industrial_calibration::CameraCalibrationDataManagerWidget Class Reference

Widget for loading and managing a 2D image calibration data set. More...

Detailed Description

This widget loads a 2D image calibration data set from a YAML file. The calibration data set is stored internally in the widget in a QTreeWidget. Each observation in the data set is stored as a QTreeWidgetItem, where the image file name is stored as data under the IMAGE_FILE_NAME_ROLE role and the pose file name is stored as data under the POSE_FILE_NAME_ROLE role. The observation QTreeWidgetItem has two child items:

• The number of features detected in the target (child item at index IDX_FEATURES)
• The homography error of the detected target (child item at index IDX_HOMOGRAPHY)

The TargetFinder used for calibration and CameraIntrinsics must be also be configured in the widget in order to detect the calibration target in the images.

When an image is selected, this widget attempts to detect the Target in the image using the configured TargetDetector. If the target is found. the widget emits the imageSelected signal with an image where the target features are drawn on the image. Otherwise, the widget emits the imageSelected signal with the original observation image.

#include <camera_calibration_data_manager_widget.h>

Inheritance diagram for industrial_calibration::CameraCalibrationDataManagerWidget:

Signals
void	imageSelected (const QPixmap &image)
	Signal emitted when an observation is selected in the tree widget.

Public Member Functions
	CameraCalibrationDataManagerWidget (QWidget *parent=nullptr)
void	loadObservations (const std::string &observations_file)
	Loads the calibration observations from file.
QTreeWidget *	getTreeWidget () const

Public Attributes
QAction *	action_load_observations
QAction *	action_edit_target_finder
QAction *	action_edit_camera_intrinsics

Protected Member Functions
void	closeEvent (QCloseEvent *event) override
void	onLoadObservations ()
void	loadTargetFinder ()
void	drawImage (QTreeWidgetItem *item, int col)

Static Protected Member Functions
static QPixmap	toQt (const cv::Mat &image)
	helper function for converting an OpenCV image to a Qt pixmap
static void	info (QTreeWidgetItem *item, const QString &message)
	helper function for showing an info message with a tree item
static void	error (QTreeWidgetItem *item, const QString &message)
	helper function for showing an error message with a tree item

Protected Attributes
Ui::CameraCalibrationDataManager *	ui_
TargetFinderWidget *	target_finder_widget_
CameraIntrinsicsWidget *	camera_intrinsics_widget_
boost_plugin_loader::PluginLoader	loader_
TargetFinderFactoryOpenCV::ConstPtr	factory_
TargetFinderOpenCV::ConstPtr	target_finder_

Static Protected Attributes
static const unsigned	RANDOM_SEED = 1
	Random seed used for homography analysis.
static const int	IMAGE_FILE_NAME_ROLE = Qt::UserRole + 1
	Role for image file in tree widget.
static const int	POSE_FILE_NAME_ROLE = Qt::UserRole + 2
	Role for pose file in tree widget.
static const int	IDX_FEATURES = 0
	Data index of the detected target feature count inside a tree widget item.
static const int	IDX_HOMOGRAPHY = 1
	Data index of the homography error inside a tree widget item.

Member Function Documentation

loadObservations()

void industrial_calibration::CameraCalibrationDataManagerWidget::loadObservations

(

const std::string &

observations_file

)

See the file formats for extrinsic hand eye calibration and camera intrinsic calibration

Exceptions

Exception

on failure

imageSelected

void industrial_calibration::CameraCalibrationDataManagerWidget::imageSelected ( const QPixmap &  image )

signal

If the target can be identified in the image associated with the observation, the signal provides that image with the detected target drawn on it. Otherwise, the signal provides the original observation image.