calibration-model.cpp
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1 // License: Apache 2.0. See LICENSE file in root directory.
2 // Copyright(c) 2023 Intel Corporation. All Rights Reserved.
3 
4 #include <rs-config.h>
5 #include "calibration-model.h"
6 #include "device-model.h"
7 #include "os.h"
8 #include "ux-window.h"
9 
10 #include "../src/ds/d400/d400-private.h"
11 
12 
13 using namespace rs2;
14 
15 calibration_model::calibration_model(rs2::device dev, std::shared_ptr<notifications_model> not_model)
16  : dev(dev), _not_model(not_model)
17 {
19 }
20 
22 {
25 
27 }
28 
29 void calibration_model::draw_float(std::string name, float& x, const float& orig, bool& changed)
30 {
31  if( std::abs( x - orig ) > 0.00001 )
34  if (ImGui::DragFloat(std::string( rsutils::string::from() << "##" << name).c_str(), &x, 0.001f))
35  {
36  changed = true;
37  }
39 }
40 
42  const float3x3& original, bool& changed)
43 {
45  ImGui::Text("%s:", name.c_str()); ImGui::SameLine();
47 
50  draw_float(name + "_XX", feild.x.x, original.x.x, changed);
52  draw_float(name + "_XY", feild.x.y, original.x.y, changed);
54  draw_float(name + "_XZ", feild.x.z, original.x.z, changed);
55 
57  draw_float(name + "_YX", feild.y.x, original.y.x, changed);
59  draw_float(name + "_YY", feild.y.y, original.y.y, changed);
61  draw_float(name + "_YZ", feild.y.z, original.y.z, changed);
62 
64  draw_float(name + "_ZX", feild.z.x, original.z.x, changed);
66  draw_float(name + "_ZY", feild.z.y, original.z.y, changed);
68  draw_float(name + "_ZZ", feild.z.z, original.z.z, changed);
69 
71 
73 }
74 
76 {
77  const auto window_name = "Calibration Window";
78 
79  if (to_open)
80  {
81  try
82  {
85  ImGui::OpenPopup(window_name);
86  }
87  catch(std::exception e)
88  {
89  error_message = e.what();
90  }
91  to_open = false;
92  }
93 
95  auto orig_table = (librealsense::ds::d400_coefficients_table*)_original.data();
96  bool changed = false;
97 
98  const float w = 620;
99  const float h = 500;
100  const float x0 = std::max(window.width() - w, 0.f) / 2;
101  const float y0 = std::max(window.height() - h, 0.f) / 2;
104 
107 
113 
114  if (ImGui::BeginPopupModal(window_name, nullptr, flags))
115  {
116  if (error_message != "") ImGui::CloseCurrentPopup();
117 
118  std::string title_message = "CAMERA CALIBRATION";
119  auto title_size = ImGui::CalcTextSize(title_message.c_str());
120  ImGui::SetCursorPosX(w / 2 - title_size.x / 2);
122  ImGui::PushFont(window.get_large_font());
124  ImGui::Text("%s", title_message.c_str());
126  ImGui::PopFont();
128 
129  ImGui::SetCursorPosX(w / 2 - 260 / 2);
130  if (ImGui::Button(u8"\uF07C Load...", ImVec2(70, 30)))
131  {
132  try
133  {
134  if (auto fn = file_dialog_open(file_dialog_mode::open_file, "Calibration JSON\0*.json\0", nullptr, nullptr))
135  {
136  config_file cf(fn);
137  table->baseline = cf.get("baseline");
138 
139  auto load_float3x4 = [&](std::string name, librealsense::float3x3& m){
140  m.x.x = cf.get(std::string( rsutils::string::from() << name << ".x.x").c_str());
141  m.x.y = cf.get(std::string( rsutils::string::from() << name << ".x.y").c_str());
142  m.x.z = cf.get(std::string( rsutils::string::from() << name << ".x.z").c_str());
143 
144  m.y.x = cf.get(std::string( rsutils::string::from() << name << ".y.x").c_str());
145  m.y.y = cf.get(std::string( rsutils::string::from() << name << ".y.y").c_str());
146  m.y.z = cf.get(std::string( rsutils::string::from() << name << ".y.z").c_str());
147 
148  m.z.x = cf.get(std::string( rsutils::string::from() << name << ".z.x").c_str());
149  m.z.y = cf.get(std::string( rsutils::string::from() << name << ".z.y").c_str());
150  m.z.z = cf.get(std::string( rsutils::string::from() << name << ".z.z").c_str());
151  };
152 
153  load_float3x4("intrinsic_left", table->intrinsic_left);
154  load_float3x4("intrinsic_right", table->intrinsic_right);
155  load_float3x4("world2left_rot", table->world2left_rot);
156  load_float3x4("world2right_rot", table->world2right_rot);
157 
158  for (int i = 0; i < librealsense::ds::max_ds_rect_resolutions; i++)
159  {
160  table->rect_params[i].x = cf.get(std::string( rsutils::string::from() << "rectified." << i << ".fx").c_str());
161  table->rect_params[i].y = cf.get(std::string( rsutils::string::from() << "rectified." << i << ".fy").c_str());
162 
163  table->rect_params[i].z = cf.get(std::string( rsutils::string::from() << "rectified." << i << ".ppx").c_str());
164  table->rect_params[i].w = cf.get(std::string( rsutils::string::from() << "rectified." << i << ".ppy").c_str());
165  }
166  }
167 
168  changed = true;
169  }
170  catch (const std::exception& ex)
171  {
172  error_message = ex.what();
174  }
175  }
176  if (ImGui::IsItemHovered())
177  {
178  window.link_hovered();
179  ImGui::SetTooltip("%s", "Load calibration from file");
180  }
181  ImGui::SameLine();
182  if (ImGui::Button(u8"\uF0C7 Save As...", ImVec2(100, 30)))
183  {
184  try
185  {
186  if (auto fn = file_dialog_open(file_dialog_mode::save_file, "Calibration JSON\0*.json\0", nullptr, nullptr))
187  {
188  config_file cf(fn);
189  cf.set("baseline", table->baseline);
190 
191  auto save_float3x4 = [&](std::string name, librealsense::float3x3& m){
192  cf.set(std::string( rsutils::string::from() << name << ".x.x").c_str(), m.x.x);
193  cf.set(std::string( rsutils::string::from() << name << ".x.y").c_str(), m.x.y);
194  cf.set(std::string( rsutils::string::from() << name << ".x.z").c_str(), m.x.z);
195 
196  cf.set(std::string( rsutils::string::from() << name << ".y.x").c_str(), m.y.x);
197  cf.set(std::string( rsutils::string::from() << name << ".y.y").c_str(), m.y.y);
198  cf.set(std::string( rsutils::string::from() << name << ".y.z").c_str(), m.y.z);
199 
200  cf.set(std::string( rsutils::string::from() << name << ".z.x").c_str(), m.z.x);
201  cf.set(std::string( rsutils::string::from() << name << ".z.y").c_str(), m.z.y);
202  cf.set(std::string( rsutils::string::from() << name << ".z.z").c_str(), m.z.z);
203  };
204 
205  save_float3x4("intrinsic_left", table->intrinsic_left);
206  save_float3x4("intrinsic_right", table->intrinsic_right);
207  save_float3x4("world2left_rot", table->world2left_rot);
208  save_float3x4("world2right_rot", table->world2right_rot);
209 
210  for (int i = 0; i < librealsense::ds::max_ds_rect_resolutions; i++)
211  {
213  int w = xy.x; int h = xy.y;
214 
215  cf.set(std::string( rsutils::string::from() << "rectified." << i << ".width").c_str(), w);
216  cf.set(std::string( rsutils::string::from() << "rectified." << i << ".height").c_str(), h);
217 
218  cf.set(std::string( rsutils::string::from() << "rectified." << i << ".fx").c_str(), table->rect_params[i].x);
219  cf.set(std::string( rsutils::string::from() << "rectified." << i << ".fy").c_str(), table->rect_params[i].y);
220 
221  cf.set(std::string( rsutils::string::from() << "rectified." << i << ".ppx").c_str(), table->rect_params[i].z);
222  cf.set(std::string( rsutils::string::from() << "rectified." << i << ".ppy").c_str(), table->rect_params[i].w);
223  }
224  }
225  }
226  catch (const std::exception& ex)
227  {
228  error_message = ex.what();
230  }
231  }
232  if (ImGui::IsItemHovered())
233  {
234  window.link_hovered();
235  ImGui::SetTooltip("%s", "Save calibration image to file");
236  }
237  ImGui::SameLine();
238  if (_accept)
239  {
240  if (ImGui::Button(u8"\uF275 Restore Factory", ImVec2(115, 30)))
241  {
242  try
243  {
244  dev.as<rs2::auto_calibrated_device>().reset_to_factory_calibration();
247  table = reinterpret_cast< librealsense::ds::d400_coefficients_table * >( _calibration.data() );
248  orig_table = reinterpret_cast< librealsense::ds::d400_coefficients_table * >( _original.data() );
249  changed = true;
250 
251  if (auto nm = _not_model.lock())
252  {
253  nm->add_notification({ rsutils::string::from() << "Depth Calibration is reset to Factory Settings",
255  }
256  }
257  catch(const std::exception& ex)
258  {
259  error_message = ex.what();
261  }
262  }
263  if (ImGui::IsItemHovered())
264  {
265  window.link_hovered();
266  ImGui::SetTooltip("%s", "Restore calibration in flash to factory settings");
267  }
268  }
269  else
270  {
273 
274  ImGui::Button(u8"\uF275 Restore Factory", ImVec2(115, 30));
275  if (ImGui::IsItemHovered())
276  {
277  ImGui::SetTooltip("%s", "Write selected calibration table to the device. For advanced users");
278  }
279 
281  }
282 
284 
285  ImGui::BeginChild("##CalibData",ImVec2(w - 15, h - 110), true);
286 
289 
290  ImGui::Text("Stereo Baseline(mm):"); ImGui::SameLine();
292 
294  draw_float("Baseline", table->baseline, orig_table->baseline, changed);
297 
298  draw_float4x4("Left Intrinsics", table->intrinsic_left, orig_table->intrinsic_left, changed);
299  draw_float4x4("Right Intrinsics", table->intrinsic_right, orig_table->intrinsic_right, changed);
300  draw_float4x4("World to Left Rotation", table->world2left_rot, orig_table->world2left_rot, changed);
301  draw_float4x4("World to Right Rotation", table->world2right_rot, orig_table->world2right_rot, changed);
302 
305 
306  ImGui::Text("Rectified Resolution:"); ImGui::SameLine();
308 
309  std::vector<std::string> resolution_names;
310  std::vector<const char*> resolution_names_char;
311  std::vector<int> resolution_offset;
312  for (int i = 0; i < librealsense::ds::max_ds_rect_resolutions; i++)
313  {
315  int w = xy.x; int h = xy.y;
316  if (w != 0) {
317  resolution_offset.push_back(i);
318  std::string name = rsutils::string::from() << w << " x " << h;
319  resolution_names.push_back(name);
320  }
321  }
322  for (size_t i = 0; i < resolution_offset.size(); i++)
323  {
324  resolution_names_char.push_back(resolution_names[i].c_str());
325  }
326 
328  ImGui::Combo("##RectifiedResolutions", &selected_resolution, resolution_names_char.data(), int(resolution_names_char.size()));
329 
332 
333  ImGui::Text("Focal Length:"); ImGui::SameLine();
335 
336  draw_float("FocalX", table->rect_params[selected_resolution].x, orig_table->rect_params[selected_resolution].x, changed);
337  ImGui::SameLine();
338  draw_float("FocalY", table->rect_params[selected_resolution].y, orig_table->rect_params[selected_resolution].y, changed);
339 
341  ImGui::Text("Principal Point:"); ImGui::SameLine();
343 
344  draw_float("PPX", table->rect_params[selected_resolution].z, orig_table->rect_params[selected_resolution].z, changed);
345  ImGui::SameLine();
346  draw_float("PPY", table->rect_params[selected_resolution].w, orig_table->rect_params[selected_resolution].w, changed);
347 
349 
351 
352  if (ImGui::IsWindowHovered()) window.set_hovered_over_input();
353 
354  ImGui::EndChild();
356 
357  ImGui::SetCursorScreenPos({ (float)(x0 + 10), (float)(y0 + h - 30) });
358  if (ImGui::Checkbox("I know what I'm doing", &_accept))
359  {
361  }
362  if (ImGui::IsItemHovered())
363  {
364  ImGui::SetTooltip("%s", "Changing calibration will affect depth quality. Changes are persistent.\nThere is an option to get back to factory calibration, but it maybe worse than current calibration\nBefore writing to flash, we strongly recommend to make a file backup");
365  }
366 
367  ImGui::SetCursorScreenPos({ (float)(x0 + w - 230), (float)(y0 + h - 30) });
368 
369  if (ImGui::Button("Cancel", ImVec2(100, 25)))
370  {
372  }
373  if (ImGui::IsItemHovered())
374  {
375  window.link_hovered();
376  ImGui::SetTooltip("%s", "Close without saving any changes");
377  }
378  ImGui::SameLine();
379 
380  auto streams = dev.query_sensors()[0].get_active_streams();
381  if (_accept && streams.size())
382  {
383  if (ImGui::Button(u8"\uF2DB Write Table", ImVec2(120, 25)))
384  {
385  try
386  {
387  auto actual_data = _calibration.data() + sizeof(librealsense::ds::table_header);
388  auto actual_data_size = _calibration.size() - sizeof(librealsense::ds::table_header);
389  auto crc = rsutils::number::calc_crc32( actual_data, actual_data_size );
390  table->header.crc32 = crc;
391  dev.as<rs2::auto_calibrated_device>().set_calibration_table(_calibration);
392  dev.as<rs2::auto_calibrated_device>().write_calibration();
394  orig_table = reinterpret_cast< librealsense::ds::d400_coefficients_table * >( _original.data() );
396  }
397  catch (const std::exception& ex)
398  {
399  error_message = ex.what();
401  }
402  }
403  if (ImGui::IsItemHovered())
404  {
405  window.link_hovered();
406  ImGui::SetTooltip("%s", "Write selected calibration table to the device");
407  }
408  }
409  else
410  {
413 
414  ImGui::Button(u8"\uF2DB Write Table", ImVec2(120, 25));
415  if (ImGui::IsItemHovered())
416  {
417  ImGui::SetTooltip("%s", "Write selected calibration table to the device. For advanced users");
418  }
419 
421  }
422 
423  if (changed && streams.size())
424  {
425  try
426  {
427  dev.as<rs2::auto_calibrated_device>().set_calibration_table(_calibration);
428  }
429  catch (const std::exception&)
430  {
431  try
432  {
433  dev.query_sensors()[0].close();
434  dev.query_sensors()[0].open(streams);
435  dev.as<rs2::auto_calibrated_device>().set_calibration_table(_calibration);
436  }
437  catch (const std::exception& ex)
438  {
439  error_message = ex.what();
441  }
442  }
443  }
444 
445  if (ImGui::IsWindowHovered()) window.set_hovered_over_input();
446 
447  ImGui::EndPopup();
448  }
451 }
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Definition: rs_device.hpp:19
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librealsense2
Author(s): LibRealSense ROS Team
autogenerated on Fri Aug 2 2024 08:30:01