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Calibration tool: added support for rational model (8 coeff)

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matlabbe
2024-05-31 10:28:14 -07:00
parent 99cb02fdff
commit 8310925c81
6 changed files with 588 additions and 360 deletions
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9
guilib/include/rtabmap/gui/CalibrationDialog.h
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@@ -68,7 +68,9 @@ public:
void setCameraName(const QString & name);
void setProgressVisibility(bool visible);
void setSwitchedImages(bool switched);
void setFisheyeImages(bool enabled);
void setFisheyeModel();
void setPlumbobModel();
void setRationalModel();
void setStereoMode(bool stereo, const QString & leftSuffix = "left", const QString & rightSuffix = "right");
void setSavingDirectory(const QString & savingDirectory) {savingDirectory_ = savingDirectory;}
@@ -78,6 +80,7 @@ public Q_SLOTS:
void setBoardWidth(int width);
void setBoardHeight(int height);
void setSquareSize(double size);
void setCalibrationDataSaved(bool enabled);
void setExpectedStereoBaseline(double length);
void setMaxScale(int scale);
@@ -114,10 +117,14 @@ private:
QString cameraName_;
bool processingData_;
bool savedCalibration_;
int currentId_;
QString timestamp_;
std::vector<std::vector<std::vector<cv::Point2f> > > imagePoints_;
std::vector<std::vector<std::vector<float> > > imageParams_;
std::vector<std::vector<int > > imageIds_;
std::vector<std::vector<std::vector<cv::Point2f> > > stereoImagePoints_;
std::vector<int> stereoImageIds_;
std::vector<cv::Size > imageSize_;
std::vector<rtabmap::CameraModel> models_;
rtabmap::StereoCameraModel stereoModel_;