-Updated CameraModel and StereoCameraModel so that a stereo camera model can be initialization from know intrinsics and extrinsics

-CreateSimpleCalibrationDialog updated to create mono/stereo calibration files with advanced option (setting intrinsics of each camera + extrinsics between them). Rectification R and new camera P matrices are then automatically computed.
-Added GeodeticCoords class for convience conversion between GPS values (latitude/longitude/altitude) to local coordinate (ENU).
-Added support of Malaga Urban and St Lucia ground truths.
-CameraImages: added option to debayer images. Timestamps file: added support of "sec millisec" format.
-Added UException class: exceptions are sent instead of exiting the application on UASSERT or UFATAL.

guilib/src/CalibrationDialog.cpp

@@ -75,6 +75,7 @@ CalibrationDialog::CalibrationDialog(bool stereo, const QString & savingDirector
 	connect(ui_->pushButton_restart, SIGNAL(clicked()), this, SLOT(restart()));
 	connect(ui_->pushButton_save, SIGNAL(clicked()), this, SLOT(save()));
 	connect(ui_->checkBox_switchImages, SIGNAL(stateChanged(int)), this, SLOT(restart()));
+	connect(ui_->checkBox_unlock, SIGNAL(stateChanged(int)), SLOT(unlock()));
 
 	connect(ui_->spinBox_boardWidth, SIGNAL(valueChanged(int)), this, SLOT(setBoardWidth(int)));
 	connect(ui_->spinBox_boardHeight, SIGNAL(valueChanged(int)), this, SLOT(setBoardHeight(int)));
@@ -506,27 +507,27 @@ void CalibrationDialog::processImages(const cv::Mat & imageLeft, const cv::Mat &
 
 	if(!stereo_ && readyToCalibrate[0])
 	{
-		ui_->pushButton_calibrate->setEnabled(true);
+		unlock();
 	}
 	else if(stereo_ && readyToCalibrate[0] && readyToCalibrate[1] && stereoImagePoints_[0].size())
 	{
-		ui_->pushButton_calibrate->setEnabled(true);
+		unlock();
 	}
 
 	if(ui_->radioButton_rectified->isChecked())
 	{
-		if(models_[0].isValid())
+		if(models_[0].isValidForRectification())
 		{
 			images[0] = models_[0].rectifyImage(images[0]);
 		}
-		if(models_[1].isValid())
+		if(models_[1].isValidForRectification())
 		{
 			images[1] = models_[1].rectifyImage(images[1]);
 		}
 	}
 	else if(ui_->radioButton_stereoRectified->isChecked() &&
-			(stereoModel_.left().isValid() &&
-			stereoModel_.right().isValid()&&
+			(stereoModel_.left().isValidForRectification() &&
+			stereoModel_.right().isValidForRectification()&&
 			(!ui_->label_baseline->isVisible() || stereoModel_.baseline() > 0.0)))
 	{
 		images[0] = stereoModel_.left().rectifyImage(images[0]);
@@ -576,7 +577,7 @@ void CalibrationDialog::restart()
 	minIrs_[1] = 0x0000;
 	maxIrs_[1] = 0x7fff;
 
-	ui_->pushButton_calibrate->setEnabled(false);
+	ui_->pushButton_calibrate->setEnabled(ui_->checkBox_unlock->isChecked());
 	ui_->pushButton_save->setEnabled(false);
 	ui_->radioButton_raw->setChecked(true);
 	ui_->radioButton_rectified->setEnabled(false);
@@ -617,6 +618,11 @@ void CalibrationDialog::restart()
 	ui_->lineEdit_P_2->clear();
 }
 
+void CalibrationDialog::unlock()
+{
+	ui_->pushButton_calibrate->setEnabled(true);
+}
+
 void CalibrationDialog::calibrate()
 {
 	processingData_ = true;
@@ -845,17 +851,17 @@ void CalibrationDialog::calibrate()
 	}
 
 	if(stereo_ &&
-		stereoModel_.left().isValid() &&
-		stereoModel_.right().isValid()&&
-		(!ui_->label_baseline->isVisible() || stereoModel_.baseline() > 0.0))
+		stereoModel_.isValidForRectification())
 	{
+		stereoModel_.initRectificationMap();
 		ui_->radioButton_rectified->setEnabled(true);
 		ui_->radioButton_stereoRectified->setEnabled(true);
 		ui_->radioButton_stereoRectified->setChecked(true);
 		ui_->pushButton_save->setEnabled(true);
 	}
-	else if(models_[0].isValid())
+	else if(models_[0].isValidForRectification())
 	{
+		models_[0].initRectificationMap();
 		ui_->radioButton_rectified->setEnabled(true);
 		ui_->radioButton_rectified->setChecked(true);
 		ui_->pushButton_save->setEnabled(!stereo_);

guilib/src/CameraViewer.cpp

@@ -165,8 +165,9 @@ void CameraViewer::showImage(const rtabmap::SensorData & data)
 		}
 	}
 
-	cloudView_->setVisible(showCloudCheckbox_->isEnabled() || showScanCheckbox_->isEnabled());
-	if(showCloudCheckbox_->isEnabled() || showScanCheckbox_->isEnabled())
+	cloudView_->setVisible((showCloudCheckbox_->isEnabled() && showCloudCheckbox_->isChecked()) ||
+						   (showScanCheckbox_->isEnabled() && showScanCheckbox_->isChecked()));
+	if(cloudView_->isVisible())
 	{
 		cloudView_->update();
 	}

guilib/src/CreateSimpleCalibrationDialog.cpp

@@ -46,16 +46,49 @@ CreateSimpleCalibrationDialog::CreateSimpleCalibrationDialog(
 	savingFolder_(savingFolder),
 	cameraName_(cameraName)
 {
+	if(cameraName_.isEmpty())
+	{
+		cameraName_ = "calib";
+	}
+
 	ui_ = new Ui_createSimpleCalibrationDialog();
 	ui_->setupUi(this);
 
 	connect(ui_->buttonBox->button(QDialogButtonBox::Save), SIGNAL(clicked()), this, SLOT(saveCalibration()));
 	connect(ui_->buttonBox, SIGNAL(rejected()), this, SLOT(reject()));
 
+	connect(ui_->comboBox_advanced, SIGNAL(currentIndexChanged(int)), ui_->stackedWidget, SLOT(setCurrentIndex(int)));
+
+	connect(ui_->checkBox_stereo, SIGNAL(stateChanged(int)), this, SLOT(updateStereoView()));
+	connect(ui_->checkBox_stereo, SIGNAL(stateChanged(int)), this, SLOT(updateSaveStatus()));
+	connect(ui_->comboBox_advanced, SIGNAL(currentIndexChanged(int)), this, SLOT(updateSaveStatus()));
+
 	connect(ui_->doubleSpinBox_fx, SIGNAL(valueChanged(double)), this, SLOT(updateSaveStatus()));
 	connect(ui_->doubleSpinBox_fy, SIGNAL(valueChanged(double)), this, SLOT(updateSaveStatus()));
 
+	connect(ui_->doubleSpinBox_fx_l, SIGNAL(valueChanged(double)), this, SLOT(updateSaveStatus()));
+	connect(ui_->doubleSpinBox_fy_l, SIGNAL(valueChanged(double)), this, SLOT(updateSaveStatus()));
+	connect(ui_->doubleSpinBox_cx_l, SIGNAL(valueChanged(double)), this, SLOT(updateSaveStatus()));
+	connect(ui_->doubleSpinBox_cy_l, SIGNAL(valueChanged(double)), this, SLOT(updateSaveStatus()));
+	connect(ui_->lineEdit_D_l, SIGNAL(textEdited(const QString &)), this, SLOT(updateSaveStatus()));
+
+	connect(ui_->doubleSpinBox_fx_r, SIGNAL(valueChanged(double)), this, SLOT(updateSaveStatus()));
+	connect(ui_->doubleSpinBox_fy_r, SIGNAL(valueChanged(double)), this, SLOT(updateSaveStatus()));
+	connect(ui_->doubleSpinBox_cx_r, SIGNAL(valueChanged(double)), this, SLOT(updateSaveStatus()));
+	connect(ui_->doubleSpinBox_cy_r, SIGNAL(valueChanged(double)), this, SLOT(updateSaveStatus()));
+	connect(ui_->lineEdit_D_r, SIGNAL(textEdited(const QString &)), this, SLOT(updateSaveStatus()));
+
+	connect(ui_->spinBox_width, SIGNAL(valueChanged(int)), this, SLOT(updateSaveStatus()));
+	connect(ui_->spinBox_height, SIGNAL(valueChanged(int)), this, SLOT(updateSaveStatus()));
+
+	connect(ui_->doubleSpinBox_baseline, SIGNAL(valueChanged(double)), this, SLOT(updateSaveStatus()));
+	connect(ui_->lineEdit_RT, SIGNAL(textEdited(const QString &)), this, SLOT(updateSaveStatus()));
+
+	ui_->stackedWidget->setCurrentIndex(ui_->comboBox_advanced->currentIndex());
+
 	ui_->buttonBox->button(QDialogButtonBox::Save)->setEnabled(false);
+
+	updateStereoView();
 }
 
 CreateSimpleCalibrationDialog::~CreateSimpleCalibrationDialog()
@@ -63,29 +96,189 @@ CreateSimpleCalibrationDialog::~CreateSimpleCalibrationDialog()
 	delete ui_;
 }
 
+void CreateSimpleCalibrationDialog::updateStereoView()
+{
+	bool checked = ui_->checkBox_stereo->isChecked();
+	ui_->doubleSpinBox_baseline->setVisible(checked);
+	ui_->label_baseline->setVisible(checked);
+	ui_->label_right->setVisible(checked);
+	ui_->doubleSpinBox_fx_r->setVisible(checked);
+	ui_->doubleSpinBox_fy_r->setVisible(checked);
+	ui_->doubleSpinBox_cx_r->setVisible(checked);
+	ui_->doubleSpinBox_cy_r->setVisible(checked);
+	ui_->lineEdit_D_r->setVisible(checked);
+	ui_->groupBox_stereo_extrinsics->setVisible(checked);
+	ui_->label_left->setVisible(checked);
+}
+
 void CreateSimpleCalibrationDialog::updateSaveStatus()
 {
-	ui_->buttonBox->button(QDialogButtonBox::Save)->setEnabled(ui_->doubleSpinBox_fx->value() > 0.0 && ui_->doubleSpinBox_fy->value() > 0.0);
+	bool valid = false;
+	if(ui_->comboBox_advanced->currentIndex() == 0 &&
+	   ui_->doubleSpinBox_fx->value() > 0.0 &&
+	   ui_->doubleSpinBox_fy->value() > 0.0 &&
+	   (!ui_->checkBox_stereo->isChecked() || ui_->doubleSpinBox_baseline->value() != 0.0))
+	{
+		// basic
+		valid = true;
+	}
+	else if(ui_->comboBox_advanced->currentIndex() == 1 &&
+			 ui_->doubleSpinBox_fx_l->value() > 0.0 &&
+			 ui_->doubleSpinBox_fy_l->value() > 0.0 &&
+			 ui_->doubleSpinBox_cx_l->value() > 0.0 &&
+			 ui_->doubleSpinBox_cy_l->value() > 0.0 &&
+			 (!ui_->checkBox_stereo->isChecked() || ui_->doubleSpinBox_fx_r->value() > 0.0) &&
+			 (!ui_->checkBox_stereo->isChecked() || ui_->doubleSpinBox_fy_r->value() > 0.0) &&
+			 (!ui_->checkBox_stereo->isChecked() || ui_->doubleSpinBox_cx_r->value() > 0.0) &&
+			 (!ui_->checkBox_stereo->isChecked() || ui_->doubleSpinBox_cy_r->value() > 0.0) &&
+			 ui_->spinBox_width->value() > 0 &&
+			 ui_->spinBox_height->value() > 0 &&
+			 !ui_->lineEdit_D_l->text().isEmpty() &&
+			 (!ui_->checkBox_stereo->isChecked() || !ui_->lineEdit_D_r->text().isEmpty()) &&
+			 (!ui_->checkBox_stereo->isChecked() || !ui_->lineEdit_RT->text().isEmpty()))
+	{
+		//advanced
+		QStringList distorsionsStrListL = ui_->lineEdit_D_l->text().trimmed().split(' ');
+		QStringList distorsionsStrListR = ui_->lineEdit_D_r->text().trimmed().split(' ');
+
+		if((distorsionsStrListL.size() == 4 || distorsionsStrListL.size() == 5 || distorsionsStrListL.size() == 8) &&
+				(!ui_->checkBox_stereo->isChecked() || distorsionsStrListL.size() == 4 || distorsionsStrListL.size() == 5 || distorsionsStrListL.size() == 8) &&
+				(!ui_->checkBox_stereo->isChecked() || Transform::canParseString(ui_->lineEdit_RT->text().trimmed().toStdString())))
+		{
+			valid = true;
+		}
+	}
+	ui_->buttonBox->button(QDialogButtonBox::Save)->setEnabled(valid);
 }
 
 void CreateSimpleCalibrationDialog::saveCalibration()
 {
-	if(ui_->doubleSpinBox_baseline->value()==0)
+	QString filePath = QFileDialog::getSaveFileName(this, tr("Save"), savingFolder_+"/"+cameraName_+".yaml", "*.yaml");
+	QString name = QFileInfo(filePath).baseName();
+	QString dir = QFileInfo(filePath).absoluteDir().absolutePath();
+	if(!filePath.isEmpty())
 	{
-		QString filePath = QFileDialog::getSaveFileName(this, tr("Save"), savingFolder_+"/"+cameraName_+".yaml", "*.yaml");
-		QString name = QFileInfo(filePath).baseName();
-		QString dir = QFileInfo(filePath).absoluteDir().absolutePath();
-		if(!filePath.isEmpty())
+		cameraName_ = name;
+		CameraModel modelLeft;
+		float width = ui_->spinBox_width->value();
+		float height = ui_->spinBox_height->value();
+		if(ui_->comboBox_advanced->currentIndex() == 0)
 		{
-			cameraName_ = name;
-			CameraModel model(
+			//basic
+			modelLeft = CameraModel(
 					name.toStdString(),
 					ui_->doubleSpinBox_fx->value(),
 					ui_->doubleSpinBox_fy->value(),
 					ui_->doubleSpinBox_cx->value(),
 					ui_->doubleSpinBox_cy->value());
-			UASSERT(model.isValid());
-			if(model.save(dir.toStdString()))
+			UASSERT(modelLeft.isValid());
+		}
+		else
+		{
+			//advanced
+			cv::Mat K = cv::Mat::eye(3, 3, CV_64FC1);
+			K.at<double>(0,0) = ui_->doubleSpinBox_fx_l->value();
+			K.at<double>(1,1) = ui_->doubleSpinBox_fy_l->value();
+			K.at<double>(0,2) = ui_->doubleSpinBox_cx_l->value();
+			K.at<double>(1,2) = ui_->doubleSpinBox_cy_l->value();
+			cv::Mat R = cv::Mat::eye(3, 3, CV_64FC1);
+			cv::Mat P = cv::Mat::zeros(3, 4, CV_64FC1);
+			K.copyTo(cv::Mat(P, cv::Range(0,3), cv::Range(0,3)));
+
+			QStringList distorsionCoeffs = ui_->lineEdit_D_l->text().trimmed().split(' ');
+			UASSERT(distorsionCoeffs.size() == 4 || distorsionCoeffs.size() == 5 || distorsionCoeffs.size() == 8);
+			cv::Mat D = cv::Mat::zeros(1, distorsionCoeffs.size(), CV_64FC1);
+			bool ok;
+			for(int i=0; i<distorsionCoeffs.size(); ++i)
+			{
+				D.at<double>(i) = distorsionCoeffs.at(i).toDouble(&ok);
+				if(!ok)
+				{
+					QMessageBox::warning(this, tr("Save"), tr("Error parsing left distorsion coefficients \"%1\".").arg(ui_->lineEdit_D_l->text()));
+					return;
+				}
+			}
+
+			modelLeft = CameraModel(name.toStdString(), cv::Size(width,height), K, D, R, P);
+			UASSERT(modelLeft.isValidForRectification());
+		}
+
+		if(ui_->checkBox_stereo->isChecked())
+		{
+			StereoCameraModel stereoModel;
+			if(ui_->comboBox_advanced->currentIndex() == 0)
+			{
+				CameraModel modelRight(
+						name.toStdString(),
+						ui_->doubleSpinBox_fx->value(),
+						ui_->doubleSpinBox_fy->value(),
+						ui_->doubleSpinBox_cx->value(),
+						ui_->doubleSpinBox_cy->value(),
+						Transform::getIdentity(),
+						ui_->doubleSpinBox_baseline->value()*-ui_->doubleSpinBox_fx->value());
+				UASSERT(modelRight.isValid());
+				stereoModel = StereoCameraModel(name.toStdString(), modelLeft, modelRight, Transform());
+			}
+			else if(ui_->comboBox_advanced->currentIndex() == 1)
+			{
+				CameraModel modelRight;
+				cv::Mat K = cv::Mat::eye(3, 3, CV_64FC1);
+				K.at<double>(0,0) = ui_->doubleSpinBox_fx_r->value();
+				K.at<double>(1,1) = ui_->doubleSpinBox_fy_r->value();
+				K.at<double>(0,2) = ui_->doubleSpinBox_cx_r->value();
+				K.at<double>(1,2) = ui_->doubleSpinBox_cy_r->value();
+				cv::Mat R = cv::Mat::eye(3, 3, CV_64FC1);
+				cv::Mat P = cv::Mat::zeros(3, 4, CV_64FC1);
+				K.copyTo(cv::Mat(P, cv::Range(0,3), cv::Range(0,3)));
+
+				QStringList distorsionCoeffs = ui_->lineEdit_D_r->text().trimmed().split(' ');
+				UASSERT(distorsionCoeffs.size() == 4 || distorsionCoeffs.size() == 5 || distorsionCoeffs.size() == 8);
+				cv::Mat D = cv::Mat::zeros(1, distorsionCoeffs.size(), CV_64FC1);
+				bool ok;
+				for(int i=0; i<distorsionCoeffs.size(); ++i)
+				{
+					D.at<double>(i) = distorsionCoeffs.at(i).toDouble(&ok);
+					if(!ok)
+					{
+						QMessageBox::warning(this, tr("Save"), tr("Error parsing right distorsion coefficients \"%1\".").arg(ui_->lineEdit_D_l->text()));
+						return;
+					}
+				}
+
+				modelRight = CameraModel(name.toStdString(), cv::Size(width,height), K, D, R, P);
+				UASSERT(modelRight.isValidForRectification());
+
+				UASSERT(Transform::canParseString(ui_->lineEdit_RT->text().trimmed().toStdString()));
+				stereoModel = StereoCameraModel(name.toStdString(), modelLeft, modelRight, Transform::fromString(ui_->lineEdit_RT->text().toStdString()));
+			}
+
+			std::string base = (dir+QDir::separator()+name).toStdString();
+			std::string leftPath = base+"_left.yaml";
+			std::string rightPath = base+"_right.yaml";
+
+			if(stereoModel.save(dir.toStdString(), ui_->comboBox_advanced->currentIndex() != 1))
+			{
+				if(ui_->comboBox_advanced->currentIndex() == 0)
+				{
+					QMessageBox::information(this, tr("Save"), tr("Calibration files saved:\n  \"%1\"\n  \"%2\".").
+							arg(leftPath.c_str()).arg(rightPath.c_str()));
+				}
+				else
+				{
+					std::string posePath = base+"_pose.yaml";
+					QMessageBox::information(this, tr("Save"), tr("Calibration files saved:\n  \"%1\"\n  \"%2\"\n  \"%3\".").
+							arg(leftPath.c_str()).arg(rightPath.c_str()).arg(posePath.c_str()));
+				}
+				this->accept();
+			}
+			else
+			{
+				QMessageBox::warning(this, tr("Save"), tr("Error saving \"%1\" and \"%2\"").arg(leftPath.c_str()).arg(rightPath.c_str()));
+			}
+		}
+		else
+		{
+			if(modelLeft.save(dir.toStdString()))
 			{
 				QMessageBox::information(this, tr("Save"), tr("Calibration file saved to \"%1\".").arg(filePath));
 				this->accept();
@@ -96,42 +289,6 @@ void CreateSimpleCalibrationDialog::saveCalibration()
 			}
 		}
 	}
-	else
-	{
-		QString filePath = QFileDialog::getSaveFileName(this, tr("Save"), savingFolder_ + "/" + cameraName_, "*.yaml");
-		QString name = QFileInfo(filePath).baseName();
-		QString dir = QFileInfo(filePath).absoluteDir().absolutePath();
-		if(!name.isEmpty())
-		{
-			cameraName_ = name;
-			std::string base = (dir+QDir::separator()+name).toStdString();
-			std::string leftPath = base+"_left.yaml";
-			std::string rightPath = base+"_right.yaml";
-			std::string posePath = base+"_pose.yaml";
-
-			StereoCameraModel model(
-					name.toStdString(),
-					ui_->doubleSpinBox_fx->value(),
-					ui_->doubleSpinBox_fy->value(),
-					ui_->doubleSpinBox_cx->value(),
-					ui_->doubleSpinBox_cy->value(),
-					ui_->doubleSpinBox_baseline->value());
-			UASSERT(model.left().isValid() &&
-					model.right().isValid()&&
-					model.baseline() > 0.0);
-
-			if(model.save(dir.toStdString(), true))
-			{
-				QMessageBox::information(this, tr("Save"), tr("Calibration files saved:\n  \"%1\"\n  \"%2\"\n  \"%3\".").
-						arg(leftPath.c_str()).arg(rightPath.c_str()).arg(posePath.c_str()));
-				this->accept();
-			}
-			else
-			{
-				QMessageBox::warning(this, tr("Save"), tr("Error saving \"%1\" and \"%2\"").arg(leftPath.c_str()).arg(rightPath.c_str()));
-			}
-		}
-	}
 }
 
 }

guilib/src/CreateSimpleCalibrationDialog.h

@@ -47,7 +47,11 @@ public:
 
 	virtual ~CreateSimpleCalibrationDialog();
 
+	void setCameraInfoDir(const QString & folder) {savingFolder_ = folder;}
+	const QString & cameraName() const {return cameraName_;}
+
 private slots:
+	void updateStereoView();
 	void updateSaveStatus();
 	void saveCalibration();
 

guilib/src/PreferencesDialog.cpp

@@ -92,7 +92,8 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
 	_ui(0),
 	_indexModel(0),
 	_initialized(false),
-	_calibrationDialog(new CalibrationDialog(false, ".", this))
+	_calibrationDialog(new CalibrationDialog(false, ".", this)),
+	_createCalibrationDialog(new CreateSimpleCalibrationDialog(".", "", this))
 {
 	ULOGGER_DEBUG("");
 	_calibrationDialog->setWindowFlags(Qt::Window);
@@ -354,6 +355,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
 	connect(_ui->source_images_spinBox_startPos, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
 	connect(_ui->source_images_refreshDir, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
 	connect(_ui->checkBox_rgbImages_rectify, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
+	connect(_ui->comboBox_cameraImages_bayerMode, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
 	//video group
 	connect(_ui->source_video_toolButton_selectSource, SIGNAL(clicked()), this, SLOT(selectSourceVideoPath()));
 	connect(_ui->source_video_lineEdit_path, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
@@ -1142,6 +1144,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
 		_ui->source_images_spinBox_startPos->setValue(0);
 		_ui->source_images_refreshDir->setChecked(false);
 		_ui->checkBox_rgbImages_rectify->setChecked(false);
+		_ui->comboBox_cameraImages_bayerMode->setCurrentIndex(0);
 		_ui->checkBox_rgbVideo_rectify->setChecked(false);
 
 		_ui->source_checkBox_ignoreOdometry->setChecked(false);
@@ -1523,6 +1526,7 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
 	_ui->source_images_spinBox_startPos->setValue(settings.value("startPos",_ui->source_images_spinBox_startPos->value()).toInt());
 	_ui->source_images_refreshDir->setChecked(settings.value("refreshDir",_ui->source_images_refreshDir->isChecked()).toBool());
 	_ui->checkBox_rgbImages_rectify->setChecked(settings.value("rectify",_ui->checkBox_rgbImages_rectify->isChecked()).toBool());
+	_ui->comboBox_cameraImages_bayerMode->setCurrentIndex(settings.value("bayerMode",_ui->comboBox_cameraImages_bayerMode->currentIndex()).toInt());
 
 	_ui->checkBox_cameraImages_timestamps->setChecked(settings.value("filenames_as_stamps",_ui->checkBox_cameraImages_timestamps->isChecked()).toBool());
 	_ui->checkBox_cameraImages_syncTimeStamps->setChecked(settings.value("sync_stamps",_ui->checkBox_cameraImages_syncTimeStamps->isChecked()).toBool());
@@ -1895,6 +1899,7 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
 	settings.setValue("startPos", 		_ui->source_images_spinBox_startPos->value());
 	settings.setValue("refreshDir", 	_ui->source_images_refreshDir->isChecked());
 	settings.setValue("rectify", 	    _ui->checkBox_rgbImages_rectify->isChecked());
+	settings.setValue("bayerMode", 	    _ui->comboBox_cameraImages_bayerMode->currentIndex());
 	settings.setValue("filenames_as_stamps", _ui->checkBox_cameraImages_timestamps->isChecked());
 	settings.setValue("sync_stamps",    _ui->checkBox_cameraImages_syncTimeStamps->isChecked());
 	settings.setValue("stamps",              _ui->lineEdit_cameraImages_timestamps->text());
@@ -2404,11 +2409,15 @@ QString PreferencesDialog::loadCustomConfig(const QString & section, const QStri
 	return value;
 }
 
-const rtabmap::ParametersMap & PreferencesDialog::getAllParameters() const
+rtabmap::ParametersMap PreferencesDialog::getAllParameters() const
 {
 	UASSERT_MSG(_parameters.size() == Parameters::getDefaultParameters().size(),
 			uFormat("%d vs %d (Is PreferencesDialog::init() called?)", (int)_parameters.size(), (int)Parameters::getDefaultParameters().size()).c_str());
-	return _parameters;
+
+	ParametersMap parameters = _parameters;
+	uInsert(parameters, _modifiedParameters);
+
+	return parameters;
 }
 
 void PreferencesDialog::selectSourceDriver(Src src)
@@ -2497,6 +2506,10 @@ void PreferencesDialog::selectCalibrationPath()
 	{
 		dir = getWorkingDirectory()+"/camera_info";
 	}
+	else if(!dir.contains('.'))
+	{
+		dir = getWorkingDirectory()+"/camera_info/"+dir;
+	}
 	QString path = QFileDialog::getOpenFileName(this, tr("Select file"), dir, tr("Calibration file (*.yaml)"));
 	if(path.size())
 	{
@@ -2568,7 +2581,7 @@ void PreferencesDialog::selectSourceImagesPathGt()
 	{
 		dir = getWorkingDirectory();
 	}
-	QString path = QFileDialog::getOpenFileName(this, tr("Select file"), dir, tr("Ground Truth (*.txt)"));
+	QString path = QFileDialog::getOpenFileName(this, tr("Select file"), dir, tr("Ground Truth (*.txt *.log *.toro *.g2o)"));
 	if(path.size())
 	{
 		QStringList list;
@@ -2691,7 +2704,6 @@ void PreferencesDialog::setParameter(const std::string & key, const std::string
 	QWidget * obj = _ui->stackedWidget->findChild<QWidget*>(key.c_str());
 	if(obj)
 	{
-		bool oldState = obj->blockSignals(true);
 		QSpinBox * spin = qobject_cast<QSpinBox *>(obj);
 		QDoubleSpinBox * doubleSpin = qobject_cast<QDoubleSpinBox *>(obj);
 		QComboBox * combo = qobject_cast<QComboBox *>(obj);
@@ -2799,7 +2811,6 @@ void PreferencesDialog::setParameter(const std::string & key, const std::string
 		{
 			ULOGGER_WARN("QObject called %s can't be cast to a supported widget", key.c_str());
 		}
-		obj->blockSignals(oldState);
 	}
 	else
 	{
@@ -2866,79 +2877,6 @@ void PreferencesDialog::addParameter(const QObject * object, int value)
 			// Add parameter
 			UDEBUG("modify param %s=%s", object->objectName().toStdString().c_str(), uNumber2Str(value).c_str());
 			uInsert(_modifiedParameters, rtabmap::ParametersPair(object->objectName().toStdString(), QString::number(value).toStdString()));
-
-			if(comboBox)
-			{
-				// Add related panels to parameters
-				if(comboBox == _ui->comboBox_vh_strategy)
-				{
-					if(value == 0) // 0 none
-					{
-						// No panel related...
-					}
-					else if(value == 1) // 2 epipolar
-					{
-						this->addParameters(_ui->groupBox_vh_epipolar2);
-					}
-				}
-				else if(comboBox == _ui->comboBox_detector_strategy ||
-						comboBox == _ui->reextract_type)
-				{
-					if(value == 0) //  surf
-					{
-						this->addParameters(_ui->groupBox_detector_surf2);
-					}
-					else if(value == 1) //  sift
-					{
-						this->addParameters(_ui->groupBox_detector_sift2);
-					}
-					else if(value == 2) //  orb
-					{
-						this->addParameters(_ui->groupBox_detector_orb2);
-					}
-					else if(value == 3) //  fast+freak
-					{
-						this->addParameters(_ui->groupBox_detector_fast2);
-						this->addParameters(_ui->groupBox_detector_freak2);
-					}
-					else if(value == 4) //  fast+brief
-					{
-						this->addParameters(_ui->groupBox_detector_fast2);
-						this->addParameters(_ui->groupBox_detector_brief2);
-					}
-					else if(value == 5) //  gftt+freak
-					{
-						this->addParameters(_ui->groupBox_detector_gftt2);
-						this->addParameters(_ui->groupBox_detector_freak2);
-					}
-					else if(value == 6) //  gftt+brief
-					{
-						this->addParameters(_ui->groupBox_detector_gftt2);
-						this->addParameters(_ui->groupBox_detector_brief2);
-					}
-					else if(value == 7) //  brisk
-					{
-						this->addParameters(_ui->groupBox_detector_brisk2);
-					}
-				}
-				else if(comboBox == _ui->loopClosure_estimationType)
-				{
-					this->addParameters(_ui->stackedWidget_loopClosureEstimation, _ui->loopClosure_estimationType->currentIndex());
-				}
-				else if(comboBox == _ui->graphOptimization_type)
-				{
-					this->addParameter(_ui->graphOptimization_iterations,        _ui->graphOptimization_iterations->value());
-					this->addParameter(_ui->graphOptimization_covarianceIgnored, _ui->graphOptimization_covarianceIgnored->isChecked());
-					this->addParameter(_ui->graphOptimization_slam2d,            _ui->graphOptimization_slam2d->isChecked());
-					this->addParameter(_ui->graphOptimization_stopEpsilon,       _ui->graphOptimization_stopEpsilon->value());
-					this->addParameter(_ui->graphOptimization_robust,            _ui->graphOptimization_robust->isChecked());
-				}
-				else if(comboBox == _ui->comboBox_registrationStrategy)
-				{
-					this->addParameters(_ui->groupBox_visualTransform2);
-					this->addParameters(_ui->groupBox_icp2);
-				}
-			}
 		}
 		else
 		{
@@ -2964,23 +2902,6 @@ void PreferencesDialog::addParameter(const QObject * object, bool value)
 			// Add parameter
 			UDEBUG("modify param %s=%s", object->objectName().toStdString().c_str(), uBool2Str(value).c_str());
 			uInsert(_modifiedParameters, rtabmap::ParametersPair(object->objectName().toStdString(), uBool2Str(value)));
-
-			// RGBD panel
-			if(value && checkbox == _ui->general_checkBox_activateRGBD)
-			{
-				// add all RGBD parameters!
-				this->addParameters(_ui->groupBox_slam_update);
-				this->addParameters(_ui->groupBox_graphOptimization2);
-				this->addParameters(_ui->groupBox_proximityDetection2);
-				this->addParameters(_ui->groupBox_visualTransform2);
-				this->addParameters(_ui->groupBox_icp2);
-				this->addParameters(_ui->groupBox_pathPlanning2);
-			}
-
-			if(groupBox)
-			{
-				this->addParameters(groupBox);
-			}
 		}
 		else
 		{
@@ -3825,6 +3746,7 @@ Camera * PreferencesDialog::createCamera(bool useRawImages)
 			_ui->doubleSpinBox_cameraRGBDImages_scale->value(),
 			this->getGeneralInputRate(),
 			this->getSourceLocalTransform());
+		((CameraRGBDImages*)camera)->setBayerMode(_ui->comboBox_cameraImages_bayerMode->currentIndex()-1);
 		((CameraRGBDImages*)camera)->setGroundTruthPath(_ui->lineEdit_cameraImages_gt->text().toStdString(), _ui->comboBox_cameraImages_gtFormat->currentIndex());
 		((CameraRGBDImages*)camera)->setScanPath(
 						_ui->lineEdit_cameraImages_path_scans->text().isEmpty()?"":_ui->lineEdit_cameraImages_path_scans->text().append(QDir::separator()).toStdString(),
@@ -3865,9 +3787,10 @@ Camera * PreferencesDialog::createCamera(bool useRawImages)
 		camera = new CameraStereoImages(
 			_ui->lineEdit_cameraStereoImages_path_left->text().append(QDir::separator()).toStdString(),
 			_ui->lineEdit_cameraStereoImages_path_right->text().append(QDir::separator()).toStdString(),
-			_ui->checkBox_stereoImages_rectify->isChecked(),
+			_ui->checkBox_stereoImages_rectify->isChecked() && !useRawImages,
 			this->getGeneralInputRate(),
 			this->getSourceLocalTransform());
+		((CameraStereoImages*)camera)->setBayerMode(_ui->comboBox_cameraImages_bayerMode->currentIndex()-1);
 		((CameraStereoImages*)camera)->setGroundTruthPath(_ui->lineEdit_cameraImages_gt->text().toStdString(), _ui->comboBox_cameraImages_gtFormat->currentIndex());
 		((CameraStereoImages*)camera)->setScanPath(
 						_ui->lineEdit_cameraImages_path_scans->text().isEmpty()?"":_ui->lineEdit_cameraImages_path_scans->text().append(QDir::separator()).toStdString(),
@@ -3885,7 +3808,7 @@ Camera * PreferencesDialog::createCamera(bool useRawImages)
 	{
 		camera = new CameraStereoVideo(
 			_ui->lineEdit_cameraStereoVideo_path->text().toStdString(),
-			_ui->checkBox_stereoVideo_rectify->isChecked(),
+			_ui->checkBox_stereoVideo_rectify->isChecked() && !useRawImages,
 			this->getGeneralInputRate(),
 			this->getSourceLocalTransform());
 	}
@@ -3900,7 +3823,7 @@ Camera * PreferencesDialog::createCamera(bool useRawImages)
 	{
 		camera = new CameraVideo(
 			_ui->source_video_lineEdit_path->text().toStdString(),
-			_ui->checkBox_rgbVideo_rectify->isChecked(),
+			_ui->checkBox_rgbVideo_rectify->isChecked() && !useRawImages,
 			this->getGeneralInputRate(),
 			this->getSourceLocalTransform());
 	}
@@ -3913,23 +3836,24 @@ Camera * PreferencesDialog::createCamera(bool useRawImages)
 
 		((CameraImages*)camera)->setStartIndex(_ui->source_images_spinBox_startPos->value());
 		((CameraImages*)camera)->setDirRefreshed(_ui->source_images_refreshDir->isChecked());
-		((CameraImages*)camera)->setImagesRectified(_ui->checkBox_rgbImages_rectify->isChecked());
+		((CameraImages*)camera)->setImagesRectified(_ui->checkBox_rgbImages_rectify->isChecked() && !useRawImages);
 
-		((CameraRGBDImages*)camera)->setGroundTruthPath(
+		((CameraImages*)camera)->setBayerMode(_ui->comboBox_cameraImages_bayerMode->currentIndex()-1);
+		((CameraImages*)camera)->setGroundTruthPath(
 				_ui->lineEdit_cameraImages_gt->text().toStdString(),
 				_ui->comboBox_cameraImages_gtFormat->currentIndex());
-		((CameraRGBDImages*)camera)->setScanPath(
+		((CameraImages*)camera)->setScanPath(
 						_ui->lineEdit_cameraImages_path_scans->text().isEmpty()?"":_ui->lineEdit_cameraImages_path_scans->text().append(QDir::separator()).toStdString(),
 						_ui->spinBox_cameraImages_max_scan_pts->value(),
 						_ui->spinBox_cameraImages_scanDownsampleStep->value(),
 						_ui->doubleSpinBox_cameraImages_scanVoxelSize->value(),
 						_ui->spinBox_cameraImages_scanNormalsK->value(),
 						this->getLaserLocalTransform());
-		((CameraRGBDImages*)camera)->setDepthFromScan(
+		((CameraImages*)camera)->setDepthFromScan(
 				_ui->groupBox_depthFromScan->isChecked(),
 				_ui->checkBox_depthFromScan_vertical->isChecked(),
 				_ui->checkBox_depthFromScan_fillBorders->isChecked());
-		((CameraRGBDImages*)camera)->setTimestamps(
+		((CameraImages*)camera)->setTimestamps(
 				_ui->checkBox_cameraImages_timestamps->isChecked(),
 				_ui->lineEdit_cameraImages_timestamps->text().toStdString(),
 				_ui->checkBox_cameraImages_syncTimeStamps->isChecked());
@@ -4303,8 +4227,11 @@ void PreferencesDialog::calibrate()
 
 void PreferencesDialog::calibrateSimple()
 {
-	CreateSimpleCalibrationDialog dialog(this->getCameraInfoDir(), "", this);
-	dialog.exec();
+	_createCalibrationDialog->setCameraInfoDir(this->getCameraInfoDir());
+	if(_createCalibrationDialog->exec() == QMessageBox::Accepted)
+	{
+		_ui->lineEdit_calibrationFile->setText(_createCalibrationDialog->cameraName());
+	}
 }
 
 }

guilib/src/ui/calibrationDialog.ui

@@ -7,7 +7,7 @@
     <x>0</x>
     <y>0</y>
     <width>1314</width>
-    <height>795</height>
+    <height>860</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -404,11 +404,22 @@
         </widget>
        </item>
        <item>
-        <widget class="QPushButton" name="pushButton_calibrate">
-         <property name="text">
-          <string>Calibrate</string>
-         </property>
-        </widget>
+        <layout class="QHBoxLayout" name="horizontalLayout_5" stretch="1,0">
+         <item>
+          <widget class="QPushButton" name="pushButton_calibrate">
+           <property name="text">
+            <string>Calibrate</string>
+           </property>
+          </widget>
+         </item>
+         <item>
+          <widget class="QCheckBox" name="checkBox_unlock">
+           <property name="text">
+            <string>Unlock</string>
+           </property>
+          </widget>
+         </item>
+        </layout>
        </item>
        <item>
         <widget class="QGroupBox" name="groupBox_3">
@@ -707,6 +718,9 @@
     </widget>
    </item>
   </layout>
+  <zorder>buttonBox</zorder>
+  <zorder>groupBox</zorder>
+  <zorder></zorder>
  </widget>
  <customwidgets>
   <customwidget>

guilib/src/ui/createSimpleCalibrationDialog.ui

@@ -6,106 +6,399 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>306</width>
-    <height>212</height>
+    <width>546</width>
+    <height>568</height>
    </rect>
   </property>
   <property name="windowTitle">
    <string>Create simple calibration</string>
   </property>
-  <layout class="QVBoxLayout" name="verticalLayout">
+  <layout class="QVBoxLayout" name="verticalLayout_3">
    <item>
-    <layout class="QFormLayout" name="formLayout">
-     <item row="0" column="0">
-      <widget class="QDoubleSpinBox" name="doubleSpinBox_fx">
-       <property name="decimals">
-        <number>6</number>
-       </property>
-       <property name="maximum">
-        <double>99999.000000000000000</double>
-       </property>
+    <layout class="QHBoxLayout" name="horizontalLayout">
+     <item>
+      <widget class="QComboBox" name="comboBox_advanced">
+       <item>
+        <property name="text">
+         <string>Basic (images are already rectified)</string>
+        </property>
+       </item>
+       <item>
+        <property name="text">
+         <string>Advanced (images should be rectified)</string>
+        </property>
+       </item>
       </widget>
      </item>
-     <item row="0" column="1">
-      <widget class="QLabel" name="label">
+     <item>
+      <widget class="QCheckBox" name="checkBox_stereo">
        <property name="text">
-        <string>fx</string>
-       </property>
-      </widget>
-     </item>
-     <item row="1" column="0">
-      <widget class="QDoubleSpinBox" name="doubleSpinBox_fy">
-       <property name="decimals">
-        <number>6</number>
-       </property>
-       <property name="maximum">
-        <double>99999.000000000000000</double>
-       </property>
-      </widget>
-     </item>
-     <item row="1" column="1">
-      <widget class="QLabel" name="label_2">
-       <property name="text">
-        <string>fy</string>
-       </property>
-      </widget>
-     </item>
-     <item row="2" column="0">
-      <widget class="QDoubleSpinBox" name="doubleSpinBox_cx">
-       <property name="decimals">
-        <number>6</number>
-       </property>
-       <property name="maximum">
-        <double>99999.000000000000000</double>
-       </property>
-      </widget>
-     </item>
-     <item row="2" column="1">
-      <widget class="QLabel" name="label_3">
-       <property name="text">
-        <string>cx</string>
-       </property>
-      </widget>
-     </item>
-     <item row="3" column="0">
-      <widget class="QDoubleSpinBox" name="doubleSpinBox_cy">
-       <property name="decimals">
-        <number>6</number>
-       </property>
-       <property name="maximum">
-        <double>99999.000000000000000</double>
-       </property>
-      </widget>
-     </item>
-     <item row="3" column="1">
-      <widget class="QLabel" name="label_4">
-       <property name="text">
-        <string>cy</string>
-       </property>
-      </widget>
-     </item>
-     <item row="4" column="0">
-      <widget class="QDoubleSpinBox" name="doubleSpinBox_baseline">
-       <property name="decimals">
-        <number>6</number>
-       </property>
-       <property name="minimum">
-        <double>0.000000000000000</double>
-       </property>
-       <property name="maximum">
-        <double>99999.000000000000000</double>
-       </property>
-      </widget>
-     </item>
-     <item row="4" column="1">
-      <widget class="QLabel" name="label_5">
-       <property name="text">
-        <string>baseline (only for stereo)</string>
+        <string>Stereo</string>
        </property>
       </widget>
      </item>
     </layout>
    </item>
+   <item>
+    <widget class="QStackedWidget" name="stackedWidget">
+     <property name="currentIndex">
+      <number>1</number>
+     </property>
+     <widget class="QWidget" name="page_2">
+      <layout class="QVBoxLayout" name="verticalLayout">
+       <item>
+        <widget class="QGroupBox" name="groupBox">
+         <property name="title">
+          <string>Camera Intrinsics</string>
+         </property>
+         <layout class="QGridLayout" name="gridLayout" columnstretch="0,1">
+          <item row="1" column="1">
+           <widget class="QLabel" name="label_2">
+            <property name="text">
+             <string>fy</string>
+            </property>
+           </widget>
+          </item>
+          <item row="0" column="0">
+           <widget class="QDoubleSpinBox" name="doubleSpinBox_fx">
+            <property name="decimals">
+             <number>6</number>
+            </property>
+            <property name="maximum">
+             <double>99999.000000000000000</double>
+            </property>
+           </widget>
+          </item>
+          <item row="4" column="1">
+           <widget class="QLabel" name="label_baseline">
+            <property name="text">
+             <string>baseline (m)</string>
+            </property>
+            <property name="wordWrap">
+             <bool>true</bool>
+            </property>
+           </widget>
+          </item>
+          <item row="2" column="1">
+           <widget class="QLabel" name="label_3">
+            <property name="text">
+             <string>cx</string>
+            </property>
+           </widget>
+          </item>
+          <item row="1" column="0">
+           <widget class="QDoubleSpinBox" name="doubleSpinBox_fy">
+            <property name="decimals">
+             <number>6</number>
+            </property>
+            <property name="maximum">
+             <double>99999.000000000000000</double>
+            </property>
+           </widget>
+          </item>
+          <item row="3" column="1">
+           <widget class="QLabel" name="label_4">
+            <property name="text">
+             <string>cy</string>
+            </property>
+           </widget>
+          </item>
+          <item row="0" column="1">
+           <widget class="QLabel" name="label">
+            <property name="text">
+             <string>fx</string>
+            </property>
+           </widget>
+          </item>
+          <item row="4" column="0">
+           <widget class="QDoubleSpinBox" name="doubleSpinBox_baseline">
+            <property name="decimals">
+             <number>6</number>
+            </property>
+            <property name="minimum">
+             <double>0.000000000000000</double>
+            </property>
+            <property name="maximum">
+             <double>99999.000000000000000</double>
+            </property>
+           </widget>
+          </item>
+          <item row="3" column="0">
+           <widget class="QDoubleSpinBox" name="doubleSpinBox_cy">
+            <property name="decimals">
+             <number>6</number>
+            </property>
+            <property name="maximum">
+             <double>99999.000000000000000</double>
+            </property>
+           </widget>
+          </item>
+          <item row="2" column="0">
+           <widget class="QDoubleSpinBox" name="doubleSpinBox_cx">
+            <property name="decimals">
+             <number>6</number>
+            </property>
+            <property name="maximum">
+             <double>99999.000000000000000</double>
+            </property>
+           </widget>
+          </item>
+         </layout>
+        </widget>
+       </item>
+       <item>
+        <spacer name="verticalSpacer">
+         <property name="orientation">
+          <enum>Qt::Vertical</enum>
+         </property>
+         <property name="sizeHint" stdset="0">
+          <size>
+           <width>20</width>
+           <height>40</height>
+          </size>
+         </property>
+        </spacer>
+       </item>
+      </layout>
+     </widget>
+     <widget class="QWidget" name="page">
+      <layout class="QVBoxLayout" name="verticalLayout_2">
+       <item>
+        <widget class="QGroupBox" name="groupBox_3">
+         <property name="title">
+          <string>Camera Intrinsics</string>
+         </property>
+         <layout class="QVBoxLayout" name="verticalLayout_4">
+          <item>
+           <layout class="QGridLayout" name="gridLayout_3" columnstretch="0,0,1">
+            <item row="0" column="0">
+             <widget class="QLabel" name="label_left">
+              <property name="text">
+               <string>Left</string>
+              </property>
+             </widget>
+            </item>
+            <item row="0" column="1">
+             <widget class="QLabel" name="label_right">
+              <property name="text">
+               <string>Right</string>
+              </property>
+             </widget>
+            </item>
+            <item row="1" column="0">
+             <widget class="QDoubleSpinBox" name="doubleSpinBox_fx_l">
+              <property name="decimals">
+               <number>6</number>
+              </property>
+              <property name="maximum">
+               <double>99999.000000000000000</double>
+              </property>
+             </widget>
+            </item>
+            <item row="1" column="1">
+             <widget class="QDoubleSpinBox" name="doubleSpinBox_fx_r">
+              <property name="decimals">
+               <number>6</number>
+              </property>
+              <property name="maximum">
+               <double>99999.000000000000000</double>
+              </property>
+             </widget>
+            </item>
+            <item row="1" column="2">
+             <widget class="QLabel" name="label_10">
+              <property name="text">
+               <string>fx</string>
+              </property>
+             </widget>
+            </item>
+            <item row="2" column="0">
+             <widget class="QDoubleSpinBox" name="doubleSpinBox_fy_l">
+              <property name="decimals">
+               <number>6</number>
+              </property>
+              <property name="maximum">
+               <double>99999.000000000000000</double>
+              </property>
+             </widget>
+            </item>
+            <item row="2" column="1">
+             <widget class="QDoubleSpinBox" name="doubleSpinBox_fy_r">
+              <property name="decimals">
+               <number>6</number>
+              </property>
+              <property name="maximum">
+               <double>99999.000000000000000</double>
+              </property>
+             </widget>
+            </item>
+            <item row="2" column="2">
+             <widget class="QLabel" name="label_9">
+              <property name="text">
+               <string>fy</string>
+              </property>
+             </widget>
+            </item>
+            <item row="3" column="0">
+             <widget class="QDoubleSpinBox" name="doubleSpinBox_cx_l">
+              <property name="decimals">
+               <number>6</number>
+              </property>
+              <property name="maximum">
+               <double>99999.000000000000000</double>
+              </property>
+             </widget>
+            </item>
+            <item row="3" column="1">
+             <widget class="QDoubleSpinBox" name="doubleSpinBox_cx_r">
+              <property name="decimals">
+               <number>6</number>
+              </property>
+              <property name="maximum">
+               <double>99999.000000000000000</double>
+              </property>
+             </widget>
+            </item>
+            <item row="3" column="2">
+             <widget class="QLabel" name="label_11">
+              <property name="text">
+               <string>cx</string>
+              </property>
+             </widget>
+            </item>
+            <item row="4" column="0">
+             <widget class="QDoubleSpinBox" name="doubleSpinBox_cy_l">
+              <property name="decimals">
+               <number>6</number>
+              </property>
+              <property name="maximum">
+               <double>99999.000000000000000</double>
+              </property>
+             </widget>
+            </item>
+            <item row="4" column="1">
+             <widget class="QDoubleSpinBox" name="doubleSpinBox_cy_r">
+              <property name="decimals">
+               <number>6</number>
+              </property>
+              <property name="maximum">
+               <double>99999.000000000000000</double>
+              </property>
+             </widget>
+            </item>
+            <item row="4" column="2">
+             <widget class="QLabel" name="label_8">
+              <property name="text">
+               <string>cy</string>
+              </property>
+             </widget>
+            </item>
+            <item row="5" column="0">
+             <widget class="QLineEdit" name="lineEdit_D_l"/>
+            </item>
+            <item row="5" column="1">
+             <widget class="QLineEdit" name="lineEdit_D_r"/>
+            </item>
+            <item row="5" column="2">
+             <widget class="QLabel" name="label_12">
+              <property name="toolTip">
+               <string>k1, k2, p1, p2[, k3[, k4, k5, k6 ]]</string>
+              </property>
+              <property name="text">
+               <string>Distorsion coefficients (4, 5 or 8 values)</string>
+              </property>
+              <property name="wordWrap">
+               <bool>true</bool>
+              </property>
+             </widget>
+            </item>
+           </layout>
+          </item>
+          <item>
+           <widget class="Line" name="line">
+            <property name="orientation">
+             <enum>Qt::Horizontal</enum>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <layout class="QGridLayout" name="gridLayout_4" columnstretch="0,1">
+            <item row="0" column="0">
+             <widget class="QSpinBox" name="spinBox_width">
+              <property name="maximum">
+               <number>99999</number>
+              </property>
+             </widget>
+            </item>
+            <item row="0" column="1">
+             <widget class="QLabel" name="label_5">
+              <property name="text">
+               <string>Image width</string>
+              </property>
+             </widget>
+            </item>
+            <item row="1" column="0">
+             <widget class="QSpinBox" name="spinBox_height">
+              <property name="maximum">
+               <number>99999</number>
+              </property>
+             </widget>
+            </item>
+            <item row="1" column="1">
+             <widget class="QLabel" name="label_13">
+              <property name="text">
+               <string>Image height</string>
+              </property>
+             </widget>
+            </item>
+           </layout>
+          </item>
+         </layout>
+        </widget>
+       </item>
+       <item>
+        <widget class="QGroupBox" name="groupBox_stereo_extrinsics">
+         <property name="title">
+          <string>Stereo Camera Extrinsics</string>
+         </property>
+         <layout class="QGridLayout" name="gridLayout_2">
+          <item row="0" column="0" rowspan="2" colspan="2">
+           <widget class="QLineEdit" name="lineEdit_RT">
+            <property name="toolTip">
+             <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Format (3 values): x y z&lt;br/&gt;Format (6 values): x y z roll pitch yaw&lt;br/&gt;Format (7 values): x y z qx qy qz qw&lt;br/&gt;Format (9 values, 3x3 rotation): r11 r12 r13 r21 r22 r23 r31 r32 r33&lt;br/&gt;Format (12 values, 3x4 transform): r11 r12 r13 tx r21 r22 r23 ty r31 r32 r33 tz&lt;/p&gt;&lt;p&gt;KITTI: /base_link to /gray_camera = 0 0 1 -1 0 0 0 -1 0&lt;br/&gt;KITTI: /base_link to /color_camera = 0 0 1 0 -1 0 0 -0.06 0 -1 0 0&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+            </property>
+           </widget>
+          </item>
+          <item row="0" column="2">
+           <widget class="QLabel" name="label_6">
+            <property name="text">
+             <string>Transform between the cameras</string>
+            </property>
+            <property name="wordWrap">
+             <bool>true</bool>
+            </property>
+           </widget>
+          </item>
+         </layout>
+        </widget>
+       </item>
+       <item>
+        <spacer name="verticalSpacer_2">
+         <property name="orientation">
+          <enum>Qt::Vertical</enum>
+         </property>
+         <property name="sizeHint" stdset="0">
+          <size>
+           <width>20</width>
+           <height>40</height>
+          </size>
+         </property>
+        </spacer>
+       </item>
+      </layout>
+     </widget>
+    </widget>
+   </item>
    <item>
     <widget class="QDialogButtonBox" name="buttonBox">
      <property name="orientation">
@@ -119,38 +412,5 @@
   </layout>
  </widget>
  <resources/>
- <connections>
-  <connection>
-   <sender>buttonBox</sender>
-   <signal>accepted()</signal>
-   <receiver>createSimpleCalibrationDialog</receiver>
-   <slot>accept()</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>248</x>
-     <y>254</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>157</x>
-     <y>274</y>
-    </hint>
-   </hints>
-  </connection>
-  <connection>
-   <sender>buttonBox</sender>
-   <signal>rejected()</signal>
-   <receiver>createSimpleCalibrationDialog</receiver>
-   <slot>reject()</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>316</x>
-     <y>260</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>286</x>
-     <y>274</y>
-    </hint>
-   </hints>
-  </connection>
- </connections>
+ <connections/>
 </ui>

guilib/src/ui/preferencesDialog.ui

@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>979</width>
-    <height>655</height>
+    <width>984</width>
+    <height>662</height>
    </rect>
   </property>
   <property name="sizePolicy">
@@ -63,9 +63,9 @@
           <property name="geometry">
            <rect>
             <x>0</x>
-            <y>-499</y>
-            <width>680</width>
-            <height>1171</height>
+            <y>-855</y>
+            <width>681</width>
+            <height>1919</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_16">
@@ -1703,7 +1703,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                       <item row="9" column="1">
                        <widget class="QLabel" name="label_244">
                         <property name="text">
-                         <string>Create a simple calibration file with known intrinsics (fx, fy, cx, cy). Useful if you already know the intrinsics of a source of rectified or registered images.</string>
+                         <string>Create a calibration file with known intrinsics (fx, fy, cx, cy). Useful if you already know the intrinsics of the source of images.</string>
                         </property>
                         <property name="wordWrap">
                          <bool>true</bool>
@@ -1868,7 +1868,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                          </sizepolicy>
                         </property>
                         <property name="text">
-                         <string>Simple calibration</string>
+                         <string>Create calibration</string>
                         </property>
                        </widget>
                       </item>
@@ -3331,21 +3331,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                        </property>
                        <item>
                         <layout class="QGridLayout" name="gridLayout_68" columnstretch="0,0,1">
-                         <item row="5" column="1">
-                          <widget class="QLineEdit" name="lineEdit_cameraImages_path_scans">
-                           <property name="text">
-                            <string/>
-                           </property>
-                          </widget>
-                         </item>
-                         <item row="0" column="1">
-                          <widget class="QCheckBox" name="checkBox_cameraImages_timestamps">
-                           <property name="text">
-                            <string/>
-                           </property>
-                          </widget>
-                         </item>
-                         <item row="0" column="2">
+                         <item row="1" column="2">
                           <widget class="QLabel" name="label_255">
                            <property name="text">
                             <string>Use file names as timestamps. Format is epoch time. Example: &quot;1305031102.175304.png&quot;</string>
@@ -3358,48 +3344,28 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                            </property>
                           </widget>
                          </item>
-                         <item row="2" column="0">
+                         <item row="3" column="0">
                           <widget class="QToolButton" name="toolButton_cameraImages_timestamps">
                            <property name="text">
                             <string>...</string>
                            </property>
                           </widget>
                          </item>
-                         <item row="2" column="1">
+                         <item row="3" column="1">
                           <widget class="QLineEdit" name="lineEdit_cameraImages_timestamps">
                            <property name="text">
                             <string/>
                            </property>
                           </widget>
                          </item>
-                         <item row="2" column="2">
-                          <widget class="QLabel" name="label_251">
-                           <property name="text">
-                            <string>Timestamps file (*.txt). The file should contain one column. The number of rows should be the same than the number of images in the folder. Not used if &quot;Use file names as timestamps&quot; above is checked. </string>
-                           </property>
-                           <property name="wordWrap">
-                            <bool>true</bool>
-                           </property>
-                           <property name="textInteractionFlags">
-                            <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
-                           </property>
-                          </widget>
-                         </item>
-                         <item row="3" column="0">
-                          <widget class="QToolButton" name="toolButton_cameraImages_gt">
-                           <property name="text">
-                            <string>...</string>
-                           </property>
-                          </widget>
-                         </item>
-                         <item row="3" column="1">
+                         <item row="4" column="1">
                           <widget class="QLineEdit" name="lineEdit_cameraImages_gt">
                            <property name="text">
                             <string/>
                            </property>
                           </widget>
                          </item>
-                         <item row="3" column="2">
+                         <item row="4" column="2">
                           <widget class="QLabel" name="label_288">
                            <property name="text">
                             <string>Ground truth file. Select the correct format below.</string>
@@ -3412,8 +3378,94 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                            </property>
                           </widget>
                          </item>
-                         <item row="4" column="1">
+                         <item row="5" column="2">
+                          <widget class="QLabel" name="label_289">
+                           <property name="text">
+                            <string>Ground truth format. See tool tip for more details on formats. Note that formats without stamps should have the same number of values than the source images.</string>
+                           </property>
+                           <property name="wordWrap">
+                            <bool>true</bool>
+                           </property>
+                           <property name="textInteractionFlags">
+                            <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+                           </property>
+                          </widget>
+                         </item>
+                         <item row="8" column="2">
+                          <widget class="QLabel" name="label_292">
+                           <property name="text">
+                            <string>Maximum laser scan points.</string>
+                           </property>
+                           <property name="wordWrap">
+                            <bool>true</bool>
+                           </property>
+                           <property name="textInteractionFlags">
+                            <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+                           </property>
+                          </widget>
+                         </item>
+                         <item row="2" column="2">
+                          <widget class="QLabel" name="label_256">
+                           <property name="text">
+                            <string>Synchronize capture rate with timestamps.</string>
+                           </property>
+                           <property name="wordWrap">
+                            <bool>true</bool>
+                           </property>
+                           <property name="textInteractionFlags">
+                            <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+                           </property>
+                          </widget>
+                         </item>
+                         <item row="2" column="1">
+                          <widget class="QCheckBox" name="checkBox_cameraImages_syncTimeStamps">
+                           <property name="text">
+                            <string/>
+                           </property>
+                          </widget>
+                         </item>
+                         <item row="6" column="1">
+                          <widget class="QLineEdit" name="lineEdit_cameraImages_path_scans">
+                           <property name="text">
+                            <string/>
+                           </property>
+                          </widget>
+                         </item>
+                         <item row="1" column="1">
+                          <widget class="QCheckBox" name="checkBox_cameraImages_timestamps">
+                           <property name="text">
+                            <string/>
+                           </property>
+                          </widget>
+                         </item>
+                         <item row="3" column="2">
+                          <widget class="QLabel" name="label_251">
+                           <property name="text">
+                            <string>Timestamps file (*.txt). The file should contain one column. The number of rows should be the same than the number of images in the folder. Not used if &quot;Use file names as timestamps&quot; above is checked. </string>
+                           </property>
+                           <property name="wordWrap">
+                            <bool>true</bool>
+                           </property>
+                           <property name="textInteractionFlags">
+                            <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+                           </property>
+                          </widget>
+                         </item>
+                         <item row="4" column="0">
+                          <widget class="QToolButton" name="toolButton_cameraImages_gt">
+                           <property name="text">
+                            <string>...</string>
+                           </property>
+                          </widget>
+                         </item>
+                         <item row="5" column="1">
                           <widget class="QComboBox" name="comboBox_cameraImages_gtFormat">
+                           <property name="toolTip">
+                            <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Raw Format (3 values): x y z&lt;br/&gt;Raw Format (6 values): x y z roll pitch yaw&lt;br/&gt;Raw Format (7 values): x y z qx qy qz qw&lt;br/&gt;Raw Format (9 values, 3x3 rotation): r11 r12 r13 r21 r22 r23 r31 r32 r33&lt;br/&gt;Raw Format (12 values, 3x4 transform): r11 r12 r13 tx r21 r22 r23 ty r31 r32 r33 tz&lt;/p&gt;&lt;p&gt;RGBD-SLAM (stamp tx ty tz qx qy qz qw)&lt;br/&gt;KITTI (stamp + 12 values transform)&lt;br/&gt;TORO&lt;br/&gt;g2o&lt;br/&gt;NewCollege (stamp x y)&lt;br/&gt;Malaga Urban (GPS)&lt;br/&gt;St Lucia Stereo (INS)&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+                           </property>
+                           <property name="sizeAdjustPolicy">
+                            <enum>QComboBox::AdjustToContents</enum>
+                           </property>
                            <item>
                             <property name="text">
                              <string>Raw</string>
@@ -3441,32 +3493,29 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                            </item>
                            <item>
                             <property name="text">
-                             <string>GPS</string>
+                             <string>NewCollege</string>
+                            </property>
+                           </item>
+                           <item>
+                            <property name="text">
+                             <string>Malaga Urban</string>
+                            </property>
+                           </item>
+                           <item>
+                            <property name="text">
+                             <string>St Lucia Stereo</string>
                             </property>
                            </item>
                           </widget>
                          </item>
-                         <item row="4" column="2">
-                          <widget class="QLabel" name="label_289">
-                           <property name="text">
-                            <string>Ground truth format.</string>
-                           </property>
-                           <property name="wordWrap">
-                            <bool>true</bool>
-                           </property>
-                           <property name="textInteractionFlags">
-                            <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
-                           </property>
-                          </widget>
-                         </item>
-                         <item row="5" column="0">
+                         <item row="6" column="0">
                           <widget class="QToolButton" name="toolButton_cameraImages_path_scans">
                            <property name="text">
                             <string>...</string>
                            </property>
                           </widget>
                          </item>
-                         <item row="5" column="2">
+                         <item row="6" column="2">
                           <widget class="QLabel" name="label_293">
                            <property name="text">
                             <string>Path to directory containing optional laser scans (*.pcd, *.ply, *.bin [KITTI format]). The directory should have the same size has the images directory. </string>
@@ -3479,7 +3528,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                            </property>
                           </widget>
                          </item>
-                         <item row="6" column="1">
+                         <item row="7" column="1">
                           <widget class="QLineEdit" name="lineEdit_cameraImages_laser_transform">
                            <property name="toolTip">
                             <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Format (3 values): x y z&lt;br/&gt;Format (6 values): x y z roll pitch yaw&lt;br/&gt;Format (7 values): x y z qx qy qz qw&lt;br/&gt;Format (9 values, 3x3 rotation): r11 r12 r13 r21 r22 r23 r31 r32 r33&lt;br/&gt;Format (12 values, 3x4 transform): r11 r12 r13 tx r21 r22 r23 ty r31 r32 r33 tz&lt;/p&gt;&lt;p&gt;KITTI: /base_link to /scan = -0.27 0 0.08 0 0 0&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
@@ -3489,7 +3538,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                            </property>
                           </widget>
                          </item>
-                         <item row="6" column="2">
+                         <item row="7" column="2">
                           <widget class="QLabel" name="label_294">
                            <property name="text">
                             <string>Local transform from /base_link to /scan_link. Mouse over the box to show formats.</string>
@@ -3502,7 +3551,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                            </property>
                           </widget>
                          </item>
-                         <item row="7" column="1">
+                         <item row="8" column="1">
                           <widget class="QSpinBox" name="spinBox_cameraImages_max_scan_pts">
                            <property name="toolTip">
                             <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;KITTI: 130 000 points&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
@@ -3512,10 +3561,10 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                            </property>
                           </widget>
                          </item>
-                         <item row="7" column="2">
-                          <widget class="QLabel" name="label_292">
+                         <item row="0" column="2">
+                          <widget class="QLabel" name="label_265">
                            <property name="text">
-                            <string>Maximum laser scan points.</string>
+                            <string>Bayer mode. For convenience, if the images are bayered.</string>
                            </property>
                            <property name="wordWrap">
                             <bool>true</bool>
@@ -3525,24 +3574,36 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                            </property>
                           </widget>
                          </item>
-                         <item row="1" column="2">
-                          <widget class="QLabel" name="label_256">
-                           <property name="text">
-                            <string>Synchronize capture rate with timestamps.</string>
-                           </property>
-                           <property name="wordWrap">
-                            <bool>true</bool>
-                           </property>
-                           <property name="textInteractionFlags">
-                            <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
-                           </property>
-                          </widget>
-                         </item>
-                         <item row="1" column="1">
-                          <widget class="QCheckBox" name="checkBox_cameraImages_syncTimeStamps">
-                           <property name="text">
-                            <string/>
+                         <item row="0" column="1">
+                          <widget class="QComboBox" name="comboBox_cameraImages_bayerMode">
+                           <property name="sizeAdjustPolicy">
+                            <enum>QComboBox::AdjustToContents</enum>
                            </property>
+                           <item>
+                            <property name="text">
+                             <string>Disabled</string>
+                            </property>
+                           </item>
+                           <item>
+                            <property name="text">
+                             <string>BG</string>
+                            </property>
+                           </item>
+                           <item>
+                            <property name="text">
+                             <string>GB</string>
+                            </property>
+                           </item>
+                           <item>
+                            <property name="text">
+                             <string>RG</string>
+                            </property>
+                           </item>
+                           <item>
+                            <property name="text">
+                             <string>GR</string>
+                            </property>
+                           </item>
                           </widget>
                          </item>
                         </layout>