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Added OpenNI2 and Freenect calibration #115

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matlabbe
2016-09-13 18:26:18 -04:00
parent e5977d6157
commit acb700bd27
14 changed files with 1248 additions and 753 deletions
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14
guilib/include/rtabmap/gui/CalibrationDialog.h
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@@ -56,26 +56,32 @@ public:
const rtabmap::CameraModel & getRightCameraModel() const {return models_[1];}
const rtabmap::StereoCameraModel & getStereoCameraModel() const {return stereoModel_;}
bool isProcessing() const {return processingData_;}
int getStereoPairs() const {return (int)stereoImagePoints_[0].size();}
void saveSettings(QSettings & settings, const QString & group = "") const;
void loadSettings(QSettings & settings, const QString & group = "");
void resetSettings();
void setCameraName(const QString & name);
void setProgressVisibility(bool visible);
void setSwitchedImages(bool switched);
void setStereoMode(bool stereo);
void setStereoMode(bool stereo, const QString & leftSuffix = "left", const QString & rightSuffix = "right");
void setSavingDirectory(const QString & savingDirectory) {savingDirectory_ = savingDirectory;}
StereoCameraModel stereoCalibration(const CameraModel & left, const CameraModel & right, bool ignoreStereoRectification) const;
public slots:
void setBoardWidth(int width);
void setBoardHeight(int height);
void setSquareSize(double size);
void setMaxScale(int scale);
private slots:
void processImages(const cv::Mat & imageLeft, const cv::Mat & imageRight, const QString & cameraName);
void restart();
void calibrate();
void restart();
bool save();
private slots:
void unlock();
protected:
@@ -96,6 +102,8 @@ private:
private:
// parameters
bool stereo_;
QString leftSuffix_;
QString rightSuffix_;
QString savingDirectory_;
QString cameraName_;

2
guilib/include/rtabmap/gui/PreferencesDialog.h
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@@ -226,7 +226,7 @@ public:
int getSourceScanNormalsK() const;
Transform getSourceLocalTransform() const; //Openni group
Transform getLaserLocalTransform() const; // directory images
Camera * createCamera(bool useRawImages = false); // return camera should be deleted if not null
Camera * createCamera(bool useRawImages = false, bool useColor = true); // return camera should be deleted if not null
int getIgnoredDCComponents() const;