From df4947220c74f86fceb7247f3904820228143bf4 Mon Sep 17 00:00:00 2001
From: "d.kilic" <d.kilic@fz-juelich.de>
Date: Mon, 27 Mar 2023 10:35:30 +0200
Subject: [PATCH] Gray out calib (3/N)
- Introduces `ExtrinsicParameters`-Struct
- Extract `ExtrinsicBox` from `Control`
---
CMakeLists.txt | 6 +-
include/control.h | 36 +-
include/extrCalibration.h | 51 +-
include/extrinsicBox.h | 82 ++++
include/extrinsicParameters.h | 39 ++
src/borderFilter.cpp | 22 +-
src/control.cpp | 319 ++----------
src/extrCalibration.cpp | 619 ++++++++++++------------
src/extrinsicBox.cpp | 301 ++++++++++++
src/imageItem.cpp | 7 +-
src/petrack.cpp | 2 +-
src/recognition.cpp | 5 +-
src/trackerItem.cpp | 16 +-
tests/unit_test/CMakeLists.txt | 1 +
tests/unit_test/tst_extrCalibration.cpp | 45 +-
tests/unit_test/tst_extrinsicBox.cpp | 115 +++++
ui/control.ui | 334 +------------
ui/extrinsicBox.ui | 354 ++++++++++++++
18 files changed, 1318 insertions(+), 1036 deletions(-)
create mode 100644 include/extrinsicBox.h
create mode 100644 include/extrinsicParameters.h
create mode 100644 src/extrinsicBox.cpp
create mode 100644 tests/unit_test/tst_extrinsicBox.cpp
create mode 100644 ui/extrinsicBox.ui
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 97ab9fcb7..dbb91fbf6 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -390,7 +390,9 @@ target_sources(petrack_core PRIVATE
include/filterBeforeBox.h
include/intrinsicBox.h
include/intrinsicCameraParams.h
- )
+ include/extrinsicBox.h
+ include/extrinsicParameters.h
+)
target_sources(petrack_core PRIVATE
src/aboutDialog.cpp
@@ -456,6 +458,7 @@ target_sources(petrack_core PRIVATE
src/intrinsicBox.cpp
src/filterBeforeBox.cpp
src/intrinsicCameraParams.cpp
+ src/extrinsicBox.cpp
ui/about.ui
ui/codeMarker.ui
ui/colorMarker.ui
@@ -467,6 +470,7 @@ target_sources(petrack_core PRIVATE
ui/moCapSelectionWidget.ui
ui/filterBeforeBox.ui
ui/intrinsicBox.ui
+ ui/extrinsicBox.ui
)
target_sources(petrack PRIVATE
diff --git a/include/control.h b/include/control.h
index 01078b60a..1d060350d 100644
--- a/include/control.h
+++ b/include/control.h
@@ -21,6 +21,7 @@
#include "analysePlot.h"
#include "colorPlot.h"
+#include "extrinsicParameters.h"
#include "intrinsicCameraParams.h"
#include "petrack.h"
#include "recognition.h"
@@ -31,6 +32,7 @@
class QGraphicsScene;
class QDomElement;
class IntrinsicBox;
+class ExtrinsicBox;
class FilterBeforeBox;
namespace Ui
{
@@ -152,19 +154,7 @@ public:
void setCalibReprError(double d);
void imageSizeChanged(int width, int height, int borderDiff);
- double getCalibExtrRot1();
- void setCalibExtrRot1(double d);
- double getCalibExtrRot2();
- void setCalibExtrRot2(double d);
- double getCalibExtrRot3();
- void setCalibExtrRot3(double d);
- double getCalibExtrTrans1();
- void setCalibExtrTrans1(double d);
- double getCalibExtrTrans2();
- void setCalibExtrTrans2(double d);
- double getCalibExtrTrans3();
- void setCalibExtrTrans3(double d);
- void setEnabledExtrParams(bool enable);
+ const ExtrinsicParameters &getExtrinsicParameters() const;
int getCalibCoordDimension();
bool getCalibExtrCalibPointsShow();
@@ -242,7 +232,7 @@ public:
double getCameraAltitude() const;
void setXml(QDomElement &elem);
- void getXml(QDomElement &elem);
+ void getXml(const QDomElement &elem);
bool isLoading() const { return mMainWindow->isLoading(); }
ColorPlot *getColorPlot() const;
void replotColorplot();
@@ -561,7 +551,6 @@ private slots:
void on_coordAltitude_valueChanged(double d);
void on_coordUnit_valueChanged(double d);
void on_coordUseIntrinsic_stateChanged(int i);
- void on_coordLoad3DCalibPoints_clicked();
void setMeasuredAltitude();
@@ -587,22 +576,10 @@ private slots:
void on_coord3DTransZ_valueChanged(int value);
void on_coord3DAxeLen_valueChanged(int value);
- void on_rot1_valueChanged(double arg1);
- void on_rot2_valueChanged(double arg1);
- void on_rot3_valueChanged(double arg1);
- void on_trans1_valueChanged(double arg1);
- void on_trans2_valueChanged(double arg1);
- void on_trans3_valueChanged(double arg1);
-
void on_coord3DSwapX_stateChanged(int arg1);
void on_coord3DSwapY_stateChanged(int arg1);
void on_coord3DSwapZ_stateChanged(int arg1);
- void on_extrCalibSave_clicked();
- void on_extrCalibFetch_clicked();
- void on_extrCalibShowPoints_clicked();
- void on_extrCalibShowError_clicked();
-
void on_trackPathColorButton_clicked();
void on_trackGroundPathColorButton_clicked();
void on_moCapColorButton_clicked();
@@ -635,11 +612,12 @@ private:
Ui::Control *mUi;
IntrinsicBox *mIntr;
FilterBeforeBox *mFilterBefore;
+ ExtrinsicBox *mExtr;
QGraphicsScene *mScene;
bool mColorChanging;
bool mIndexChanging; // shows, if the index of the color model is really changing; nor while constructor (initialer
- // durchlauf) and may be while loading xml file
- bool mLoading; // shows, if new project is just loading
+ // durchlauf) and may be while loading xml file
+ bool mLoading; // shows, if new project is just loading
};
#endif
diff --git a/include/extrCalibration.h b/include/extrCalibration.h
index 3f811de80..a32071a3e 100644
--- a/include/extrCalibration.h
+++ b/include/extrCalibration.h
@@ -19,11 +19,14 @@
#ifndef EXTRCALIBRATION_H
#define EXTRCALIBRATION_H
+#include "extrinsicParameters.h"
+
#include <QDomElement>
#include <QString>
#include <array>
#include <iostream>
#include <opencv2/opencv.hpp>
+#include <optional>
#include <vector>
class Petrack;
@@ -165,30 +168,30 @@ private:
public:
ExtrCalibration(PersonStorage &storage);
~ExtrCalibration();
- void setMainWindow(Petrack *mw);
- bool isEmptyExtrCalibFile();
- bool isSetExtrCalib();
- void setExtrCalibFile(const QString &f);
- QString getExtrCalibFile();
- bool openExtrCalibFile();
- bool loadExtrCalibFile();
- bool saveExtrCalibPoints();
- bool fetch2DPoints();
- void calibExtrParams();
- bool calcReprojectionError();
- virtual cv::Point2f getImagePoint(cv::Point3f p3d);
- cv::Point3f get3DPoint(const cv::Point2f &p2d, double h) const;
- cv::Point3f transformRT(cv::Point3f p);
- cv::Vec3d camToWorldRotation(const cv::Vec3d &vec) const;
- bool isOutsideImage(cv::Point2f p2d);
- inline bool isOutsideImage(cv::Point3f p3d) { return isOutsideImage(getImagePoint(p3d)); }
- inline std::vector<cv::Point3f> get3DList() { return points3D; }
- inline void set3DList(std::vector<cv::Point3f> list3D) { this->points3D = list3D; }
- inline std::vector<cv::Point2f> get2DList() { return points2D; }
- inline void set2DList(std::vector<cv::Point2f> list2D) { this->points2D = list2D; }
- inline float getCamHeight() const { return camHeight; }
- inline void setCamHeight(float cHeight) { this->camHeight = cHeight; }
- inline ReprojectionError getReprojectionError()
+ void setMainWindow(Petrack *mw);
+ bool isEmptyExtrCalibFile();
+ bool isSetExtrCalib();
+ void setExtrCalibFile(const QString &f);
+ QString getExtrCalibFile();
+ std::optional<ExtrinsicParameters> openExtrCalibFile();
+ std::optional<ExtrinsicParameters> loadExtrCalibFile();
+ bool saveExtrCalibPoints();
+ std::optional<ExtrinsicParameters> fetch2DPoints();
+ std::optional<ExtrinsicParameters> calibExtrParams();
+ bool calcReprojectionError();
+ virtual cv::Point2f getImagePoint(cv::Point3f p3d);
+ cv::Point3f get3DPoint(const cv::Point2f &p2d, double h) const;
+ cv::Point3f transformRT(cv::Point3f p);
+ cv::Vec3d camToWorldRotation(const cv::Vec3d &vec) const;
+ bool isOutsideImage(cv::Point2f p2d);
+ inline bool isOutsideImage(cv::Point3f p3d) { return isOutsideImage(getImagePoint(p3d)); }
+ inline std::vector<cv::Point3f> get3DList() { return points3D; }
+ inline void set3DList(std::vector<cv::Point3f> list3D) { this->points3D = list3D; }
+ inline std::vector<cv::Point2f> get2DList() { return points2D; }
+ inline void set2DList(std::vector<cv::Point2f> list2D) { this->points2D = list2D; }
+ inline float getCamHeight() const { return camHeight; }
+ inline void setCamHeight(float cHeight) { this->camHeight = cHeight; }
+ inline ReprojectionError getReprojectionError()
{
if(!reprojectionError.isValid())
{
diff --git a/include/extrinsicBox.h b/include/extrinsicBox.h
new file mode 100644
index 000000000..fd50a615d
--- /dev/null
+++ b/include/extrinsicBox.h
@@ -0,0 +1,82 @@
+/*
+ * PeTrack - Software for tracking pedestrians movement in videos
+ * Copyright (C) 2023 Forschungszentrum Jülich GmbH, IAS-7
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <https://www.gnu.org/licenses/>.
+ */
+
+#ifndef EXTRINSICBOX_H
+#define EXTRINSICBOX_H
+
+#include "extrinsicParameters.h"
+
+#include <QGroupBox>
+
+namespace Ui
+{
+class extr;
+}
+class QDomElement;
+class ExtrCalibration;
+
+
+class ExtrinsicBox : public QGroupBox
+{
+ Q_OBJECT
+
+public:
+ explicit ExtrinsicBox(
+ QWidget *parent,
+ Ui::extr *ui,
+ ExtrCalibration &extrCalib,
+ std::function<void()> updateCoordCallback);
+ explicit ExtrinsicBox(QWidget *parent, ExtrCalibration &extrCalib, std::function<void()> updateCoordCallback);
+ ExtrinsicBox(const ExtrinsicBox &other) = delete;
+ ExtrinsicBox(ExtrinsicBox &&other) = delete;
+ ExtrinsicBox &operator=(const ExtrinsicBox &other) = delete;
+ ExtrinsicBox &operator=(ExtrinsicBox &&other) = delete;
+ ~ExtrinsicBox() override;
+
+ void setEnabledExtrParams(bool enable);
+ const ExtrinsicParameters &getExtrinsicParameters() const;
+ void setExtrinsicParameters(const ExtrinsicParameters ¶ms);
+
+ bool getXml(QDomElement &subSubElem);
+ void setXml(QDomElement &subElem) const;
+
+private slots:
+
+ void on_extrCalibFetch_clicked();
+ void on_coordLoad3DCalibPoints_clicked();
+
+ void on_rot1_valueChanged(double newVal);
+ void on_rot2_valueChanged(double newVal);
+ void on_rot3_valueChanged(double newVal);
+ void on_trans1_valueChanged(double newVal);
+ void on_trans2_valueChanged(double newVal);
+ void on_trans3_valueChanged(double newVal);
+
+
+ void on_extrCalibSave_clicked();
+ void on_extrCalibShowPoints_clicked();
+ void on_extrCalibShowError_clicked();
+
+private:
+ Ui::extr *mUi;
+ ExtrCalibration &mExtrCalibration;
+ ExtrinsicParameters mParams;
+ std::function<void()> mUpdateCoordCallback;
+};
+
+#endif // EXTRINSICBOX_H
diff --git a/include/extrinsicParameters.h b/include/extrinsicParameters.h
new file mode 100644
index 000000000..689b8a9a2
--- /dev/null
+++ b/include/extrinsicParameters.h
@@ -0,0 +1,39 @@
+/*
+ * PeTrack - Software for tracking pedestrians movement in videos
+ * Copyright (C) 2023 Forschungszentrum Jülich GmbH, IAS-7
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <https://www.gnu.org/licenses/>.
+ */
+
+#ifndef EXTRINSICPARAMETERS_H
+#define EXTRINSICPARAMETERS_H
+
+struct ExtrinsicParameters
+{
+ double trans1 = 0;
+ double trans2 = 0;
+ double trans3 = -500;
+
+ double rot1 = 0;
+ double rot2 = 0;
+ double rot3 = 0;
+
+ friend bool operator==(const ExtrinsicParameters &lhs, const ExtrinsicParameters &rhs)
+ {
+ return lhs.rot1 == rhs.rot1 && lhs.rot2 == rhs.rot2 && lhs.rot3 == rhs.rot3 && lhs.trans1 == rhs.trans1 &&
+ lhs.trans2 == rhs.trans2 && lhs.trans3 == rhs.trans3;
+ }
+};
+
+#endif // EXTRINSICPARAMETERS_H
diff --git a/src/borderFilter.cpp b/src/borderFilter.cpp
index de1a98bc7..3417c3175 100644
--- a/src/borderFilter.cpp
+++ b/src/borderFilter.cpp
@@ -21,21 +21,21 @@
BorderFilter::BorderFilter() : Filter()
{
- mSize.setMinimum(0.);
+ mSize.setMinimum(0);
mSize.setMaximum(750);
- mSize.setValue(0.);
+ mSize.setValue(0);
- mRed.setMinimum(0.);
- mRed.setMaximum(200.);
- mRed.setValue(0.);
+ mRed.setMinimum(0);
+ mRed.setMaximum(200);
+ mRed.setValue(0);
- mGreen.setMinimum(0.);
- mGreen.setMaximum(200.);
- mGreen.setValue(0.);
+ mGreen.setMinimum(0);
+ mGreen.setMaximum(200);
+ mGreen.setValue(0);
- mBlue.setMinimum(0.);
- mBlue.setMaximum(200.);
- mBlue.setValue(0.);
+ mBlue.setMinimum(0);
+ mBlue.setMaximum(200);
+ mBlue.setValue(0);
setOnCopy(false);
}
diff --git a/src/control.cpp b/src/control.cpp
index 8c0061d70..f346430b2 100644
--- a/src/control.cpp
+++ b/src/control.cpp
@@ -26,6 +26,7 @@
#include "colorMarkerWidget.h"
#include "colorPlot.h"
#include "colorRangeWidget.h"
+#include "extrinsicBox.h"
#include "filterBeforeBox.h"
#include "imageItem.h"
#include "intrinsicBox.h"
@@ -120,10 +121,25 @@ Control::Control(
ui->verticalLayout_13->insertWidget(1, mIntr);
+ mExtr = new ExtrinsicBox(
+ this,
+ *mMainWindow->getExtrCalibration(),
+ [this]()
+ {
+ if(!isLoading())
+ {
+ mMainWindow->updateCoord();
+ mScene->update();
+ }
+ });
+ mExtr->setObjectName(QString::fromUtf8("extr"));
+ ui->verticalLayout_13->insertWidget(2, mExtr);
+
// integrate new widgets in tabbing order
- ui->calib->setFocusProxy(ui->rot1);
+ ui->calib->setFocusProxy(ui->coordShow);
QWidget::setTabOrder(mFilterBefore, mIntr);
- QWidget::setTabOrder(mIntr, ui->calib);
+ QWidget::setTabOrder(mIntr, mExtr);
+ QWidget::setTabOrder(mExtr, ui->calib);
connect(mIntr, &IntrinsicBox::paramsChanged, this, &Control::on_intrinsicParamsChanged);
@@ -652,64 +668,9 @@ void Control::imageSizeChanged(int width, int height, int borderDiff)
mIntr->imageSizeChanged(width, height, borderDiff);
}
-double Control::getCalibExtrRot1()
-{
- return mUi->rot1->value();
-}
-
-void Control::setCalibExtrRot1(double d)
-{
- mUi->rot1->setValue(d);
-}
-
-double Control::getCalibExtrRot2()
-{
- return mUi->rot2->value();
-}
-
-void Control::setCalibExtrRot2(double d)
-{
- mUi->rot2->setValue(d);
-}
-
-double Control::getCalibExtrRot3()
-{
- return mUi->rot3->value();
-}
-
-void Control::setCalibExtrRot3(double d)
-{
- mUi->rot3->setValue(d);
-}
-
-double Control::getCalibExtrTrans1()
-{
- return mUi->trans1->value();
-}
-
-void Control::setCalibExtrTrans1(double d)
-{
- mUi->trans1->setValue(d);
-}
-
-double Control::getCalibExtrTrans2()
-{
- return mUi->trans2->value();
-}
-
-void Control::setCalibExtrTrans2(double d)
-{
- mUi->trans2->setValue(d);
-}
-
-double Control::getCalibExtrTrans3()
-{
- return mUi->trans3->value();
-}
-
-void Control::setCalibExtrTrans3(double d)
+const ExtrinsicParameters &Control::getExtrinsicParameters() const
{
- mUi->trans3->setValue(d);
+ return mExtr->getExtrinsicParameters();
}
@@ -778,16 +739,6 @@ void Control::setCalibGridScale(int i)
mUi->gridScale->setValue(i);
}
-void Control::setEnabledExtrParams(bool enable)
-{
- mUi->rot1->setEnabled(enable);
- mUi->rot2->setEnabled(enable);
- mUi->rot3->setEnabled(enable);
- mUi->trans1->setEnabled(enable);
- mUi->trans2->setEnabled(enable);
- mUi->trans3->setEnabled(enable);
-}
-
void Control::setGridMinMaxTranslation(int minx, int maxx, int miny, int maxy)
{
mUi->grid3DTransX->setMinimum(minx);
@@ -1929,53 +1880,6 @@ void Control::on_intrinsicParamsChanged(IntrinsicCameraParams params)
//---------------------------------------
-void Control::on_rot1_valueChanged(double /*arg1*/)
-{
- if(!isLoading())
- {
- mMainWindow->updateCoord();
- }
-}
-
-void Control::on_rot2_valueChanged(double /*arg1*/)
-{
- if(!isLoading())
- {
- mMainWindow->updateCoord();
- }
-}
-
-void Control::on_rot3_valueChanged(double /*arg1*/)
-{
- if(!isLoading())
- {
- mMainWindow->updateCoord();
- }
-}
-
-void Control::on_trans1_valueChanged(double /*arg1*/)
-{
- if(!isLoading())
- {
- mMainWindow->updateCoord();
- }
-}
-
-void Control::on_trans2_valueChanged(double /*arg1*/)
-{
- if(!isLoading())
- {
- mMainWindow->updateCoord();
- }
-}
-
-void Control::on_trans3_valueChanged(double /*arg1*/)
-{
- if(!isLoading())
- {
- mMainWindow->updateCoord();
- }
-}
void Control::on_extCalibPointsShow_stateChanged(int /*arg1*/)
{
@@ -1985,65 +1889,6 @@ void Control::on_extCalibPointsShow_stateChanged(int /*arg1*/)
}
}
-void Control::on_extrCalibShowError_clicked()
-{
- QString out;
- QDialog msgBox;
- QGridLayout *layout = new QGridLayout();
- msgBox.setLayout(layout);
- QLabel *tableView = new QLabel(&msgBox);
- layout->addWidget(tableView, 1, 1);
- QLabel *titel = new QLabel(&msgBox);
- titel->setText("<b>Reprojection error for extrinsic calibration:</b>");
- layout->addWidget(titel, 0, 1);
-
- if(!mMainWindow->getExtrCalibration()->getReprojectionError().isValid())
- {
- out = QString("No File for extrinsic calibration found!");
- tableView->setText(out);
- }
- else
- {
- out = QString("<table>"
- "<tr><th></th>"
- "<th>average </th>"
- "<th>std. deviation </th>"
- "<th>variance </th>"
- "<th>max </th></tr>"
- "<tr><td>Point height: </td><td> %0 cm</td><td> %1 cm</td><td> %2 "
- "cm</td><td> %3 cm</td></tr>"
- "<tr><td>Default height: <small>[%12 cm]</small> </td><td> %4 cm</td><td> %5 cm</td><td> %6 "
- "cm</td><td> %7 cm</td></tr>"
- "<tr><td>Pixel error: </td><td> %8 px</td><td> %9 px</td><td> %10 "
- "px</td><td> %11 px</td></tr>"
- "</table>");
- const auto &reproError = mMainWindow->getExtrCalibration()->getReprojectionError().getData();
- for(double value : reproError)
- {
- if(value < 0)
- {
- out = out.arg("-");
- }
- else
- {
- out = out.arg(value);
- }
- }
- tableView->setText(out);
- }
-
- msgBox.setWindowTitle("PeTrack");
- QIcon icon = QApplication::style()->standardIcon(QStyle::SP_MessageBoxInformation);
- QLabel *infoIcon = new QLabel(&msgBox);
- int iconSize = msgBox.style()->pixelMetric(QStyle::PM_MessageBoxIconSize, nullptr, &msgBox);
- infoIcon->setPixmap(icon.pixmap(iconSize, iconSize));
- layout->addWidget(infoIcon, 0, 0);
- QDialogButtonBox *ok = new QDialogButtonBox(QDialogButtonBox::Ok);
- layout->addWidget(ok, 2, 1);
- connect(ok, &QDialogButtonBox::clicked, &msgBox, &QDialog::close);
- msgBox.setFixedSize(msgBox.sizeHint());
- msgBox.exec();
-}
void Control::on_extVanishPointsShow_stateChanged(int /*arg1*/)
{
@@ -2052,73 +1897,7 @@ void Control::on_extVanishPointsShow_stateChanged(int /*arg1*/)
mScene->update();
}
}
-void Control::on_coordLoad3DCalibPoints_clicked()
-{
- mMainWindow->getExtrCalibration()->openExtrCalibFile();
-
- mMainWindow->updateCoord();
- mScene->update();
-}
-
-void Control::on_extrCalibSave_clicked()
-{
- mMainWindow->getExtrCalibration()->saveExtrCalibPoints();
-}
-
-void Control::on_extrCalibFetch_clicked()
-{
- mMainWindow->getExtrCalibration()->fetch2DPoints();
-}
-
-void Control::on_extrCalibShowPoints_clicked()
-{
- QString out_str;
- QTextStream out(&out_str);
- unsigned int i;
-
- out << "<table><tr><th>Nr.</th><th>3D.x</th><th>3D.y</th><th>3D.z</th><th>2D.x</th><th>2D.y</th></tr>" << Qt::endl;
-
-
- for(i = 0; i < std::max(
- mMainWindow->getExtrCalibration()->get3DList().size(),
- mMainWindow->getExtrCalibration()->get2DList().size());
- ++i)
- {
- out << "<tr>";
- if(i < mMainWindow->getExtrCalibration()->get3DList().size())
- {
- out << "<td>[" << QString::number(i + 1, 'i', 0) << "]: </td><td>"
- << QString::number(mMainWindow->getExtrCalibration()->get3DList().at(i).x, 'f', 1) << "</td><td>"
- << QString::number(mMainWindow->getExtrCalibration()->get3DList().at(i).y, 'f', 1) << "</td><td>"
- << QString::number(mMainWindow->getExtrCalibration()->get3DList().at(i).z, 'f', 1) << "</td><td>";
- }
- else
- {
- out << "<td>-</td><td>-</td><td>-</td>";
- }
- if(i < mMainWindow->getExtrCalibration()->get2DList().size())
- {
- out << QString::number(mMainWindow->getExtrCalibration()->get2DList().at(i).x, 'f', 3) << "</td><td>"
- << QString::number(mMainWindow->getExtrCalibration()->get2DList().at(i).y, 'f', 3) << "</td>";
- }
- else
- {
- out << "<td>-</td><td>-</td>";
- }
- out << "</tr>" << Qt::endl;
- }
- out << "</table>" << Qt::endl;
-
- QMessageBox msgBox;
- msgBox.setWindowTitle("PeTrack");
- msgBox.setIcon(QMessageBox::Information);
- msgBox.setText("Currently loaded point correspondences<br />for extrinsic calibration:");
- msgBox.setInformativeText(out_str);
- msgBox.setStandardButtons(QMessageBox::Ok);
- msgBox.setDefaultButton(QMessageBox::Ok);
- msgBox.exec();
-}
//---------------------------------------
void Control::on_gridTab_currentChanged(int /*index*/)
@@ -2193,13 +1972,13 @@ void Control::on_coordTab_currentChanged(int index)
{
if(index == 1)
{
- setEnabledExtrParams(false);
+ mExtr->setEnabledExtrParams(false);
mUi->trackShowGroundPosition->setEnabled(false);
mUi->trackShowGroundPath->setEnabled(false);
}
else
{
- setEnabledExtrParams(true);
+ mExtr->setEnabledExtrParams(true);
mUi->trackShowGroundPosition->setEnabled(true);
mUi->trackShowGroundPath->setEnabled(true);
}
@@ -2378,14 +2157,8 @@ void Control::setXml(QDomElement &elem)
// PATTERN and INTRINSIC_PARAMETERS elements
mIntr->setXml(subElem);
- subSubElem = (elem.ownerDocument()).createElement("EXTRINSIC_PARAMETERS");
-
- subSubElem.setAttribute("EXTR_ROT_1", mUi->rot1->value());
- subSubElem.setAttribute("EXTR_ROT_2", mUi->rot2->value());
- subSubElem.setAttribute("EXTR_ROT_3", mUi->rot3->value());
- subSubElem.setAttribute("EXTR_TRANS_1", mUi->trans1->value());
- subSubElem.setAttribute("EXTR_TRANS_2", mUi->trans2->value());
- subSubElem.setAttribute("EXTR_TRANS_3", mUi->trans3->value());
+ subSubElem = (subElem.ownerDocument()).createElement("EXTRINSIC_PARAMETERS");
+ mExtr->setXml(subSubElem);
subSubElem.setAttribute("SHOW_CALIB_POINTS", mUi->extCalibPointsShow->isChecked());
@@ -2688,7 +2461,7 @@ void Control::setXml(QDomElement &elem)
}
// read data from xml node
-void Control::getXml(QDomElement &elem)
+void Control::getXml(const QDomElement &elem)
{
QDomElement subElem, subSubElem, subSubSubElem;
@@ -2711,6 +2484,10 @@ void Control::getXml(QDomElement &elem)
{
// intentionally left blank
}
+ else if(mExtr->getXml(subSubElem))
+ {
+ // intentionally left blank
+ }
else if(subSubElem.tagName() == "BORDER")
{
if(subSubElem.hasAttribute("COLOR"))
@@ -2742,30 +2519,6 @@ void Control::getXml(QDomElement &elem)
}
else if(subSubElem.tagName() == "EXTRINSIC_PARAMETERS")
{
- if(subSubElem.hasAttribute("EXTR_ROT_1"))
- {
- mUi->rot1->setValue(subSubElem.attribute("EXTR_ROT_1").toDouble());
- }
- if(subSubElem.hasAttribute("EXTR_ROT_2"))
- {
- mUi->rot2->setValue(subSubElem.attribute("EXTR_ROT_2").toDouble());
- }
- if(subSubElem.hasAttribute("EXTR_ROT_3"))
- {
- mUi->rot3->setValue(subSubElem.attribute("EXTR_ROT_3").toDouble());
- }
- if(subSubElem.hasAttribute("EXTR_TRANS_1"))
- {
- mUi->trans1->setValue(subSubElem.attribute("EXTR_TRANS_1").toDouble());
- }
- if(subSubElem.hasAttribute("EXTR_TRANS_2"))
- {
- mUi->trans2->setValue(subSubElem.attribute("EXTR_TRANS_2").toDouble());
- }
- if(subSubElem.hasAttribute("EXTR_TRANS_3"))
- {
- mUi->trans3->setValue(subSubElem.attribute("EXTR_TRANS_3").toDouble());
- }
if(subSubElem.hasAttribute("SHOW_CALIB_POINTS"))
{
mUi->extCalibPointsShow->setCheckState(
@@ -2779,19 +2532,7 @@ void Control::getXml(QDomElement &elem)
else
{
mUi->coordTab->setCurrentIndex(1); // = 2D
- setEnabledExtrParams(false);
- }
- if(subSubElem.hasAttribute("EXTERNAL_CALIB_FILE"))
- {
- if(getExistingFile(
- QString::fromStdString(subSubElem.attribute("EXTERNAL_CALIB_FILE").toStdString()),
- mMainWindow->getProFileName()) != "")
- {
- mMainWindow->getExtrCalibration()->setExtrCalibFile(getExistingFile(
- QString::fromStdString(subSubElem.attribute("EXTERNAL_CALIB_FILE").toStdString()),
- mMainWindow->getProFileName()));
- mMainWindow->getExtrCalibration()->loadExtrCalibFile();
- }
+ mExtr->setEnabledExtrParams(false);
}
if(subSubElem.hasAttribute("SHOW"))
diff --git a/src/extrCalibration.cpp b/src/extrCalibration.cpp
index 2706e6f1f..badbc37fe 100644
--- a/src/extrCalibration.cpp
+++ b/src/extrCalibration.cpp
@@ -75,7 +75,7 @@ QString ExtrCalibration::getExtrCalibFile()
}
}
-bool ExtrCalibration::openExtrCalibFile()
+std::optional<ExtrinsicParameters> ExtrCalibration::openExtrCalibFile()
{
if(mMainWindow)
{
@@ -97,7 +97,7 @@ bool ExtrCalibration::openExtrCalibFile()
return loadExtrCalibFile();
}
}
- return false;
+ return std::nullopt;
}
// following function copied from OpenCV
@@ -152,195 +152,190 @@ static bool isPlanarObjectPoints(cv::InputArray _objectPoints, double threshold
*
* @return
*/
-bool ExtrCalibration::loadExtrCalibFile()
+std::optional<ExtrinsicParameters> ExtrCalibration::loadExtrCalibFile()
{
- bool all_ok = true;
+ if(mExtrCalibFile.isEmpty())
+ {
+ return std::nullopt;
+ }
- if(!mExtrCalibFile.isEmpty())
+ if(mExtrCalibFile.right(4) != ".3dc" && mExtrCalibFile.right(4) != ".txt")
{
- if(mExtrCalibFile.right(4) == ".3dc" || mExtrCalibFile.right(4) == ".txt")
- {
- QFile file(mExtrCalibFile);
- if(!file.open(QIODevice::ReadOnly | QIODevice::Text))
- {
- PCritical(
- mMainWindow,
- QObject::tr("Petrack"),
- QObject::tr("Error: Cannot open %1:\n%2.").arg(mExtrCalibFile, file.errorString()));
- return false;
- }
+ PWarning(nullptr, "Unsupported File Type", "Unsupported file extension (supported: .3dc, .txt)");
+ return std::nullopt;
+ }
+
+ QFile file(mExtrCalibFile);
+ if(!file.open(QIODevice::ReadOnly | QIODevice::Text))
+ {
+ PCritical(
+ mMainWindow,
+ QObject::tr("Petrack"),
+ QObject::tr("Error: Cannot open %1:\n%2.").arg(mExtrCalibFile, file.errorString()));
+ return std::nullopt;
+ }
+
+ SPDLOG_INFO("Reading 3D calibration data from {} ...", mExtrCalibFile);
+
+ std::vector<cv::Point3f> points3D_tmp;
+ std::vector<cv::Point2f> points2D_tmp;
- SPDLOG_INFO("Reading 3D calibration data from {} ...", mExtrCalibFile);
+ QTextStream in(&file);
+ QString line;
+ int line_counter = 0, counter;
+ float x, y, z, px, py;
+ float zahl;
+ bool with_2D_data = false, with_3D_data = false, end_loop = false;
- std::vector<cv::Point3f> points3D_tmp;
- std::vector<cv::Point2f> points2D_tmp;
+ // Exit loop when reaching the end of the file
+ while(!in.atEnd())
+ {
+ // Neue Zeile einlesen
+ line = in.readLine();
+ ++line_counter;
+
+ // Kommentare ueberlesen
+ if(line.startsWith("#", Qt::CaseInsensitive) || line.startsWith(";;", Qt::CaseInsensitive) ||
+ line.startsWith("//", Qt::CaseInsensitive) || line.startsWith("!", Qt::CaseInsensitive))
+ {
+ continue;
+ }
- QTextStream in(&file);
- QString line;
- int line_counter = 0, counter;
- float x, y, z, px, py;
- float zahl;
- bool with_2D_data = false, with_3D_data = false, end_loop = false;
+ QTextStream stream(&line);
+ counter = 0;
+ end_loop = false;
- // Exit loop when reaching the end of the file
- while(!in.atEnd())
+ while(!stream.atEnd() && !end_loop)
+ {
+ stream >> zahl;
+ ++counter;
+
+ switch(counter)
{
- // Neue Zeile einlesen
- line = in.readLine();
- ++line_counter;
-
- // Kommentare ueberlesen
- if(line.startsWith("#", Qt::CaseInsensitive) || line.startsWith(";;", Qt::CaseInsensitive) ||
- line.startsWith("//", Qt::CaseInsensitive) || line.startsWith("!", Qt::CaseInsensitive))
- {
- continue;
- }
-
- QTextStream stream(&line);
- counter = 0;
- end_loop = false;
-
- while(!stream.atEnd() && !end_loop)
- {
- stream >> zahl;
- ++counter;
-
- switch(counter)
+ case 1:
+ x = zahl;
+ if(!with_3D_data)
{
- case 1:
- x = zahl;
- if(!with_3D_data)
- {
- points3D_tmp.clear();
- with_3D_data = true;
- }
- break;
- case 2:
- y = zahl;
- break;
- case 3:
- z = zahl;
- break;
- case 4:
- px = zahl;
- if(!with_2D_data)
- {
- points2D_tmp.clear();
- with_2D_data = true;
- }
- break;
- case 5:
- py = zahl;
- break;
- default:
- end_loop = true;
+ points3D_tmp.clear();
+ with_3D_data = true;
}
- }
- if(counter == 1)
- {
- SPDLOG_INFO("Optional number of points in line {} ignored.", line_counter);
- }
- else if(counter != 3 && counter != 5)
- {
- SPDLOG_INFO("Something wrong in line {} ({})! Ignored. (counter={})", line_counter, line, counter);
- }
-
- // 3D daten abspeichern
- if(with_3D_data && (counter == 3 || counter == 5))
- {
- points3D_tmp.push_back(cv::Point3f(x, y, z));
- }
- // 2D daten abspeichern
- if(with_2D_data && counter == 5)
- {
- points2D_tmp.push_back(cv::Point2f(px, py));
- }
- }
- // Check if there are more than 4 points for calibration in the file
- if(points3D_tmp.size() < 4)
- {
- PCritical(
- mMainWindow,
- QObject::tr("PeTrack"),
- QObject::tr("Error: Not enough points given: %1 (minimum 4 (coplanar) or 6 (not coplanar) "
- "needed!). Please check your extrinsic "
- "calibration file!")
- .arg(points3D_tmp.size()));
- all_ok = false;
- }
- else if(!isPlanarObjectPoints(points3D_tmp) && points3D_tmp.size() < 6)
- {
- // Non-planar points use DLT - we need at least 6 points; not only 4
- PCritical(
- mMainWindow,
- QObject::tr("PeTrack"),
- QObject::tr("Error: Not enough points given: %1 (minimum 4 (coplanar) or 6 (not coplanar) "
- "needed!). Please check your extrinsic "
- "calibration file!")
- .arg(points3D_tmp.size()));
- all_ok = false;
- }
- // Check if 2D points delivered and if the number of 2D and 3D points agree
- else if(points2D_tmp.size() > 0 && points2D_tmp.size() != points3D_tmp.size())
- {
- PCritical(
- mMainWindow,
- QObject::tr("PeTrack"),
- QObject::tr(
- "Error: Unsupported File Format in: %1 (number of 3D (%2) and 2D (%3) points disagree!)")
- .arg(mExtrCalibFile)
- .arg(points3D_tmp.size())
- .arg(points2D_tmp.size()));
- all_ok = false;
- }
- // Check if number of loaded 3D points agree with stored 2D points
- else if(!with_2D_data && points2D.size() > 0 && points3D_tmp.size() != points2D.size())
- {
- // ask if stored 2D points should be deleted?
- int result = PWarning(
- mMainWindow,
- QObject::tr("PeTrack"),
- QObject::tr("Number of 3D points (%1) disagree with number of stored 2D points (%2)!<br />The 2D "
- "points will be deleted! You have to fetch new ones from the image!")
- .arg(points3D_tmp.size())
- .arg(points2D.size()),
- PMessageBox::StandardButton::Ok | PMessageBox::StandardButton::Abort);
- if(result != PMessageBox::StandardButton::Ok)
- {
- all_ok = false;
- }
- else
- {
- points2D.clear();
- }
- }
- if(all_ok)
- {
- if(with_3D_data)
- {
- points3D = points3D_tmp;
- }
- if(with_2D_data)
- {
- points2D = points2D_tmp;
- }
+ break;
+ case 2:
+ y = zahl;
+ break;
+ case 3:
+ z = zahl;
+ break;
+ case 4:
+ px = zahl;
+ if(!with_2D_data)
+ {
+ points2D_tmp.clear();
+ with_2D_data = true;
+ }
+ break;
+ case 5:
+ py = zahl;
+ break;
+ default:
+ end_loop = true;
}
}
+ if(counter == 1)
+ {
+ SPDLOG_INFO("Optional number of points in line {} ignored.", line_counter);
+ }
+ else if(counter != 3 && counter != 5)
+ {
+ SPDLOG_INFO("Something wrong in line {} ({})! Ignored. (counter={})", line_counter, line, counter);
+ }
+
+ // 3D daten abspeichern
+ if(with_3D_data && (counter == 3 || counter == 5))
+ {
+ points3D_tmp.push_back(cv::Point3f(x, y, z));
+ }
+ // 2D daten abspeichern
+ if(with_2D_data && counter == 5)
+ {
+ points2D_tmp.push_back(cv::Point2f(px, py));
+ }
+ }
+ // Check if there are more than 4 points for calibration in the file
+ if(points3D_tmp.size() < 4)
+ {
+ PCritical(
+ mMainWindow,
+ QObject::tr("PeTrack"),
+ QObject::tr("Error: Not enough points given: %1 (minimum 4 (coplanar) or 6 (not coplanar) "
+ "needed!). Please check your extrinsic "
+ "calibration file!")
+ .arg(points3D_tmp.size()));
+ return std::nullopt;
+ }
+
+ // Non-planar points use DLT - we need at least 6 points; not only 4
+ if(!isPlanarObjectPoints(points3D_tmp) && points3D_tmp.size() < 6)
+ {
+ PCritical(
+ mMainWindow,
+ QObject::tr("PeTrack"),
+ QObject::tr("Error: Not enough points given: %1 (minimum 4 (coplanar) or 6 (not coplanar) "
+ "needed!). Please check your extrinsic "
+ "calibration file!")
+ .arg(points3D_tmp.size()));
+ return std::nullopt;
+ }
+
+ // Check if 2D points delivered and if the number of 2D and 3D points agree
+ if(points2D_tmp.size() > 0 && points2D_tmp.size() != points3D_tmp.size())
+ {
+ PCritical(
+ mMainWindow,
+ QObject::tr("PeTrack"),
+ QObject::tr("Error: Unsupported File Format in: %1 (number of 3D (%2) and 2D (%3) points disagree!)")
+ .arg(mExtrCalibFile)
+ .arg(points3D_tmp.size())
+ .arg(points2D_tmp.size()));
+ return std::nullopt;
+ }
+
+ // Check if number of loaded 3D points agree with stored 2D points
+ if(!with_2D_data && points2D.size() > 0 && points3D_tmp.size() != points2D.size())
+ {
+ // ask if stored 2D points should be deleted?
+ int result = PWarning(
+ mMainWindow,
+ QObject::tr("PeTrack"),
+ QObject::tr("Number of 3D points (%1) disagree with number of stored 2D points (%2)!<br />The 2D "
+ "points will be deleted! You have to fetch new ones from the image!")
+ .arg(points3D_tmp.size())
+ .arg(points2D.size()),
+ PMessageBox::StandardButton::Ok | PMessageBox::StandardButton::Abort);
+ if(result != PMessageBox::StandardButton::Ok)
+ {
+ return std::nullopt;
+ }
else
{
- SPDLOG_WARN("unsupported file extension (supported: .3dc, .txt)");
+ points2D.clear();
}
}
- else
+
+ if(with_3D_data)
{
- // no calib_file
- all_ok = false;
+ points3D = points3D_tmp;
}
- if(all_ok && !mMainWindow->isLoading())
+ if(with_2D_data)
{
- calibExtrParams();
+ points2D = points2D_tmp;
}
- return all_ok;
+
+ if(!mMainWindow->isLoading())
+ {
+ return calibExtrParams();
+ }
+ return std::nullopt;
}
/**
@@ -350,49 +345,37 @@ bool ExtrCalibration::loadExtrCalibFile()
*
* @return true if calibration did take place
*/
-bool ExtrCalibration::fetch2DPoints()
+std::optional<ExtrinsicParameters> ExtrCalibration::fetch2DPoints()
{
- bool all_ok = true;
if(!mMainWindow->getTracker() || mPersonStorage.nbPersons() < 4)
{
PCritical(
mMainWindow,
QObject::tr("Petrack"),
QObject::tr("Error: At minimum four 3D calibration points needed for 3D calibration."));
- all_ok = false;
+ return std::nullopt;
}
- else
- {
- size_t sz_2d = mPersonStorage.nbPersons();
- if(points3D.size() > 0 && sz_2d != points3D.size())
- {
- PCritical(
- mMainWindow,
- QObject::tr("Petrack"),
- QObject::tr("Count of 2D-Points (%1) and 3D-Points (%2) disagree").arg(sz_2d).arg(points3D.size()));
- all_ok = false;
- }
- // debout << "Marked 2D-Image-Points: " << endl;
- if(all_ok)
- {
- points2D.clear();
+ size_t sz_2d = mPersonStorage.nbPersons();
- for(int i = 0; i < static_cast<int>(sz_2d); i++)
- {
- // debout << "[" << i << "]: (" << mMainWindow->getTracker()->at(i).at(0).x() << ", " <<
- // mMainWindow->getTracker()->at(i).at(0).y() << ")" << endl;
- // Info: Tracker->TrackPerson->TrackPoint->Vec2F
- points2D.push_back(cv::Point2f(mPersonStorage.at(i).at(0).x(), mPersonStorage.at(i).at(0).y()));
- }
- }
+ if(points3D.size() > 0 && sz_2d != points3D.size())
+ {
+ PCritical(
+ mMainWindow,
+ QObject::tr("Petrack"),
+ QObject::tr("Count of 2D-Points (%1) and 3D-Points (%2) disagree").arg(sz_2d).arg(points3D.size()));
+ return std::nullopt;
}
- if(all_ok)
+
+ points2D.clear();
+ for(int i = 0; i < static_cast<int>(sz_2d); i++)
{
- mPersonStorage.clear();
- calibExtrParams();
+ // Info: Tracker->TrackPerson->TrackPoint->Vec2F
+ points2D.push_back(cv::Point2f(mPersonStorage.at(i).at(0).x(), mPersonStorage.at(i).at(0).y()));
}
- return all_ok;
+
+ mPersonStorage.clear();
+ return calibExtrParams();
}
/**
@@ -483,123 +466,122 @@ bool ExtrCalibration::isSetExtrCalib()
/**
* @brief Extrinsic calibration with help of cv::solvePnP
*/
-void ExtrCalibration::calibExtrParams()
+std::optional<ExtrinsicParameters> ExtrCalibration::calibExtrParams()
{
- if(!points3D.empty() && !points2D.empty() && points2D.size() == points3D.size())
+ if(points3D.empty() || points2D.empty() || points2D.size() != points3D.size())
{
- int bS = mMainWindow->getImageBorderSize();
- /* Create Camera-Matrix form Camera-Params in the Petrack-GUI */
- cv::Mat camMat = mControlWidget->getIntrinsicCameraParams().cameraMatrix;
- camMat.at<double>(0, 2) -= bS;
- camMat.at<double>(1, 2) -= bS;
-
- cv::Mat distMat = cv::Mat::zeros(cv::Size(8, 1), CV_64F);
-
- /* Create Mat-objects of point correspondences */
- cv::Mat op(points3D);
- cv::Mat ip(points2D);
-
- /* Mat-objects for result rotation and translation vectors */
- cv::Mat rvec(3, 1, CV_64F), /*,0),*/ tvec(3, 1, CV_64F); //,0);
-
- // Solve the PnP-Problem to calibrate the camera to its environment
-
- cv::solvePnP(op, ip, camMat, distMat, rvec, tvec, false, cv::SOLVEPNP_ITERATIVE);
-
- cv::Mat rot_mat(3, 3, CV_64F); //, 0);
- // Transform the rotation vector into a rotation matrix with opencvs rodrigues method
- Rodrigues(rvec, rot_mat);
-
- rotation_matrix[0] = rot_mat.at<double>(0, 0);
- rotation_matrix[1] = rot_mat.at<double>(0, 1);
- rotation_matrix[2] = rot_mat.at<double>(0, 2);
- rotation_matrix[3] = rot_mat.at<double>(1, 0);
- rotation_matrix[4] = rot_mat.at<double>(1, 1);
- rotation_matrix[5] = rot_mat.at<double>(1, 2);
- rotation_matrix[6] = rot_mat.at<double>(2, 0);
- rotation_matrix[7] = rot_mat.at<double>(2, 1);
- rotation_matrix[8] = rot_mat.at<double>(2, 2);
-
- translation_vector[0] = tvec.at<double>(0, 0);
- translation_vector[1] = tvec.at<double>(0, 1);
- translation_vector[2] = tvec.at<double>(0, 2);
-
- translation_vector2[0] = rotation_matrix[0] * translation_vector[0] +
- rotation_matrix[3] * translation_vector[1] +
- rotation_matrix[6] * translation_vector[2];
- translation_vector2[1] = rotation_matrix[1] * translation_vector[0] +
- rotation_matrix[4] * translation_vector[1] +
- rotation_matrix[7] * translation_vector[2];
- translation_vector2[2] = rotation_matrix[2] * translation_vector[0] +
- rotation_matrix[5] * translation_vector[1] +
- rotation_matrix[8] * translation_vector[2];
-
- SPDLOG_INFO("-.- ESTIMATED ROTATION -.-");
- for(size_t p = 0; p < 3; p++)
- {
- SPDLOG_INFO("{}, {}, {}", rotation_matrix[p * 3], rotation_matrix[p * 3 + 1], rotation_matrix[p * 3] + 2);
- }
- SPDLOG_INFO("-.- ESTIMATED TRANSLATION -.-");
- SPDLOG_INFO("{}, {}, {}", translation_vector[0], translation_vector[1], translation_vector[2]);
+ QString msg = QString{"Invalid point correspondences for camera calibration\n"
+ "2D points: %1, 3D points %2"}
+ .arg(points2D.size())
+ .arg(points3D.size());
+ PWarning(nullptr, "Invalid point correspondences", msg);
+ return std::nullopt;
+ }
- SPDLOG_INFO("-.- Translation vector -.-");
- SPDLOG_INFO("{}, {}, {}", translation_vector2[0], translation_vector2[1], translation_vector2[2]);
+ int bS = mMainWindow->getImageBorderSize();
+ /* Create Camera-Matrix form Camera-Params in the Petrack-GUI */
+ cv::Mat camMat = mControlWidget->getIntrinsicCameraParams().cameraMatrix;
+ camMat.at<double>(0, 2) -= bS;
+ camMat.at<double>(1, 2) -= bS;
- SPDLOG_INFO("-.- Rotation vector -.-");
- SPDLOG_INFO("{}, {}, {}", rvec.at<double>(0, 0), rvec.at<double>(1, 0), rvec.at<double>(2, 0));
+ cv::Mat distMat = cv::Mat::zeros(cv::Size(8, 1), CV_64F);
- camHeight = translation_vector2[2] < 0 ? -translation_vector2[2] : translation_vector2[2];
+ /* Create Mat-objects of point correspondences */
+ cv::Mat op(points3D);
+ cv::Mat ip(points2D);
- mControlWidget->setCalibExtrRot1(rvec.at<double>(0, 0));
- mControlWidget->setCalibExtrRot2(rvec.at<double>(1, 0));
- mControlWidget->setCalibExtrRot3(rvec.at<double>(2, 0));
+ /* Mat-objects for result rotation and translation vectors */
+ cv::Mat rvec(3, 1, CV_64F), /*,0),*/ tvec(3, 1, CV_64F); //,0);
- mControlWidget->setCalibExtrTrans1(translation_vector2[0]);
- mControlWidget->setCalibExtrTrans2(translation_vector2[1]);
- mControlWidget->setCalibExtrTrans3(translation_vector2[2]);
+ // Solve the PnP-Problem to calibrate the camera to its environment
+ cv::solvePnP(op, ip, camMat, distMat, rvec, tvec, false, cv::SOLVEPNP_ITERATIVE);
- if(!calcReprojectionError())
- {
- SPDLOG_WARN("Extrinsic calibration not possible! Please select other 2D/3D points!");
- mControlWidget->setCalibExtrRot1(0);
- mControlWidget->setCalibExtrRot2(0);
- mControlWidget->setCalibExtrRot3(0);
+ cv::Mat rot_mat(3, 3, CV_64F); //, 0);
+ // Transform the rotation vector into a rotation matrix with opencvs rodrigues method
+ Rodrigues(rvec, rot_mat);
- translation_vector2[0] = 0;
- translation_vector2[1] = 0;
- translation_vector2[2] = 0;
+ rotation_matrix[0] = rot_mat.at<double>(0, 0);
+ rotation_matrix[1] = rot_mat.at<double>(0, 1);
+ rotation_matrix[2] = rot_mat.at<double>(0, 2);
+ rotation_matrix[3] = rot_mat.at<double>(1, 0);
+ rotation_matrix[4] = rot_mat.at<double>(1, 1);
+ rotation_matrix[5] = rot_mat.at<double>(1, 2);
+ rotation_matrix[6] = rot_mat.at<double>(2, 0);
+ rotation_matrix[7] = rot_mat.at<double>(2, 1);
+ rotation_matrix[8] = rot_mat.at<double>(2, 2);
+
+ translation_vector[0] = tvec.at<double>(0, 0);
+ translation_vector[1] = tvec.at<double>(0, 1);
+ translation_vector[2] = tvec.at<double>(0, 2);
+
+ translation_vector2[0] = rotation_matrix[0] * translation_vector[0] + rotation_matrix[3] * translation_vector[1] +
+ rotation_matrix[6] * translation_vector[2];
+ translation_vector2[1] = rotation_matrix[1] * translation_vector[0] + rotation_matrix[4] * translation_vector[1] +
+ rotation_matrix[7] * translation_vector[2];
+ translation_vector2[2] = rotation_matrix[2] * translation_vector[0] + rotation_matrix[5] * translation_vector[1] +
+ rotation_matrix[8] * translation_vector[2];
+
+ SPDLOG_INFO("-.- ESTIMATED ROTATION -.-");
+ for(size_t p = 0; p < 3; p++)
+ {
+ SPDLOG_INFO("{}, {}, {}", rotation_matrix[p * 3], rotation_matrix[p * 3 + 1], rotation_matrix[p * 3] + 2);
+ }
+ SPDLOG_INFO("-.- ESTIMATED TRANSLATION -.-");
+ SPDLOG_INFO("{}, {}, {}", translation_vector[0], translation_vector[1], translation_vector[2]);
- rotation_matrix[0] = 0;
- rotation_matrix[1] = 0;
- rotation_matrix[2] = 0;
+ SPDLOG_INFO("-.- Translation vector -.-");
+ SPDLOG_INFO("{}, {}, {}", translation_vector2[0], translation_vector2[1], translation_vector2[2]);
- mControlWidget->setCalibExtrTrans1(translation_vector2[0]);
- mControlWidget->setCalibExtrTrans2(translation_vector2[1]);
- mControlWidget->setCalibExtrTrans3(translation_vector2[2]);
+ SPDLOG_INFO("-.- Rotation vector -.-");
+ SPDLOG_INFO("{}, {}, {}", rvec.at<double>(0, 0), rvec.at<double>(1, 0), rvec.at<double>(2, 0));
- reprojectionError = ReprojectionError{};
+ camHeight = translation_vector2[2] < 0 ? -translation_vector2[2] : translation_vector2[2];
- PCritical(
- mMainWindow,
- QObject::tr("Petrack"),
- QObject::tr("Error: Could not calculate extrinsic calibration. Please select other 2D/3D point "
- "correspondences for extrinsic calibration!"));
+ ExtrinsicParameters results;
- isExtCalib = false;
+ results.rot1 = rvec.at<double>(0, 0);
+ results.rot2 = rvec.at<double>(1, 0);
+ results.rot3 = rvec.at<double>(2, 0);
- return;
- }
+ results.trans1 = translation_vector2[0];
+ results.trans2 = translation_vector2[1];
+ results.trans3 = translation_vector2[2];
- isExtCalib = true;
-
- SPDLOG_INFO("End of extern calibration!");
- }
- else
+ if(!calcReprojectionError())
{
- std::cerr << "# Warning: invalid point correspondences for camera calibration." << std::endl;
- std::cerr << "# 2D points:" << points2D.size() << ", 3D points: " << points3D.size() << std::endl;
+ SPDLOG_WARN("Extrinsic calibration not possible! Please select other 2D/3D points!");
+ results.rot1 = 0;
+ results.rot2 = 0;
+ results.rot3 = 0;
+
+ translation_vector2[0] = 0;
+ translation_vector2[1] = 0;
+ translation_vector2[2] = 0;
+
+ rotation_matrix[0] = 0;
+ rotation_matrix[1] = 0;
+ rotation_matrix[2] = 0;
+
+ results.trans1 = translation_vector2[0];
+ results.trans2 = translation_vector2[1];
+ results.trans3 = translation_vector2[2];
+
+ reprojectionError = ReprojectionError{};
+
+ PCritical(
+ mMainWindow,
+ QObject::tr("Petrack"),
+ QObject::tr("Error: Could not calculate extrinsic calibration. Please select other 2D/3D point "
+ "correspondences for extrinsic calibration!"));
+
+ isExtCalib = false;
+ return results;
}
+
+ isExtCalib = true;
+ SPDLOG_INFO("End of extern calibration!");
mMainWindow->getScene()->update();
+ return results;
}
/**
@@ -779,11 +761,12 @@ cv::Point2f ExtrCalibration::getImagePoint(cv::Point3f p3d)
// ToDo: use projectPoints();
int bS = mMainWindow->getImage() ? mMainWindow->getImageBorderSize() : 0;
- double rvec_array[3], translation_vector[3];
+ double rvec_array[3], translation_vector[3];
+ const auto &extrParams = mControlWidget->getExtrinsicParameters();
- rvec_array[0] = mControlWidget->getCalibExtrRot1();
- rvec_array[1] = mControlWidget->getCalibExtrRot2();
- rvec_array[2] = mControlWidget->getCalibExtrRot3();
+ rvec_array[0] = extrParams.rot1;
+ rvec_array[1] = extrParams.rot2;
+ rvec_array[2] = extrParams.rot3;
cv::Mat rvec(3, 1, CV_64F, rvec_array), rot_inv;
cv::Mat rot_mat(3, 3, CV_64F), e(3, 3, CV_64F);
@@ -795,15 +778,12 @@ cv::Point2f ExtrCalibration::getImagePoint(cv::Point3f p3d)
e = rot_inv * rot_mat;
- translation_vector[0] = rot_mat.at<double>(0, 0) * mControlWidget->getCalibExtrTrans1() +
- rot_mat.at<double>(0, 1) * mControlWidget->getCalibExtrTrans2() +
- rot_mat.at<double>(0, 2) * mControlWidget->getCalibExtrTrans3();
- translation_vector[1] = rot_mat.at<double>(1, 0) * mControlWidget->getCalibExtrTrans1() +
- rot_mat.at<double>(1, 1) * mControlWidget->getCalibExtrTrans2() +
- rot_mat.at<double>(1, 2) * mControlWidget->getCalibExtrTrans3();
- translation_vector[2] = rot_mat.at<double>(2, 0) * mControlWidget->getCalibExtrTrans1() +
- rot_mat.at<double>(2, 1) * mControlWidget->getCalibExtrTrans2() +
- rot_mat.at<double>(2, 2) * mControlWidget->getCalibExtrTrans3();
+ translation_vector[0] = rot_mat.at<double>(0, 0) * extrParams.trans1 +
+ rot_mat.at<double>(0, 1) * extrParams.trans2 + rot_mat.at<double>(0, 2) * extrParams.trans3;
+ translation_vector[1] = rot_mat.at<double>(1, 0) * extrParams.trans1 +
+ rot_mat.at<double>(1, 1) * extrParams.trans2 + rot_mat.at<double>(1, 2) * extrParams.trans3;
+ translation_vector[2] = rot_mat.at<double>(2, 0) * extrParams.trans1 +
+ rot_mat.at<double>(2, 1) * extrParams.trans2 + rot_mat.at<double>(2, 2) * extrParams.trans3;
cv::Point3f point3D;
@@ -846,8 +826,8 @@ cv::Vec3d ExtrCalibration::camToWorldRotation(const cv::Vec3d &camVec) const
{
// Transform the rotation vector into a rotation matrix with opencvs rodrigues method
cv::Matx<double, 3, 3> rotMat(3, 3, CV_64F);
- const auto rvec = cv::Vec3d(
- mControlWidget->getCalibExtrRot1(), mControlWidget->getCalibExtrRot2(), mControlWidget->getCalibExtrRot3());
+ const auto &extrParams = mControlWidget->getExtrinsicParameters();
+ const auto rvec = cv::Vec3d(extrParams.rot1, extrParams.rot2, extrParams.rot3);
Rodrigues(rvec, rotMat);
auto rotInv = rotMat.inv(cv::DECOMP_LU);
@@ -871,18 +851,13 @@ cv::Point3f ExtrCalibration::get3DPoint(const cv::Point2f &p2d, double h) const
// Transform the rotation vector into a rotation matrix with opencvs rodrigues method
cv::Matx<double, 3, 3> rot_inv;
cv::Matx<double, 3, 3> rot_mat(3, 3, CV_64F);
- const cv::Mat rvec =
- (cv::Mat_<double>(3, 1) << mControlWidget->getCalibExtrRot1(),
- mControlWidget->getCalibExtrRot2(),
- mControlWidget->getCalibExtrRot3());
+ const auto &extrParams = mControlWidget->getExtrinsicParameters();
+ const cv::Mat rvec = (cv::Mat_<double>(3, 1) << extrParams.rot1, extrParams.rot2, extrParams.rot3);
Rodrigues(rvec, rot_mat);
rot_inv = rot_mat.inv(cv::DECOMP_LU, nullptr);
// Create translation vector
- cv::Vec3d translation{
- mControlWidget->getCalibExtrTrans1(),
- mControlWidget->getCalibExtrTrans2(),
- mControlWidget->getCalibExtrTrans3()};
+ cv::Vec3d translation{extrParams.trans1, extrParams.trans2, extrParams.trans3};
const auto camMat = mControlWidget->getIntrinsicCameraParams();
const auto fx = camMat.getFx();
diff --git a/src/extrinsicBox.cpp b/src/extrinsicBox.cpp
new file mode 100644
index 000000000..7d78de8b3
--- /dev/null
+++ b/src/extrinsicBox.cpp
@@ -0,0 +1,301 @@
+/*
+ * PeTrack - Software for tracking pedestrians movement in videos
+ * Copyright (C) 2023 Forschungszentrum Jülich GmbH, IAS-7
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <https://www.gnu.org/licenses/>.
+ */
+
+#include "extrinsicBox.h"
+
+#include "extrCalibration.h"
+#include "helper.h"
+#include "ui_extrinsicBox.h"
+
+#include <QDialogButtonBox>
+#include <QDomElement>
+#include <QMessageBox>
+#include <QStyle>
+#include <utility>
+
+ExtrinsicBox::ExtrinsicBox(
+ QWidget *parent,
+ Ui::extr *ui,
+ ExtrCalibration &extrCalib,
+ std::function<void()> updateCoordCallback) :
+ QGroupBox(parent), mUi(ui), mExtrCalibration(extrCalib), mUpdateCoordCallback(std::move(updateCoordCallback))
+{
+ mUi->setupUi(this);
+ setFocusProxy(mUi->rot1);
+ // use default values from struct as default for UI
+ setExtrinsicParameters(mParams);
+}
+
+ExtrinsicBox::ExtrinsicBox(QWidget *parent, ExtrCalibration &extrCalib, std::function<void()> updateCoordCallback) :
+ ExtrinsicBox(parent, new Ui::extr, extrCalib, std::move(updateCoordCallback))
+{
+}
+
+void ExtrinsicBox::setEnabledExtrParams(bool enable)
+{
+ mUi->rot1->setEnabled(enable);
+ mUi->rot2->setEnabled(enable);
+ mUi->rot3->setEnabled(enable);
+ mUi->trans1->setEnabled(enable);
+ mUi->trans2->setEnabled(enable);
+ mUi->trans3->setEnabled(enable);
+}
+
+const ExtrinsicParameters &ExtrinsicBox::getExtrinsicParameters() const
+{
+ return mParams;
+}
+
+void ExtrinsicBox::setExtrinsicParameters(const ExtrinsicParameters ¶ms)
+{
+ setValue(mUi->trans1, params.trans1);
+ setValue(mUi->trans2, params.trans2);
+ setValue(mUi->trans3, params.trans3);
+ setValue(mUi->rot1, params.rot1);
+ setValue(mUi->rot2, params.rot2);
+ setValue(mUi->rot3, params.rot3);
+}
+
+void ExtrinsicBox::on_extrCalibFetch_clicked()
+{
+ auto newCalib = mExtrCalibration.fetch2DPoints();
+ if(newCalib)
+ {
+ setExtrinsicParameters(*newCalib);
+ }
+}
+
+void ExtrinsicBox::on_coordLoad3DCalibPoints_clicked()
+{
+ auto newCalib = mExtrCalibration.openExtrCalibFile();
+ if(newCalib)
+ {
+ setExtrinsicParameters(*newCalib);
+ }
+ mUpdateCoordCallback();
+}
+
+void ExtrinsicBox::on_rot1_valueChanged(double newVal)
+{
+ mParams.rot1 = newVal;
+ mUpdateCoordCallback();
+}
+
+void ExtrinsicBox::on_rot2_valueChanged(double newVal)
+{
+ mParams.rot2 = newVal;
+ mUpdateCoordCallback();
+}
+
+void ExtrinsicBox::on_rot3_valueChanged(double newVal)
+{
+ mParams.rot3 = newVal;
+ mUpdateCoordCallback();
+}
+
+void ExtrinsicBox::on_trans1_valueChanged(double newVal)
+{
+ mParams.trans1 = newVal;
+ mUpdateCoordCallback();
+}
+
+void ExtrinsicBox::on_trans2_valueChanged(double newVal)
+{
+ mParams.trans2 = newVal;
+ mUpdateCoordCallback();
+}
+
+void ExtrinsicBox::on_trans3_valueChanged(double newVal)
+{
+ mParams.trans3 = newVal;
+ mUpdateCoordCallback();
+}
+
+void ExtrinsicBox::on_extrCalibSave_clicked()
+{
+ mExtrCalibration.saveExtrCalibPoints();
+}
+
+void ExtrinsicBox::on_extrCalibShowError_clicked()
+{
+ QString out;
+ QDialog msgBox;
+ QGridLayout *layout = new QGridLayout();
+ msgBox.setLayout(layout);
+ QLabel *tableView = new QLabel(&msgBox);
+ layout->addWidget(tableView, 1, 1);
+ QLabel *titel = new QLabel(&msgBox);
+ titel->setText("<b>Reprojection error for extrinsic calibration:</b>");
+ layout->addWidget(titel, 0, 1);
+
+ if(!mExtrCalibration.getReprojectionError().isValid())
+ {
+ out = QString("No File for extrinsic calibration found!");
+ tableView->setText(out);
+ }
+ else
+ {
+ out = QString("<table>"
+ "<tr><th></th>"
+ "<th>average </th>"
+ "<th>std. deviation </th>"
+ "<th>variance </th>"
+ "<th>max </th></tr>"
+ "<tr><td>Point height: </td><td> %0 cm</td><td> %1 cm</td><td> %2 "
+ "cm</td><td> %3 cm</td></tr>"
+ "<tr><td>Default height: <small>[%12 cm]</small> </td><td> %4 cm</td><td> %5 cm</td><td> %6 "
+ "cm</td><td> %7 cm</td></tr>"
+ "<tr><td>Pixel error: </td><td> %8 px</td><td> %9 px</td><td> %10 "
+ "px</td><td> %11 px</td></tr>"
+ "</table>");
+ const auto &reproError = mExtrCalibration.getReprojectionError().getData();
+ for(double value : reproError)
+ {
+ if(value < 0)
+ {
+ out = out.arg("-");
+ }
+ else
+ {
+ out = out.arg(value);
+ }
+ }
+ tableView->setText(out);
+ }
+
+ msgBox.setWindowTitle("PeTrack");
+ QIcon icon = QApplication::style()->standardIcon(QStyle::SP_MessageBoxInformation);
+ QLabel *infoIcon = new QLabel(&msgBox);
+ int iconSize = msgBox.style()->pixelMetric(QStyle::PM_MessageBoxIconSize, nullptr, &msgBox);
+ infoIcon->setPixmap(icon.pixmap(iconSize, iconSize));
+ layout->addWidget(infoIcon, 0, 0);
+ QDialogButtonBox *ok = new QDialogButtonBox(QDialogButtonBox::Ok);
+ layout->addWidget(ok, 2, 1);
+ connect(ok, &QDialogButtonBox::clicked, &msgBox, &QDialog::close);
+ msgBox.setFixedSize(msgBox.sizeHint());
+ msgBox.exec();
+}
+
+void ExtrinsicBox::on_extrCalibShowPoints_clicked()
+{
+ QString out_str;
+ QTextStream out(&out_str);
+
+ unsigned int i;
+
+ out << "<table><tr><th>Nr.</th><th>3D.x</th><th>3D.y</th><th>3D.z</th><th>2D.x</th><th>2D.y</th></tr>" << Qt::endl;
+
+
+ for(i = 0; i < std::max(mExtrCalibration.get3DList().size(), mExtrCalibration.get2DList().size()); ++i)
+ {
+ out << "<tr>";
+ if(i < mExtrCalibration.get3DList().size())
+ {
+ out << "<td>[" << QString::number(i + 1, 'i', 0) << "]: </td><td>"
+ << QString::number(mExtrCalibration.get3DList().at(i).x, 'f', 1) << "</td><td>"
+ << QString::number(mExtrCalibration.get3DList().at(i).y, 'f', 1) << "</td><td>"
+ << QString::number(mExtrCalibration.get3DList().at(i).z, 'f', 1) << "</td><td>";
+ }
+ else
+ {
+ out << "<td>-</td><td>-</td><td>-</td>";
+ }
+ if(i < mExtrCalibration.get2DList().size())
+ {
+ out << QString::number(mExtrCalibration.get2DList().at(i).x, 'f', 3) << "</td><td>"
+ << QString::number(mExtrCalibration.get2DList().at(i).y, 'f', 3) << "</td>";
+ }
+ else
+ {
+ out << "<td>-</td><td>-</td>";
+ }
+ out << "</tr>" << Qt::endl;
+ }
+ out << "</table>" << Qt::endl;
+
+ QMessageBox msgBox;
+ msgBox.setWindowTitle("PeTrack");
+ msgBox.setIcon(QMessageBox::Information);
+ msgBox.setText("Currently loaded point correspondences<br />for extrinsic calibration:");
+ msgBox.setInformativeText(out_str);
+ msgBox.setStandardButtons(QMessageBox::Ok);
+ msgBox.setDefaultButton(QMessageBox::Ok);
+ msgBox.exec();
+}
+
+/// returns whether the all attributes were consumed
+bool ExtrinsicBox::getXml(QDomElement &subSubElem)
+{
+ if(subSubElem.tagName() == "EXTRINSIC_PARAMETERS")
+ {
+ ExtrinsicParameters params;
+ if(subSubElem.hasAttribute("EXTR_ROT_1"))
+ {
+ params.rot1 = subSubElem.attribute("EXTR_ROT_1").toDouble();
+ }
+ if(subSubElem.hasAttribute("EXTR_ROT_2"))
+ {
+ params.rot2 = subSubElem.attribute("EXTR_ROT_2").toDouble();
+ }
+ if(subSubElem.hasAttribute("EXTR_ROT_3"))
+ {
+ params.rot3 = subSubElem.attribute("EXTR_ROT_3").toDouble();
+ }
+ if(subSubElem.hasAttribute("EXTR_TRANS_1"))
+ {
+ params.trans1 = subSubElem.attribute("EXTR_TRANS_1").toDouble();
+ }
+ if(subSubElem.hasAttribute("EXTR_TRANS_2"))
+ {
+ params.trans2 = subSubElem.attribute("EXTR_TRANS_2").toDouble();
+ }
+ if(subSubElem.hasAttribute("EXTR_TRANS_3"))
+ {
+ params.trans3 = subSubElem.attribute("EXTR_TRANS_3").toDouble();
+ }
+ setExtrinsicParameters(params);
+
+ if(subSubElem.hasAttribute("EXTERNAL_CALIB_FILE"))
+ {
+ if(getExistingFile(QString::fromStdString(subSubElem.attribute("EXTERNAL_CALIB_FILE").toStdString())) != "")
+ {
+ mExtrCalibration.setExtrCalibFile(
+ getExistingFile(QString::fromStdString(subSubElem.attribute("EXTERNAL_CALIB_FILE").toStdString())));
+ // mMainWindow->isLoading() is true; doesn't perform calibration -> ignore return
+ mExtrCalibration.loadExtrCalibFile();
+ }
+ }
+ }
+ return false;
+}
+
+void ExtrinsicBox::setXml(QDomElement &subSubElem) const
+{
+ subSubElem.setAttribute("EXTR_ROT_1", mUi->rot1->value());
+ subSubElem.setAttribute("EXTR_ROT_2", mUi->rot2->value());
+ subSubElem.setAttribute("EXTR_ROT_3", mUi->rot3->value());
+ subSubElem.setAttribute("EXTR_TRANS_1", mUi->trans1->value());
+ subSubElem.setAttribute("EXTR_TRANS_2", mUi->trans2->value());
+ subSubElem.setAttribute("EXTR_TRANS_3", mUi->trans3->value());
+}
+
+
+ExtrinsicBox::~ExtrinsicBox()
+{
+ delete mUi;
+}
diff --git a/src/imageItem.cpp b/src/imageItem.cpp
index 3999f23ad..83fe57481 100644
--- a/src/imageItem.cpp
+++ b/src/imageItem.cpp
@@ -146,10 +146,11 @@ QPointF ImageItem::getCmPerPixel(float px, float py, float h)
///*
double ImageItem::getAngleToGround(float px, float py, float height)
{
+ const auto &extrParams = mControlWidget->getExtrinsicParameters();
cv::Point3f cam(
- -mControlWidget->getCalibCoord3DTransX() - mControlWidget->getCalibExtrTrans1(),
- -mControlWidget->getCalibCoord3DTransY() - mControlWidget->getCalibExtrTrans2(),
- -mControlWidget->getCalibCoord3DTransZ() - mControlWidget->getCalibExtrTrans3());
+ -mControlWidget->getCalibCoord3DTransX() - extrParams.trans1,
+ -mControlWidget->getCalibCoord3DTransY() - extrParams.trans2,
+ -mControlWidget->getCalibCoord3DTransZ() - extrParams.trans3);
cv::Point3f posInImage = mMainWindow->getExtrCalibration()->get3DPoint(
cv::Point2f(px - mMainWindow->getImageBorderSize(), py - mMainWindow->getImageBorderSize()), height);
diff --git a/src/petrack.cpp b/src/petrack.cpp
index 02beaff12..ac259d06c 100644
--- a/src/petrack.cpp
+++ b/src/petrack.cpp
@@ -2646,7 +2646,7 @@ void Petrack::importTracker(QString dest) // default = ""
tPoint.setSp(
x,
y,
- -mControlWidget->getCalibExtrTrans3() -
+ -mControlWidget->getExtrinsicParameters().trans3 -
z); // fuer den Abstand zur Kamera in z-Richtung wie bei einer Stereokamera
// Neue ID ? ==> letzte Person beendet ==> abspeichern
diff --git a/src/recognition.cpp b/src/recognition.cpp
index 63a5062f5..e5a12b6d2 100644
--- a/src/recognition.cpp
+++ b/src/recognition.cpp
@@ -163,9 +163,10 @@ void setColorParameter(const QColor &fromColor, const QColor &toColor, bool inve
Vec2F autoCorrectColorMarker(const Vec2F &boxImageCentre, Control *controlWidget)
{
Petrack *mainWindow = controlWidget->getMainWindow();
+ auto extrParams = controlWidget->getExtrinsicParameters();
cv::Point2f tp = mainWindow->getExtrCalibration()->getImagePoint(cv::Point3f(
- -controlWidget->getCalibCoord3DTransX() - controlWidget->getCalibExtrTrans1(),
- -controlWidget->getCalibCoord3DTransY() - controlWidget->getCalibExtrTrans2(),
+ -controlWidget->getCalibCoord3DTransX() - extrParams.trans1,
+ -controlWidget->getCalibCoord3DTransY() - extrParams.trans2,
0));
Vec2F pixUnderCam(tp.x, tp.y); // CvPoint
Vec2F boxImageCentreWithBorder = boxImageCentre;
diff --git a/src/trackerItem.cpp b/src/trackerItem.cpp
index bca4d97da..beabb5558 100644
--- a/src/trackerItem.cpp
+++ b/src/trackerItem.cpp
@@ -558,7 +558,7 @@ void TrackerItem::paint(QPainter *painter, const QStyleOptionGraphicsItem * /*op
rect,
Qt::AlignHCenter,
QString("-\n%2").arg(
- -mControlWidget->getCalibExtrTrans3() - tp.sp().z(), 6, 'f', 1));
+ -mControlWidget->getExtrinsicParameters().trans3 - tp.sp().z(), 6, 'f', 1));
}
else
{
@@ -577,7 +577,8 @@ void TrackerItem::paint(QPainter *painter, const QStyleOptionGraphicsItem * /*op
Qt::AlignHCenter,
QString("%1\n%2")
.arg(height, 6, 'f', 1)
- .arg(-mControlWidget->getCalibExtrTrans3() - tp.sp().z(), 6, 'f', 1));
+ .arg(
+ -mControlWidget->getExtrinsicParameters().trans3 - tp.sp().z(), 6, 'f', 1));
}
else
{
@@ -634,7 +635,8 @@ void TrackerItem::paint(QPainter *painter, const QStyleOptionGraphicsItem * /*op
if(tp.sp().z() > 0)
{
p3d_height = mMainWindow->getExtrCalibration()->get3DPoint(
- cv::Point2f(tp.x(), tp.y()), -mControlWidget->getCalibExtrTrans3() - tp.sp().z());
+ cv::Point2f(tp.x(), tp.y()),
+ -mControlWidget->getExtrinsicParameters().trans3 - tp.sp().z());
}
else
{
@@ -676,7 +678,8 @@ void TrackerItem::paint(QPainter *painter, const QStyleOptionGraphicsItem * /*op
if(tp.sp().z() > 0)
{
p3d_height = mMainWindow->getExtrCalibration()->get3DPoint(
- cv::Point2f(tp.x(), tp.y()), -mControlWidget->getCalibExtrTrans3() - tp.sp().z());
+ cv::Point2f(tp.x(), tp.y()),
+ -mControlWidget->getExtrinsicParameters().trans3 - tp.sp().z());
}
else
{
@@ -775,10 +778,11 @@ void TrackerItem::paint(QPainter *painter, const QStyleOptionGraphicsItem * /*op
{
p3d_height_p1 = mMainWindow->getExtrCalibration()->get3DPoint(
cv::Point2f(person.at(j - 1).x(), person.at(j - 1).y()),
- -mControlWidget->getCalibExtrTrans3() - person.at(j - 1).sp().z());
+ -mControlWidget->getExtrinsicParameters().trans3 -
+ person.at(j - 1).sp().z());
p3d_height_p2 = mMainWindow->getExtrCalibration()->get3DPoint(
cv::Point2f(person.at(j).x(), person.at(j).y()),
- -mControlWidget->getCalibExtrTrans3() - person.at(j).sp().z());
+ -mControlWidget->getExtrinsicParameters().trans3 - person.at(j).sp().z());
}
else
{
diff --git a/tests/unit_test/CMakeLists.txt b/tests/unit_test/CMakeLists.txt
index 2ec2351cb..af74b8370 100644
--- a/tests/unit_test/CMakeLists.txt
+++ b/tests/unit_test/CMakeLists.txt
@@ -15,4 +15,5 @@ target_sources(petrack_tests PRIVATE
tst_filter.cpp
tst_intrinsicBox.cpp
util.h
+ tst_extrinsicBox.cpp
)
diff --git a/tests/unit_test/tst_extrCalibration.cpp b/tests/unit_test/tst_extrCalibration.cpp
index 2ed83b12b..44b6c09e0 100644
--- a/tests/unit_test/tst_extrCalibration.cpp
+++ b/tests/unit_test/tst_extrCalibration.cpp
@@ -19,21 +19,29 @@
#include "extrCalibration.h"
#include "petrack.h"
+#include <QDomDocument>
#include <catch2/catch.hpp>
// use margin for absolute difference, as epsilon would be relative which is useless when comparing to 0
-constexpr float VEC_MARGIN = 0.01;
+constexpr float VEC_MARGIN = 0.01f;
TEST_CASE("src/extrCalibration/camToWorldRotation", "[extrCalibration]")
{
Petrack petrack{"Unknown"};
- auto calib = petrack.getExtrCalibration();
+ auto *calib = petrack.getExtrCalibration();
Control *control = petrack.getControlWidget();
- control->setCalibExtrRot1(0);
- control->setCalibExtrRot2(0);
- control->setCalibExtrRot3(0);
+ const QString testConfig{
+ R"(<CONTROL>
+ <CALIBRATION>
+ <EXTRINSIC_PARAMETERS EXTR_ROT_1="%1" EXTR_ROT_2="%2" EXTR_ROT_3="%3" EXTR_TRANS_1="0" EXTR_TRANS_2="0" EXTR_TRANS_3="0" />
+ </CALIBRATION>
+ </CONTROL>)"};
+
+ QDomDocument doc;
+ doc.setContent(testConfig.arg("0", "0", "0"));
+ control->getXml(doc.documentElement());
SECTION("Identity Coordinate System")
{
@@ -49,7 +57,8 @@ TEST_CASE("src/extrCalibration/camToWorldRotation", "[extrCalibration]")
SECTION("Rotated around z-axis")
{
// rotate 90 degrees
- control->setCalibExtrRot3(PI / 2);
+ doc.setContent(testConfig.arg("0", "0", QString::number(PI / 2)));
+ control->getXml(doc.documentElement());
REQUIRE(
cv::norm(calib->camToWorldRotation(cv::Vec3d(1, 0, 0)) - cv::Vec3d(0, -1, 0)) ==
Approx(0).margin(VEC_MARGIN));
@@ -67,7 +76,8 @@ TEST_CASE("src/extrCalibration/camToWorldRotation", "[extrCalibration]")
Approx(0).margin(VEC_MARGIN));
// negative rotation
- control->setCalibExtrRot3(-PI);
+ doc.setContent(testConfig.arg("0", "0", QString::number(-PI)));
+ control->getXml(doc.documentElement());
REQUIRE(
cv::norm(calib->camToWorldRotation(cv::Vec3d(1, 0, 0)) - cv::Vec3d(-1, 0, 0)) ==
Approx(0).margin(VEC_MARGIN));
@@ -80,9 +90,8 @@ TEST_CASE("src/extrCalibration/camToWorldRotation", "[extrCalibration]")
SECTION("Wild rotation")
{
// vector (1, 1, 1) with length pi/2
- control->setCalibExtrRot1(0.9067);
- control->setCalibExtrRot2(0.9067);
- control->setCalibExtrRot3(0.9067);
+ doc.setContent(testConfig.arg("0.9067", "0.9067", "0.9067"));
+ control->getXml(doc.documentElement());
REQUIRE(
cv::norm(calib->camToWorldRotation(cv::Vec3d(1, 1, 1)) - cv::Vec3d(1, 1, 1)) ==
@@ -98,9 +107,14 @@ TEST_CASE("src/extrCalibration/camToWorldRotation", "[extrCalibration]")
SECTION("Translation should not matter")
{
- control->setCalibExtrTrans1(10);
- control->setCalibExtrTrans2(-20);
- control->setCalibExtrTrans3(-500);
+ const QString testConfig{
+ R"(<CONTROL>
+ <CALIBRATION>
+ <EXTRINSIC_PARAMETERS EXTR_ROT_1="%1" EXTR_ROT_2="%2" EXTR_ROT_3="%3" EXTR_TRANS_1="10" EXTR_TRANS_2="-20" EXTR_TRANS_3="-500" />
+ </CALIBRATION>
+ </CONTROL>)"};
+ doc.setContent(testConfig.arg("0.9067", "0.9067", "0.9067"));
+ control->getXml(doc.documentElement());
REQUIRE(
cv::norm(calib->camToWorldRotation(cv::Vec3d(1, 0, 0)) - cv::Vec3d(0.33, -0.24, 0.91)) ==
Approx(0).margin(VEC_MARGIN));
@@ -113,9 +127,8 @@ TEST_CASE("src/extrCalibration/camToWorldRotation", "[extrCalibration]")
SECTION("Another Wild Rotation")
{
- control->setCalibExtrRot1(0.5);
- control->setCalibExtrRot2(-2);
- control->setCalibExtrRot3(1.1);
+ doc.setContent(testConfig.arg("0.5", "-2", "1.1"));
+ control->getXml(doc.documentElement());
REQUIRE(
cv::norm(calib->camToWorldRotation(cv::Vec3d(1, 1, 1)) - cv::Vec3d(0.2, -0.63, -1.6)) ==
diff --git a/tests/unit_test/tst_extrinsicBox.cpp b/tests/unit_test/tst_extrinsicBox.cpp
new file mode 100644
index 000000000..fd5d1cb9f
--- /dev/null
+++ b/tests/unit_test/tst_extrinsicBox.cpp
@@ -0,0 +1,115 @@
+/*
+ * PeTrack - Software for tracking pedestrians movement in videos
+ * Copyright (C) 2023 Forschungszentrum Jülich GmbH, IAS-7
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <https://cdwww.gnu.org/licenses/>.
+ */
+
+#include "extrCalibration.h"
+#include "extrinsicBox.h"
+#include "personStorage.h"
+#include "petrack.h"
+#include "ui_extrinsicBox.h"
+
+#include <QDomElement>
+#include <catch2/catch.hpp>
+
+TEST_CASE("ExtrinsicBox: display of values in UI")
+{
+ Petrack petrack{"Unkown"};
+ Autosave autosave(petrack);
+ PersonStorage storage(petrack, autosave);
+ ExtrCalibration calib(storage);
+ Ui::extr *ui = new Ui::extr();
+ ExtrinsicBox extrBox(nullptr, ui, calib, []() {});
+
+ ExtrinsicParameters params;
+ params.rot1 = 0.5;
+ params.rot2 = 0.2;
+ params.rot3 = -0.5;
+ params.trans1 = 234;
+ params.trans2 = 420;
+ params.trans3 = 699;
+
+ WHEN("We change the values of the extrinsic parameters")
+ {
+ extrBox.setExtrinsicParameters(params);
+
+ THEN("The values are displayed accordingly")
+ {
+ CHECK(ui->rot1->value() == params.rot1);
+ CHECK(ui->rot2->value() == params.rot2);
+ CHECK(ui->rot3->value() == params.rot3);
+ CHECK(ui->trans1->value() == params.trans1);
+ CHECK(ui->trans2->value() == params.trans2);
+ CHECK(ui->trans3->value() == params.trans3);
+ }
+ }
+
+ WHEN("We change the values in the UI")
+ {
+ ui->rot1->setValue(params.rot1);
+ ui->rot2->setValue(params.rot2);
+ ui->rot3->setValue(params.rot3);
+ ui->trans1->setValue(params.trans1);
+ ui->trans2->setValue(params.trans2);
+ ui->trans3->setValue(params.trans3);
+
+ THEN("The changes are propagated accordingly")
+ {
+ CHECK(extrBox.getExtrinsicParameters() == params);
+ }
+ }
+}
+
+TEST_CASE("ExtrinsicBox: reading/writing xml")
+{
+ Petrack petrack{"Unkown"};
+ Autosave autosave(petrack);
+ PersonStorage storage(petrack, autosave);
+ ExtrCalibration calib(storage);
+ ExtrinsicBox extrBox(nullptr, calib, []() {});
+
+ WHEN("We change the extrinsic parameters")
+ {
+ ExtrinsicParameters params;
+ params.rot1 = 0.5;
+ params.rot2 = 0.2;
+ params.rot3 = -0.5;
+ params.trans1 = 234;
+ params.trans2 = 420;
+ params.trans3 = 699;
+
+ extrBox.setExtrinsicParameters(params);
+
+ AND_WHEN("We save that state into an xml-document")
+ {
+ QDomDocument doc;
+ QDomElement elem = doc.createElement("EXTRINSIC_PARAMETERS");
+ extrBox.setXml(elem);
+
+ THEN("We can read that state in again")
+ {
+ Petrack petrack{"Unkown"};
+ Autosave autosave(petrack);
+ PersonStorage storage(petrack, autosave);
+ ExtrCalibration calib(storage);
+ ExtrinsicBox extrBox(nullptr, calib, []() {});
+
+ extrBox.getXml(elem);
+ CHECK(extrBox.getExtrinsicParameters() == params);
+ }
+ }
+ }
+}
diff --git a/ui/control.ui b/ui/control.ui
index a502857e4..d484430ee 100644
--- a/ui/control.ui
+++ b/ui/control.ui
@@ -139,8 +139,8 @@
<rect>
<x>0</x>
<y>0</y>
- <width>477</width>
- <height>619</height>
+ <width>494</width>
+ <height>555</height>
</rect>
</property>
<property name="sizePolicy">
@@ -150,325 +150,6 @@
</sizepolicy>
</property>
<layout class="QVBoxLayout" name="verticalLayout_13">
- <item>
- <widget class="QGroupBox" name="extr">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Expanding" vsizetype="Minimum">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="minimumSize">
- <size>
- <width>300</width>
- <height>0</height>
- </size>
- </property>
- <property name="maximumSize">
- <size>
- <width>16777215</width>
- <height>16777215</height>
- </size>
- </property>
- <property name="title">
- <string>extrinsic parameters</string>
- </property>
- <layout class="QVBoxLayout" name="verticalLayout_7">
- <property name="leftMargin">
- <number>5</number>
- </property>
- <property name="topMargin">
- <number>5</number>
- </property>
- <property name="rightMargin">
- <number>5</number>
- </property>
- <property name="bottomMargin">
- <number>5</number>
- </property>
- <item>
- <layout class="QGridLayout" name="gridLayout_6" columnstretch="0,0,0,0">
- <item row="0" column="0">
- <widget class="QLabel" name="label_58">
- <property name="toolTip">
- <string>Translate the coordinate system in x-direction.</string>
- </property>
- <property name="text">
- <string>rotation:</string>
- </property>
- <property name="alignment">
- <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
- </property>
- </widget>
- </item>
- <item row="1" column="0">
- <widget class="QLabel" name="label_59">
- <property name="toolTip">
- <string>Translate the coordinate system in x-direction.</string>
- </property>
- <property name="text">
- <string>translation:</string>
- </property>
- <property name="alignment">
- <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
- </property>
- </widget>
- </item>
- <item row="1" column="1">
- <widget class="PDoubleSpinBox" name="trans1">
- <property name="decimals">
- <number>3</number>
- </property>
- <property name="minimum">
- <double>-10000.000000000000000</double>
- </property>
- <property name="maximum">
- <double>10000.000000000000000</double>
- </property>
- <property name="singleStep">
- <double>0.100000000000000</double>
- </property>
- </widget>
- </item>
- <item row="0" column="1">
- <widget class="PDoubleSpinBox" name="rot1">
- <property name="decimals">
- <number>3</number>
- </property>
- <property name="minimum">
- <double>-100.000000000000000</double>
- </property>
- <property name="singleStep">
- <double>0.001000000000000</double>
- </property>
- </widget>
- </item>
- <item row="1" column="2">
- <widget class="PDoubleSpinBox" name="trans2">
- <property name="decimals">
- <number>3</number>
- </property>
- <property name="minimum">
- <double>-10000.000000000000000</double>
- </property>
- <property name="maximum">
- <double>10000.000000000000000</double>
- </property>
- <property name="singleStep">
- <double>0.100000000000000</double>
- </property>
- </widget>
- </item>
- <item row="1" column="3">
- <widget class="PDoubleSpinBox" name="trans3">
- <property name="decimals">
- <number>3</number>
- </property>
- <property name="minimum">
- <double>-10000.000000000000000</double>
- </property>
- <property name="maximum">
- <double>10000.000000000000000</double>
- </property>
- <property name="singleStep">
- <double>0.100000000000000</double>
- </property>
- <property name="value">
- <double>-500.000000000000000</double>
- </property>
- </widget>
- </item>
- <item row="0" column="3">
- <widget class="PDoubleSpinBox" name="rot3">
- <property name="decimals">
- <number>3</number>
- </property>
- <property name="minimum">
- <double>-100.000000000000000</double>
- </property>
- <property name="singleStep">
- <double>0.001000000000000</double>
- </property>
- </widget>
- </item>
- <item row="0" column="2">
- <widget class="PDoubleSpinBox" name="rot2">
- <property name="decimals">
- <number>3</number>
- </property>
- <property name="minimum">
- <double>-100.000000000000000</double>
- </property>
- <property name="singleStep">
- <double>0.001000000000000</double>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- <item>
- <layout class="QHBoxLayout" name="horizontalLayout_10">
- <item>
- <widget class="QLabel" name="label_62">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="text">
- <string>3D/2D Points:</string>
- </property>
- <property name="alignment">
- <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QPushButton" name="coordLoad3DCalibPoints">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="minimumSize">
- <size>
- <width>30</width>
- <height>18</height>
- </size>
- </property>
- <property name="maximumSize">
- <size>
- <width>40</width>
- <height>18</height>
- </size>
- </property>
- <property name="toolTip">
- <string>Load 3D points to corresponding 2D image points</string>
- </property>
- <property name="text">
- <string>load</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QPushButton" name="extrCalibFetch">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="minimumSize">
- <size>
- <width>30</width>
- <height>18</height>
- </size>
- </property>
- <property name="maximumSize">
- <size>
- <width>40</width>
- <height>18</height>
- </size>
- </property>
- <property name="toolTip">
- <string>Fetch marked 2D Points to loaded 3D points</string>
- </property>
- <property name="text">
- <string>fetch</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QPushButton" name="extrCalibSave">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="minimumSize">
- <size>
- <width>30</width>
- <height>18</height>
- </size>
- </property>
- <property name="maximumSize">
- <size>
- <width>40</width>
- <height>18</height>
- </size>
- </property>
- <property name="toolTip">
- <string>Save 3D and/or 2D points to extrinisc calib file</string>
- </property>
- <property name="text">
- <string>save</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QPushButton" name="extrCalibShowPoints">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="minimumSize">
- <size>
- <width>30</width>
- <height>18</height>
- </size>
- </property>
- <property name="maximumSize">
- <size>
- <width>40</width>
- <height>18</height>
- </size>
- </property>
- <property name="toolTip">
- <string>Show the saved 2D/3D point correspondences in the file</string>
- </property>
- <property name="text">
- <string>show</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QPushButton" name="extrCalibShowError">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="minimumSize">
- <size>
- <width>30</width>
- <height>18</height>
- </size>
- </property>
- <property name="maximumSize">
- <size>
- <width>40</width>
- <height>18</height>
- </size>
- </property>
- <property name="toolTip">
- <string>Show the reprojection error of extrinsic calibration</string>
- </property>
- <property name="text">
- <string>error</string>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- </layout>
- </widget>
- </item>
<item>
<widget class="QGroupBox" name="align_2">
<property name="sizePolicy">
@@ -6465,17 +6146,6 @@
</customwidget>
</customwidgets>
<tabstops>
- <tabstop>rot1</tabstop>
- <tabstop>rot2</tabstop>
- <tabstop>rot3</tabstop>
- <tabstop>trans1</tabstop>
- <tabstop>trans2</tabstop>
- <tabstop>trans3</tabstop>
- <tabstop>coordLoad3DCalibPoints</tabstop>
- <tabstop>extrCalibFetch</tabstop>
- <tabstop>extrCalibSave</tabstop>
- <tabstop>extrCalibShowPoints</tabstop>
- <tabstop>extrCalibShowError</tabstop>
<tabstop>coordShow</tabstop>
<tabstop>coordFix</tabstop>
<tabstop>coordTab</tabstop>
diff --git a/ui/extrinsicBox.ui b/ui/extrinsicBox.ui
new file mode 100644
index 000000000..6b7c1d14f
--- /dev/null
+++ b/ui/extrinsicBox.ui
@@ -0,0 +1,354 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>extr</class>
+ <widget class="QGroupBox" name="extr">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>0</y>
+ <width>322</width>
+ <height>106</height>
+ </rect>
+ </property>
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Expanding" vsizetype="Minimum">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="minimumSize">
+ <size>
+ <width>300</width>
+ <height>0</height>
+ </size>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>16777215</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="focusPolicy">
+ <enum>Qt::TabFocus</enum>
+ </property>
+ <property name="title">
+ <string>extrinsic parameters</string>
+ </property>
+ <layout class="QVBoxLayout" name="verticalLayout_7">
+ <property name="leftMargin">
+ <number>5</number>
+ </property>
+ <property name="topMargin">
+ <number>5</number>
+ </property>
+ <property name="rightMargin">
+ <number>5</number>
+ </property>
+ <property name="bottomMargin">
+ <number>5</number>
+ </property>
+ <item>
+ <layout class="QGridLayout" name="gridLayout_6" columnstretch="0,0,0,0">
+ <item row="0" column="0">
+ <widget class="QLabel" name="label_58">
+ <property name="toolTip">
+ <string>Translate the coordinate system in x-direction.</string>
+ </property>
+ <property name="text">
+ <string>rotation:</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="0">
+ <widget class="QLabel" name="label_59">
+ <property name="toolTip">
+ <string>Translate the coordinate system in x-direction.</string>
+ </property>
+ <property name="text">
+ <string>translation:</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="1">
+ <widget class="PDoubleSpinBox" name="trans1">
+ <property name="decimals">
+ <number>3</number>
+ </property>
+ <property name="minimum">
+ <double>-10000.000000000000000</double>
+ </property>
+ <property name="maximum">
+ <double>10000.000000000000000</double>
+ </property>
+ <property name="singleStep">
+ <double>0.100000000000000</double>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="1">
+ <widget class="PDoubleSpinBox" name="rot1">
+ <property name="decimals">
+ <number>3</number>
+ </property>
+ <property name="minimum">
+ <double>-100.000000000000000</double>
+ </property>
+ <property name="singleStep">
+ <double>0.001000000000000</double>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="2">
+ <widget class="PDoubleSpinBox" name="trans2">
+ <property name="decimals">
+ <number>3</number>
+ </property>
+ <property name="minimum">
+ <double>-10000.000000000000000</double>
+ </property>
+ <property name="maximum">
+ <double>10000.000000000000000</double>
+ </property>
+ <property name="singleStep">
+ <double>0.100000000000000</double>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="3">
+ <widget class="PDoubleSpinBox" name="trans3">
+ <property name="decimals">
+ <number>3</number>
+ </property>
+ <property name="minimum">
+ <double>-10000.000000000000000</double>
+ </property>
+ <property name="maximum">
+ <double>10000.000000000000000</double>
+ </property>
+ <property name="singleStep">
+ <double>0.100000000000000</double>
+ </property>
+ <property name="value">
+ <double>-500.000000000000000</double>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="3">
+ <widget class="PDoubleSpinBox" name="rot3">
+ <property name="decimals">
+ <number>3</number>
+ </property>
+ <property name="minimum">
+ <double>-100.000000000000000</double>
+ </property>
+ <property name="singleStep">
+ <double>0.001000000000000</double>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="2">
+ <widget class="PDoubleSpinBox" name="rot2">
+ <property name="decimals">
+ <number>3</number>
+ </property>
+ <property name="minimum">
+ <double>-100.000000000000000</double>
+ </property>
+ <property name="singleStep">
+ <double>0.001000000000000</double>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item>
+ <layout class="QHBoxLayout" name="horizontalLayout_10">
+ <item>
+ <widget class="QLabel" name="label_62">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>3D/2D Points:</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="coordLoad3DCalibPoints">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="minimumSize">
+ <size>
+ <width>30</width>
+ <height>18</height>
+ </size>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>40</width>
+ <height>18</height>
+ </size>
+ </property>
+ <property name="toolTip">
+ <string>Load 3D points to corresponding 2D image points</string>
+ </property>
+ <property name="text">
+ <string>load</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="extrCalibFetch">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="minimumSize">
+ <size>
+ <width>30</width>
+ <height>18</height>
+ </size>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>40</width>
+ <height>18</height>
+ </size>
+ </property>
+ <property name="toolTip">
+ <string>Fetch marked 2D Points to loaded 3D points</string>
+ </property>
+ <property name="text">
+ <string>fetch</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="extrCalibSave">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="minimumSize">
+ <size>
+ <width>30</width>
+ <height>18</height>
+ </size>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>40</width>
+ <height>18</height>
+ </size>
+ </property>
+ <property name="toolTip">
+ <string>Save 3D and/or 2D points to extrinisc calib file</string>
+ </property>
+ <property name="text">
+ <string>save</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="extrCalibShowPoints">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="minimumSize">
+ <size>
+ <width>30</width>
+ <height>18</height>
+ </size>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>40</width>
+ <height>18</height>
+ </size>
+ </property>
+ <property name="toolTip">
+ <string>Show the saved 2D/3D point correspondences in the file</string>
+ </property>
+ <property name="text">
+ <string>show</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="extrCalibShowError">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="minimumSize">
+ <size>
+ <width>30</width>
+ <height>18</height>
+ </size>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>40</width>
+ <height>18</height>
+ </size>
+ </property>
+ <property name="toolTip">
+ <string>Show the reprojection error of extrinsic calibration</string>
+ </property>
+ <property name="text">
+ <string>error</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ </layout>
+ </widget>
+ <customwidgets>
+ <customwidget>
+ <class>PDoubleSpinBox</class>
+ <extends>QDoubleSpinBox</extends>
+ <header>pdoublespinbox.h</header>
+ </customwidget>
+ </customwidgets>
+ <tabstops>
+ <tabstop>rot1</tabstop>
+ <tabstop>rot2</tabstop>
+ <tabstop>rot3</tabstop>
+ <tabstop>trans1</tabstop>
+ <tabstop>trans2</tabstop>
+ <tabstop>trans3</tabstop>
+ <tabstop>coordLoad3DCalibPoints</tabstop>
+ <tabstop>extrCalibFetch</tabstop>
+ <tabstop>extrCalibSave</tabstop>
+ <tabstop>extrCalibShowPoints</tabstop>
+ <tabstop>extrCalibShowError</tabstop>
+ </tabstops>
+ <resources/>
+ <connections/>
+</ui>
--
GitLab