mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 17:40:23 +08:00
-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.
This commit is contained in:
matlabbe
@@ -6,106 +6,399 @@
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<x>0</x>
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<y>0</y>
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||||
<height>568</height>
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||||
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||||
<property name="windowTitle">
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||||
<string>Create simple calibration</string>
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||||
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||||
<widget class="QComboBox" name="comboBox_advanced">
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||||
<item>
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<property name="text">
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||||
<string>Basic (images are already rectified)</string>
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||||
</property>
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||||
</item>
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<item>
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<property name="text">
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<string>Advanced (images should be rectified)</string>
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||||
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||||
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<item row="3" column="1">
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<widget class="QLabel" name="label_4">
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<property name="text">
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<string>cy</string>
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<item row="4" column="0">
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<property name="decimals">
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<number>6</number>
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<double>0.000000000000000</double>
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<property name="maximum">
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<double>99999.000000000000000</double>
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</widget>
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</item>
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||||
<item row="4" column="1">
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||||
<widget class="QLabel" name="label_5">
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<property name="text">
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<string>baseline (only for stereo)</string>
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<string>Stereo</string>
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</property>
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</widget>
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</item>
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</layout>
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</item>
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<item>
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<property name="title">
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<string>Camera Intrinsics</string>
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<item row="1" column="1">
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<property name="text">
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<string>fy</string>
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<item row="4" column="1">
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<widget class="QLabel" name="label_baseline">
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<property name="text">
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<string>baseline (m)</string>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<widget class="QLabel" name="label_3">
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<property name="text">
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<string>cx</string>
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<widget class="QDoubleSpinBox" name="doubleSpinBox_fy">
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<property name="text">
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<string>cy</string>
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</widget>
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<item row="0" column="1">
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<widget class="QLabel" name="label">
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<property name="text">
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<string>fx</string>
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<item row="4" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_baseline">
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<property name="decimals">
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<property name="minimum">
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<double>0.000000000000000</double>
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<property name="maximum">
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<double>99999.000000000000000</double>
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</property>
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</widget>
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</item>
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<item row="3" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_cy">
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<property name="decimals">
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<number>6</number>
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</property>
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<property name="maximum">
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<double>99999.000000000000000</double>
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</property>
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||||
</widget>
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||||
</item>
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<item row="2" column="0">
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||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_cx">
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<property name="decimals">
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<number>6</number>
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</property>
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<property name="maximum">
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<double>99999.000000000000000</double>
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</property>
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||||
</widget>
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||||
</item>
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</layout>
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||||
</widget>
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||||
</item>
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||||
<item>
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||||
<spacer name="verticalSpacer">
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||||
<property name="orientation">
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||||
<enum>Qt::Vertical</enum>
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||||
</property>
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||||
<property name="sizeHint" stdset="0">
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||||
<size>
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||||
<width>20</width>
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||||
<height>40</height>
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||||
</size>
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||||
</property>
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||||
</spacer>
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</item>
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||||
</layout>
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||||
</widget>
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||||
<widget class="QWidget" name="page">
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||||
<layout class="QVBoxLayout" name="verticalLayout_2">
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||||
<item>
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||||
<widget class="QGroupBox" name="groupBox_3">
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||||
<property name="title">
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||||
<string>Camera Intrinsics</string>
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</property>
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||||
<layout class="QVBoxLayout" name="verticalLayout_4">
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||||
<item>
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||||
<layout class="QGridLayout" name="gridLayout_3" columnstretch="0,0,1">
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||||
<item row="0" column="0">
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||||
<widget class="QLabel" name="label_left">
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||||
<property name="text">
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||||
<string>Left</string>
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||||
</property>
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</widget>
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||||
</item>
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||||
<item row="0" column="1">
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||||
<widget class="QLabel" name="label_right">
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||||
<property name="text">
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||||
<string>Right</string>
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||||
</property>
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||||
</widget>
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||||
</item>
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||||
<item row="1" column="0">
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||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_fx_l">
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||||
<property name="decimals">
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<number>6</number>
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</property>
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<property name="maximum">
|
||||
<double>99999.000000000000000</double>
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</property>
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</widget>
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</item>
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<item row="1" column="1">
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||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_fx_r">
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<property name="decimals">
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<number>6</number>
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</property>
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<property name="maximum">
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<double>99999.000000000000000</double>
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</property>
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||||
</widget>
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||||
</item>
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||||
<item row="1" column="2">
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||||
<widget class="QLabel" name="label_10">
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||||
<property name="text">
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||||
<string>fx</string>
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||||
</property>
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||||
</widget>
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||||
</item>
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||||
<item row="2" column="0">
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||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_fy_l">
|
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<property name="decimals">
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<number>6</number>
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</property>
|
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<property name="maximum">
|
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<double>99999.000000000000000</double>
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</property>
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||||
</widget>
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||||
</item>
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<item row="2" column="1">
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||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_fy_r">
|
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<property name="decimals">
|
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<number>6</number>
|
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</property>
|
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<property name="maximum">
|
||||
<double>99999.000000000000000</double>
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||||
</property>
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||||
</widget>
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||||
</item>
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||||
<item row="2" column="2">
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||||
<widget class="QLabel" name="label_9">
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||||
<property name="text">
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||||
<string>fy</string>
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||||
</property>
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||||
</widget>
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||||
</item>
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||||
<item row="3" column="0">
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||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_cx_l">
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<property name="decimals">
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<number>6</number>
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</property>
|
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<property name="maximum">
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<double>99999.000000000000000</double>
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</property>
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||||
</widget>
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||||
</item>
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<item row="3" column="1">
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||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_cx_r">
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||||
<property name="decimals">
|
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<number>6</number>
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</property>
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<property name="maximum">
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<double>99999.000000000000000</double>
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||||
</property>
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||||
</widget>
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||||
</item>
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||||
<item row="3" column="2">
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||||
<widget class="QLabel" name="label_11">
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||||
<property name="text">
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||||
<string>cx</string>
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||||
</property>
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||||
</widget>
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</item>
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||||
<item row="4" column="0">
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||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_cy_l">
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<property name="decimals">
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<number>6</number>
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</property>
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<property name="maximum">
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<double>99999.000000000000000</double>
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</property>
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</widget>
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</item>
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<item row="4" column="1">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_cy_r">
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<property name="decimals">
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<number>6</number>
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</property>
|
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<property name="maximum">
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<double>99999.000000000000000</double>
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</property>
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||||
</widget>
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||||
</item>
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||||
<item row="4" column="2">
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||||
<widget class="QLabel" name="label_8">
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<property name="text">
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||||
<string>cy</string>
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||||
</property>
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||||
</widget>
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||||
</item>
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||||
<item row="5" column="0">
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||||
<widget class="QLineEdit" name="lineEdit_D_l"/>
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||||
</item>
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||||
<item row="5" column="1">
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||||
<widget class="QLineEdit" name="lineEdit_D_r"/>
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||||
</item>
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||||
<item row="5" column="2">
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||||
<widget class="QLabel" name="label_12">
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||||
<property name="toolTip">
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||||
<string>k1, k2, p1, p2[, k3[, k4, k5, k6 ]]</string>
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||||
</property>
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||||
<property name="text">
|
||||
<string>Distorsion coefficients (4, 5 or 8 values)</string>
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||||
</property>
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||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
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||||
</widget>
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||||
</item>
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||||
</layout>
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||||
</item>
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||||
<item>
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||||
<widget class="Line" name="line">
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||||
<property name="orientation">
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||||
<enum>Qt::Horizontal</enum>
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||||
</property>
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||||
</widget>
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||||
</item>
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||||
<item>
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||||
<layout class="QGridLayout" name="gridLayout_4" columnstretch="0,1">
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||||
<item row="0" column="0">
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||||
<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>
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||||
</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><html><head/><body><p>Format (3 values): x y z<br/>Format (6 values): x y z roll pitch yaw<br/>Format (7 values): x y z qx qy qz qw<br/>Format (9 values, 3x3 rotation): r11 r12 r13 r21 r22 r23 r31 r32 r33<br/>Format (12 values, 3x4 transform): r11 r12 r13 tx r21 r22 r23 ty r31 r32 r33 tz</p><p>KITTI: /base_link to /gray_camera = 0 0 1 -1 0 0 0 -1 0<br/>KITTI: /base_link to /color_camera = 0 0 1 0 -1 0 0 -0.06 0 -1 0 0</p></body></html></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>
|
||||
|
||||
Reference in New Issue
Block a user