSpinBox *grid_width;
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QSpinBox *grid_height;
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QCheckBox *detect_pattern_checkbox;
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QCheckBox *corner_subpixel_correction_checkbox;
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QLabel *num_data_points_label;
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QLabel *rms_label;
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QLabel *images_loaded_label;
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QPushButton *clear_data_button;
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QPushButton *capture_button;
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QPushButton *calibrate_button;
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QPushButton *load_images_button;
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QPushButton *reset_model_button;
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public:
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bool patternDetectionEnabled() const { return detect_pattern_checkbox->isChecked(); }
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bool cornerSubPixCorrectionEnabled() const { return corner_subpixel_correction_checkbox->isChecked(); }
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bool isCapturing() const { return capture_button->isChecked(); }
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bool isLoadingFiles() const { return should_load_images; }
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bool isConfigurationEnabled() const { return !isCapturing() && !isLoadingFiles() && !calibrating; }
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void setNumDataPoints(int n);
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Pattern getPattern() const { return static_cast<Pattern>(pattern_selector->currentIndex()); }
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void setImagesLoaded(int n, int total);
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void imagesLoaded();
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public slots:
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void clearDataClicked();
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void calibrateClicked();
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void updateConfigurationEnabled();
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void loadImagesClicked();
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void grid_height_changed(int) const;
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void grid_height_vartype_changed(VarType* varType);
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void grid_width_changed(int) const;
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void grid_width_vartype_changed(VarType* varType);
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void resetModelClicked() const;
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public:
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void setRms(double rms);
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public:
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bool should_clear_data = false;
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bool should_load_images = false;
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bool should_calibrate = false;
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bool calibrating = false;
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};
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#endif /* CAMERA_INTRINSIC_CALIB_WIDGET_H */

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