Added OpenNI2 and Freenect calibration #115

guilib/src/CalibrationDialog.cpp

@@ -49,6 +49,8 @@ namespace rtabmap {
 CalibrationDialog::CalibrationDialog(bool stereo, const QString & savingDirectory, bool switchImages, QWidget * parent) :
 	QDialog(parent),
 	stereo_(stereo),
+	leftSuffix_("left"),
+	rightSuffix_("right"),
 	savingDirectory_(savingDirectory),
 	processingData_(false),
 	savedCalibration_(false)
@@ -149,15 +151,28 @@ void CalibrationDialog::resetSettings()
 	this->setSquareSize(0.033);
 }
 
+void CalibrationDialog::setCameraName(const QString & name)
+{
+	cameraName_ = name;
+}
+
+void CalibrationDialog::setProgressVisibility(bool visible)
+{
+	ui_->groupBox_progress->setVisible(visible);
+}
+
 void CalibrationDialog::setSwitchedImages(bool switched)
 {
 	ui_->checkBox_switchImages->setChecked(switched);
 }
 
-void CalibrationDialog::setStereoMode(bool stereo)
+void CalibrationDialog::setStereoMode(bool stereo, const QString & leftSuffix, const QString & rightSuffix)
 {
+	leftSuffix_ = leftSuffix;
+	rightSuffix_ = rightSuffix;
 	this->restart();
 
+	ui_->groupBox_progress->setVisible(true);
 	stereo_ = stereo;
 	ui_->progressBar_x_2->setVisible(stereo_);
 	ui_->progressBar_y_2->setVisible(stereo_);
@@ -601,7 +616,6 @@ void CalibrationDialog::restart()
 	models_[0] = CameraModel();
 	models_[1] = CameraModel();
 	stereoModel_ = StereoCameraModel();
-	cameraName_.clear();
 	minIrs_[0] = 0x0000;
 	maxIrs_[0] = 0x7fff;
 	minIrs_[1] = 0x0000;
@@ -769,101 +783,7 @@ void CalibrationDialog::calibrate()
 
 	if(stereo_ && models_[0].isValidForRectification() && models_[1].isValidForRectification())
 	{
-		UINFO("stereo calibration (samples=%d)...", (int)stereoImagePoints_[0].size());
-		cv::Size imageSize = imageSize_[0].width > imageSize_[1].width?imageSize_[0]:imageSize_[1];
-		cv::Mat R, T, E, F;
-
-		std::vector<std::vector<cv::Point3f> > objectPoints(1);
-		cv::Size boardSize(ui_->spinBox_boardWidth->value(), ui_->spinBox_boardHeight->value());
-		float squareSize = ui_->doubleSpinBox_squareSize->value();
-		// compute board corner positions
-		for( int i = 0; i < boardSize.height; ++i )
-			for( int j = 0; j < boardSize.width; ++j )
-				objectPoints[0].push_back(cv::Point3f(float( j*squareSize ), float( i*squareSize ), 0));
-		objectPoints.resize(stereoImagePoints_[0].size(), objectPoints[0]);
-
-		// calibrate extrinsic
-#if CV_MAJOR_VERSION < 3
-		double rms = cv::stereoCalibrate(
-				objectPoints,
-				stereoImagePoints_[0],
-				stereoImagePoints_[1],
-				models_[0].K_raw(), models_[0].D_raw(),
-				models_[1].K_raw(), models_[1].D_raw(),
-				imageSize, R, T, E, F,
-				cv::TermCriteria(cv::TermCriteria::COUNT+cv::TermCriteria::EPS, 100, 1e-5),
-				cv::CALIB_FIX_INTRINSIC);
-#else
-		double rms = cv::stereoCalibrate(
-				objectPoints,
-				stereoImagePoints_[0],
-				stereoImagePoints_[1],
-				models_[0].K_raw(), models_[0].D_raw(),
-				models_[1].K_raw(), models_[1].D_raw(),
-				imageSize, R, T, E, F,
-				cv::CALIB_FIX_INTRINSIC,
-				cv::TermCriteria(cv::TermCriteria::COUNT+cv::TermCriteria::EPS, 100, 1e-5));
-#endif
-		UINFO("stereo calibration... done with RMS error=%f", rms);
-
-		std::cout << "R = " << R << std::endl;
-		std::cout << "T = " << T << std::endl;
-		std::cout << "E = " << E << std::endl;
-		std::cout << "F = " << F << std::endl;
-
-		if(imageSize_[0] == imageSize_[1])
-		{
-			//Stereo, compute stereo rectification
-
-			cv::Mat R1, R2, P1, P2, Q;
-			cv::stereoRectify(models_[0].K_raw(), models_[0].D_raw(),
-							models_[1].K_raw(), models_[1].D_raw(),
-							imageSize, R, T, R1, R2, P1, P2, Q,
-							cv::CALIB_ZERO_DISPARITY, 0, imageSize);
-
-			double err = 0;
-			int npoints = 0;
-			std::vector<cv::Vec3f> lines[2];
-			UINFO("Computing avg re-projection error...");
-			for(unsigned int i = 0; i < stereoImagePoints_[0].size(); i++ )
-			{
-				int npt = (int)stereoImagePoints_[0][i].size();
-
-					cv::Mat imgpt0 = cv::Mat(stereoImagePoints_[0][i]);
-					cv::Mat imgpt1 = cv::Mat(stereoImagePoints_[1][i]);
-					cv::undistortPoints(imgpt0, imgpt0, models_[0].K_raw(), models_[0].D_raw(), R1, P1);
-					cv::undistortPoints(imgpt1, imgpt1, models_[1].K_raw(), models_[1].D_raw(), R2, P2);
-					computeCorrespondEpilines(imgpt0, 1, F, lines[0]);
-					computeCorrespondEpilines(imgpt1, 2, F, lines[1]);
-
-				for(int j = 0; j < npt; j++ )
-				{
-					double errij = fabs(stereoImagePoints_[0][i][j].x*lines[1][j][0] +
-										stereoImagePoints_[0][i][j].y*lines[1][j][1] + lines[1][j][2]) +
-								   fabs(stereoImagePoints_[1][i][j].x*lines[0][j][0] +
-										stereoImagePoints_[1][i][j].y*lines[0][j][1] + lines[0][j][2]);
-					err += errij;
-				}
-				npoints += npt;
-			}
-			double totalAvgErr = err/(double)npoints;
-			UINFO("stereo avg re projection error = %f", totalAvgErr);
-
-			stereoModel_ = StereoCameraModel(
-							cameraName_.toStdString(),
-							imageSize_[0], models_[0].K_raw(), models_[0].D_raw(), R1, P1,
-							imageSize_[1], models_[1].K_raw(), models_[1].D_raw(), R2, P2,
-							R, T, E, F);
-		}
-		else
-		{
-			//Kinect, ignore the stereo rectification
-			stereoModel_ = StereoCameraModel(
-							cameraName_.toStdString(),
-							imageSize_[0], models_[0].K_raw(), models_[0].D_raw(), models_[0].R(), models_[0].P(),
-							imageSize_[1], models_[1].K_raw(), models_[1].D_raw(), models_[1].R(), models_[1].P(),
-							R, T, E, F);
-		}
+		stereoModel_ = stereoCalibration(models_[0], models_[1], false);
 
 		std::stringstream strR1, strP1, strR2, strP2;
 		strR1 << stereoModel_.left().R();
@@ -902,6 +822,127 @@ void CalibrationDialog::calibrate()
 	processingData_ = false;
 }
 
+StereoCameraModel CalibrationDialog::stereoCalibration(const CameraModel & left, const CameraModel & right, bool ignoreStereoRectification) const
+{
+	StereoCameraModel output;
+	if(stereoImagePoints_[0].empty())
+	{
+		UERROR("No stereo correspondences!");
+		return output;
+	}
+	UINFO("stereo calibration (samples=%d)...", (int)stereoImagePoints_[0].size());
+
+	if(left.imageSize()!=imageSize_[0])
+	{
+		UERROR("left model (%dx%d) has not the same size as the processed images (%dx%d)",
+				left.imageSize().width, left.imageSize().height,
+				imageSize_[0].width, imageSize_[0].height);
+	}
+	if(right.imageSize()!=imageSize_[1])
+	{
+		UERROR("right model (%dx%d) has not the same size as the processed images (%dx%d)",
+				right.imageSize().width, right.imageSize().height,
+				imageSize_[1].width, imageSize_[1].height);
+	}
+
+	cv::Size imageSize = imageSize_[0].width > imageSize_[1].width?imageSize_[0]:imageSize_[1];
+	cv::Mat R, T, E, F;
+
+	std::vector<std::vector<cv::Point3f> > objectPoints(1);
+	cv::Size boardSize(ui_->spinBox_boardWidth->value(), ui_->spinBox_boardHeight->value());
+	float squareSize = ui_->doubleSpinBox_squareSize->value();
+	// compute board corner positions
+	for( int i = 0; i < boardSize.height; ++i )
+		for( int j = 0; j < boardSize.width; ++j )
+			objectPoints[0].push_back(cv::Point3f(float( j*squareSize ), float( i*squareSize ), 0));
+	objectPoints.resize(stereoImagePoints_[0].size(), objectPoints[0]);
+
+	// calibrate extrinsic
+#if CV_MAJOR_VERSION < 3
+	double rms = cv::stereoCalibrate(
+			objectPoints,
+			stereoImagePoints_[0],
+			stereoImagePoints_[1],
+			left.K_raw(), left.D_raw(),
+			right.K_raw(), right.D_raw(),
+			imageSize, R, T, E, F,
+			cv::TermCriteria(cv::TermCriteria::COUNT+cv::TermCriteria::EPS, 100, 1e-5),
+			cv::CALIB_FIX_INTRINSIC);
+#else
+	double rms = cv::stereoCalibrate(
+			objectPoints,
+			stereoImagePoints_[0],
+			stereoImagePoints_[1],
+			left.K_raw(), left.D_raw(),
+			right.K_raw(), right.D_raw(),
+			imageSize, R, T, E, F,
+			cv::CALIB_FIX_INTRINSIC,
+			cv::TermCriteria(cv::TermCriteria::COUNT+cv::TermCriteria::EPS, 100, 1e-5));
+#endif
+	UINFO("stereo calibration... done with RMS error=%f", rms);
+
+	std::cout << "R = " << R << std::endl;
+	std::cout << "T = " << T << std::endl;
+	std::cout << "E = " << E << std::endl;
+	std::cout << "F = " << F << std::endl;
+
+	if(imageSize_[0] == imageSize_[1] && !ignoreStereoRectification)
+	{
+		UINFO("Compute stereo rectification");
+
+		cv::Mat R1, R2, P1, P2, Q;
+		cv::stereoRectify(left.K_raw(), left.D_raw(),
+						right.K_raw(), right.D_raw(),
+						imageSize, R, T, R1, R2, P1, P2, Q,
+						cv::CALIB_ZERO_DISPARITY, 0, imageSize);
+
+		double err = 0;
+		int npoints = 0;
+		std::vector<cv::Vec3f> lines[2];
+		UINFO("Computing avg re-projection error...");
+		for(unsigned int i = 0; i < stereoImagePoints_[0].size(); i++ )
+		{
+			int npt = (int)stereoImagePoints_[0][i].size();
+
+				cv::Mat imgpt0 = cv::Mat(stereoImagePoints_[0][i]);
+				cv::Mat imgpt1 = cv::Mat(stereoImagePoints_[1][i]);
+				cv::undistortPoints(imgpt0, imgpt0, left.K_raw(), left.D_raw(), R1, P1);
+				cv::undistortPoints(imgpt1, imgpt1, right.K_raw(), right.D_raw(), R2, P2);
+				computeCorrespondEpilines(imgpt0, 1, F, lines[0]);
+				computeCorrespondEpilines(imgpt1, 2, F, lines[1]);
+
+			for(int j = 0; j < npt; j++ )
+			{
+				double errij = fabs(stereoImagePoints_[0][i][j].x*lines[1][j][0] +
+									stereoImagePoints_[0][i][j].y*lines[1][j][1] + lines[1][j][2]) +
+							   fabs(stereoImagePoints_[1][i][j].x*lines[0][j][0] +
+									stereoImagePoints_[1][i][j].y*lines[0][j][1] + lines[0][j][2]);
+				err += errij;
+			}
+			npoints += npt;
+		}
+		double totalAvgErr = err/(double)npoints;
+		UINFO("stereo avg re projection error = %f", totalAvgErr);
+
+		output = StereoCameraModel(
+						cameraName_.toStdString(),
+						imageSize_[0], left.K_raw(), left.D_raw(), R1, P1,
+						imageSize_[1], right.K_raw(), right.D_raw(), R2, P2,
+						R, T, E, F);
+	}
+	else
+	{
+		UDEBUG("%s", cameraName_.toStdString().c_str());
+		//Kinect, ignore the stereo rectification
+		output = StereoCameraModel(
+						cameraName_.toStdString(),
+						imageSize_[0], left.K_raw(), left.D_raw(), left.R(), left.P(),
+						imageSize_[1], right.K_raw(), right.D_raw(), right.R(), right.P(),
+						R, T, E, F);
+	}
+	return output;
+}
+
 bool CalibrationDialog::save()
 {
 	bool saved = false;
@@ -941,10 +982,11 @@ bool CalibrationDialog::save()
 		QString dir = QFileInfo(filePath).absoluteDir().absolutePath();
 		if(!name.isEmpty())
 		{
-			stereoModel_.setName(name.toStdString());
+			bool switched = ui_->checkBox_switchImages->isChecked();
+			stereoModel_.setName(name.toStdString(), switched?rightSuffix_.toStdString():leftSuffix_.toStdString(), switched?leftSuffix_.toStdString():rightSuffix_.toStdString());
 			std::string base = (dir+QDir::separator()+name).toStdString();
-			std::string leftPath = base+"_left.yaml";
-			std::string rightPath = base+"_right.yaml";
+			std::string leftPath = base+"_"+stereoModel_.getLeftSuffix()+".yaml";
+			std::string rightPath = base+"_"+stereoModel_.getRightSuffix()+".yaml";
 			std::string posePath = base+"_pose.yaml";
 			if(stereoModel_.save(dir.toStdString(), false))
 			{

guilib/src/PreferencesDialog.cpp

@@ -4091,7 +4091,7 @@ int PreferencesDialog::getSourceScanNormalsK() const
 	return _ui->spinBox_cameraImages_scanNormalsK->value();
 }
 
-Camera * PreferencesDialog::createCamera(bool useRawImages)
+Camera * PreferencesDialog::createCamera(bool useRawImages, bool useColor)
 {
 	Src driver = this->getSourceDriver();
 	Camera * camera = 0;
@@ -4114,37 +4114,19 @@ Camera * PreferencesDialog::createCamera(bool useRawImages)
 	}
 	else if(driver == PreferencesDialog::kSrcOpenNI2)
 	{
-		if(useRawImages)
-		{
-			QMessageBox::warning(this, tr("Calibration"),
-					tr("Using raw images for \"OpenNI2\" driver is not yet supported. "
-						"Factory calibration loaded from OpenNI2 is used."), QMessageBox::Ok);
-			return 0;
-		}
-		else
-		{
-			camera = new CameraOpenNI2(
-					_ui->lineEdit_openni2OniPath->text().isEmpty()?this->getSourceDevice().toStdString():_ui->lineEdit_openni2OniPath->text().toStdString(),
-					this->getGeneralInputRate(),
-					this->getSourceLocalTransform());
-		}
+		camera = new CameraOpenNI2(
+				_ui->lineEdit_openni2OniPath->text().isEmpty()?this->getSourceDevice().toStdString():_ui->lineEdit_openni2OniPath->text().toStdString(),
+				useColor?CameraOpenNI2::kTypeColorDepth:CameraOpenNI2::kTypeIRDepth,
+				this->getGeneralInputRate(),
+				this->getSourceLocalTransform());
 	}
 	else if(driver == PreferencesDialog::kSrcFreenect)
 	{
-		if(useRawImages)
-		{
-			QMessageBox::warning(this, tr("Calibration"),
-					tr("Using raw images for \"Freenect\" driver is not yet supported. "
-						"Factory calibration loaded from Freenect is used."), QMessageBox::Ok);
-			return 0;
-		}
-		else
-		{
-			camera = new CameraFreenect(
-					this->getSourceDevice().isEmpty()?0:atoi(this->getSourceDevice().toStdString().c_str()),
-					this->getGeneralInputRate(),
-					this->getSourceLocalTransform());
-		}
+		camera = new CameraFreenect(
+				this->getSourceDevice().isEmpty()?0:atoi(this->getSourceDevice().toStdString().c_str()),
+				useColor?CameraFreenect::kTypeColorDepth:CameraFreenect::kTypeIRDepth,
+				this->getGeneralInputRate(),
+				this->getSourceLocalTransform());
 	}
 	else if(driver == PreferencesDialog::kSrcOpenNI_CV ||
 			driver == PreferencesDialog::kSrcOpenNI_CV_ASUS)
@@ -4179,12 +4161,22 @@ Camera * PreferencesDialog::createCamera(bool useRawImages)
 	}
 	else if (driver == kSrcRealSense)
 	{
-		camera = new CameraRealSense(
-			this->getSourceDevice().isEmpty() ? 0 : atoi(this->getSourceDevice().toStdString().c_str()),
-			_ui->comboBox_realsensePresetRGB->currentIndex(),
-			_ui->comboBox_realsensePresetDepth->currentIndex(),
-			this->getGeneralInputRate(),
-			this->getSourceLocalTransform());
+		if(useRawImages)
+		{
+			QMessageBox::warning(this, tr("Calibration"),
+					tr("Using raw images for \"RealSense\" driver is not yet supported. "
+						"Factory calibration loaded from RealSense is used."), QMessageBox::Ok);
+			return 0;
+		}
+		else
+		{
+			camera = new CameraRealSense(
+				this->getSourceDevice().isEmpty() ? 0 : atoi(this->getSourceDevice().toStdString().c_str()),
+				_ui->comboBox_realsensePresetRGB->currentIndex(),
+				_ui->comboBox_realsensePresetDepth->currentIndex(),
+				this->getGeneralInputRate(),
+				this->getSourceLocalTransform());
+		}
 	}
 	else if(driver == kSrcRGBDImages)
 	{
@@ -4372,12 +4364,11 @@ Camera * PreferencesDialog::createCamera(bool useRawImages)
 
 	if(camera)
 	{
-		// don't set calibration folder if we want raw images
 		QString dir = this->getCameraInfoDir();
 		QString calibrationFile = _ui->lineEdit_calibrationFile->text();
 		if(!(driver >= kSrcRGB && driver <= kSrcVideo))
 		{
-			calibrationFile.remove("_left.yaml").remove("_right.yaml").remove("_pose.yaml");
+			calibrationFile.remove("_left.yaml").remove("_right.yaml").remove("_pose.yaml").remove("_rgb.yaml").remove("_depth.yaml");
 		}
 		QString name = QFileInfo(calibrationFile.remove(".yaml")).baseName();
 		if(!_ui->lineEdit_calibrationFile->text().isEmpty())
@@ -4389,6 +4380,7 @@ Camera * PreferencesDialog::createCamera(bool useRawImages)
 			}
 		}
 
+		// don't set calibration folder if we want raw images
 		if(!camera->init(useRawImages?"":dir.toStdString(), name.toStdString()))
 		{
 			UWARN("init camera failed... ");
@@ -4642,11 +4634,6 @@ void PreferencesDialog::calibrate()
 				   tr("Cannot calibrate database source!"));
 		return;
 	}
-	Camera * camera = this->createCamera(true);
-	if(!camera)
-	{
-		return;
-	}
 
 	if(!this->getCameraInfoDir().isEmpty())
 	{
@@ -4660,20 +4647,195 @@ void PreferencesDialog::calibrate()
 			}
 		}
 	}
-	_calibrationDialog->setStereoMode(this->getSourceType() != kSrcRGB); // RGB+Depth or left+right
-	_calibrationDialog->setSwitchedImages(dynamic_cast<CameraFreenect2*>(camera) != 0);
-	_calibrationDialog->setSavingDirectory(this->getCameraInfoDir());
-	_calibrationDialog->registerToEventsManager();
 
-	CameraThread cameraThread(camera, this->getAllParameters());
-	UEventsManager::createPipe(&cameraThread, _calibrationDialog, "CameraEvent");
+	Src driver = this->getSourceDriver();
+	if(driver == PreferencesDialog::kSrcFreenect || driver == PreferencesDialog::kSrcOpenNI2)
+	{
+		// 3 steps calibration: RGB -> IR -> Extrinsic
+		QMessageBox::StandardButton button = QMessageBox::question(this, tr("Calibration"),
+				tr("With \"%1\" driver, Color and IR cameras cannot be streamed at the "
+					"same time. A 3-steps calibration is required (Color -> IR -> extrinsics). We will "
+					"start with the Color camera calibration. Do you want to continue?").arg(this->getSourceDriverStr()),
+					QMessageBox::Yes | QMessageBox::No | QMessageBox::Ignore, QMessageBox::Yes);
 
-	cameraThread.start();
+		if(button == QMessageBox::Yes || button == QMessageBox::Ignore)
+		{
+			_calibrationDialog->setSavingDirectory(this->getCameraInfoDir());
 
-	_calibrationDialog->exec();
-	_calibrationDialog->unregisterFromEventsManager();
+			Camera * camera = 0;
 
-	cameraThread.join(true);
+			// Step 1: RGB
+			if(button != QMessageBox::Ignore)
+			{
+				camera = this->createCamera(true, true); // RAW color
+				if(!camera)
+				{
+					return;
+				}
+
+				_calibrationDialog->setStereoMode(false); // this forces restart
+				_calibrationDialog->setCameraName(QString(camera->getSerial().c_str())+"_rgb");
+				_calibrationDialog->registerToEventsManager();
+				CameraThread cameraThread(camera, this->getAllParameters());
+				UEventsManager::createPipe(&cameraThread, _calibrationDialog, "CameraEvent");
+				cameraThread.start();
+				_calibrationDialog->exec();
+				_calibrationDialog->unregisterFromEventsManager();
+				cameraThread.join(true);
+				camera = 0;
+			}
+
+			button = QMessageBox::question(this, tr("Calibration"),
+						tr("We will now calibrate the IR camera. Hide the IR projector with a Post-It and "
+							"make sure you have enough ambient IR light (e.g., external IR source or sunlight!) to see the "
+							"checkboard with the IR camera. Do you want to continue?"),
+							QMessageBox::Yes | QMessageBox::No | QMessageBox::Ignore, QMessageBox::Yes);
+			if(button == QMessageBox::Yes || button == QMessageBox::Ignore)
+			{
+				// Step 2: IR
+				if(button != QMessageBox::Ignore)
+				{
+					camera = this->createCamera(true, false); // RAW ir
+					if(!camera)
+					{
+						return;
+					}
+
+					_calibrationDialog->setStereoMode(false); // this forces restart
+					_calibrationDialog->setCameraName(QString(camera->getSerial().c_str())+"_depth");
+					_calibrationDialog->registerToEventsManager();
+					CameraThread cameraThread(camera, this->getAllParameters());
+					UEventsManager::createPipe(&cameraThread, _calibrationDialog, "CameraEvent");
+					cameraThread.start();
+					_calibrationDialog->exec();
+					_calibrationDialog->unregisterFromEventsManager();
+					cameraThread.join(true);
+					camera = 0;
+				}
+
+				button = QMessageBox::question(this, tr("Calibration"),
+							tr("We will now calibrate the extrinsics. Important: Make sure "
+								"the cameras and the checkboard don't move and that both "
+								"cameras can see the checkboard. We will repeat this "
+								"multiple times. Each time, you will have to move the camera (or "
+								"checkboard) for a different point of view. Do you want to "
+								"continue?"),
+								QMessageBox::Yes | QMessageBox::No, QMessageBox::Yes);
+
+				bool ok = false;
+				int totalSamples = 0;
+				if(button == QMessageBox::Yes)
+				{
+					totalSamples = QInputDialog::getInt(this, tr("Calibration"), tr("Samples: "), 3, 1, 99, 1, &ok);
+				}
+
+				if(ok)
+				{
+					int count = 0;
+					_calibrationDialog->setStereoMode(true, "depth", "rgb"); // this forces restart
+					_calibrationDialog->setCameraName("");
+					_calibrationDialog->setModal(true);
+					_calibrationDialog->setProgressVisibility(false);
+					_calibrationDialog->show();
+					CameraModel irModel;
+					CameraModel rgbModel;
+					for(;count < totalSamples && button == QMessageBox::Yes; )
+					{
+						// Step 3: Extrinsics
+						camera = this->createCamera(false, true); // Rectified color
+						if(!camera)
+						{
+							return;
+						}
+						SensorData rgbData = camera->takeImage();
+						UASSERT(rgbData.cameraModels().size() == 1);
+						rgbModel = rgbData.cameraModels()[0];
+						delete camera;
+						camera = this->createCamera(false, false); // Rectified ir
+						if(!camera)
+						{
+							return;
+						}
+						SensorData irData = camera->takeImage();
+						std::string serial = camera->getSerial();
+						UASSERT(irData.cameraModels().size() == 1);
+						irModel = irData.cameraModels()[0];
+						delete camera;
+
+						if(!rgbData.imageRaw().empty() && !irData.imageRaw().empty())
+						{
+							// assume rgb sensor is on right (e.g., Kinect, Xtion Live Pro)
+							int pair = _calibrationDialog->getStereoPairs();
+							_calibrationDialog->processImages(irData.imageRaw(), rgbData.imageRaw(), serial.c_str());
+							if(_calibrationDialog->getStereoPairs() - pair > 0)
+							{
+								++count;
+								if(count < totalSamples)
+								{
+									button = QMessageBox::question(this, tr("Calibration"),
+										tr("A stereo pair has been taken (total=%1/%2). Move the checkboard or "
+											"camera to another position. Press \"Yes\" when you are ready "
+											"for the next capture.").arg(count).arg(totalSamples),
+											QMessageBox::Yes | QMessageBox::Abort, QMessageBox::Yes);
+								}
+							}
+							else
+							{
+								button = QMessageBox::question(this, tr("Calibration"),
+										tr("Could not detect the checkboard on both images or "
+										   "the point of view didn't change enough. Try again?"),
+											QMessageBox::Yes | QMessageBox::No, QMessageBox::Yes);
+							}
+						}
+						else
+						{
+							button = QMessageBox::question(this, tr("Calibration"),
+										tr("Failed to start the camera. Try again?"), QMessageBox::Yes | QMessageBox::No, QMessageBox::Yes);
+						}
+					}
+					if(count == totalSamples && button == QMessageBox::Yes)
+					{
+						StereoCameraModel stereoModel = _calibrationDialog->stereoCalibration(irModel, rgbModel, true);
+						stereoModel.setName(stereoModel.name(), "depth", "rgb");
+						if(stereoModel.stereoTransform().isNull())
+						{
+							QMessageBox::warning(this, tr("Calibration"),
+									tr("Extrinsic calibration has failed!"), QMessageBox::Ok);
+						}
+						else if(stereoModel.saveStereoTransform(this->getCameraInfoDir().toStdString()))
+						{
+							QMessageBox::information(this, tr("Calibration"),
+									tr("Calibration is completed! Extrinsics have been saved to \"%1/%2_pose.yaml\"").arg(this->getCameraInfoDir()).arg(stereoModel.name().c_str()), QMessageBox::Ok);
+						}
+					}
+				}
+			}
+		}
+	}
+	else // standard calibration
+	{
+		Camera * camera = this->createCamera(true);
+		if(!camera)
+		{
+			return;
+		}
+
+		bool freenect2 = this->getSourceType() == kSrcFreenect2;
+		_calibrationDialog->setStereoMode(this->getSourceType() != kSrcRGB, freenect2?"rgb":"left", freenect2?"depth":"right"); // RGB+Depth or left+right
+		_calibrationDialog->setSwitchedImages(freenect2);
+		_calibrationDialog->setSavingDirectory(this->getCameraInfoDir());
+		_calibrationDialog->registerToEventsManager();
+
+		CameraThread cameraThread(camera, this->getAllParameters());
+		UEventsManager::createPipe(&cameraThread, _calibrationDialog, "CameraEvent");
+
+		cameraThread.start();
+
+		_calibrationDialog->exec();
+		_calibrationDialog->unregisterFromEventsManager();
+
+		cameraThread.join(true);
+	}
 }
 
 void PreferencesDialog::calibrateSimple()

guilib/src/ui/calibrationDialog.ui

@@ -7,7 +7,7 @@
     <x>0</x>
     <y>0</y>
     <width>1314</width>
-    <height>853</height>
+    <height>847</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -145,8 +145,8 @@
          <rect>
           <x>0</x>
           <y>0</y>
-          <width>371</width>
-          <height>822</height>
+          <width>353</width>
+          <height>816</height>
          </rect>
         </property>
         <layout class="QVBoxLayout" name="verticalLayout">
@@ -275,463 +275,463 @@
           </widget>
          </item>
          <item>
-          <widget class="QGroupBox" name="groupBox_2">
+          <widget class="QGroupBox" name="groupBox_progress">
            <property name="title">
             <string>Progress</string>
            </property>
-           <layout class="QGridLayout" name="gridLayout">
-            <item row="2" column="0">
-             <widget class="QLabel" name="label">
+           <layout class="QVBoxLayout" name="verticalLayout_6">
+            <item>
+             <layout class="QGridLayout" name="gridLayout" columnstretch="0,1,1">
+              <item row="0" column="0">
+               <widget class="QLabel" name="label_19">
+                <property name="text">
+                 <string>Serial</string>
+                </property>
+               </widget>
+              </item>
+              <item row="0" column="1">
+               <widget class="QLabel" name="label_serial">
+                <property name="text">
+                 <string>0</string>
+                </property>
+                <property name="textInteractionFlags">
+                 <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+                </property>
+               </widget>
+              </item>
+              <item row="0" column="2">
+               <widget class="QCheckBox" name="checkBox_switchImages">
+                <property name="text">
+                 <string>Switch images</string>
+                </property>
+               </widget>
+              </item>
+              <item row="1" column="0">
+               <widget class="QLabel" name="label_5">
+                <property name="text">
+                 <string>Count</string>
+                </property>
+               </widget>
+              </item>
+              <item row="1" column="1">
+               <widget class="QProgressBar" name="progressBar_count">
+                <property name="value">
+                 <number>24</number>
+                </property>
+                <property name="format">
+                 <string>%p</string>
+                </property>
+               </widget>
+              </item>
+              <item row="1" column="2">
+               <widget class="QProgressBar" name="progressBar_count_2">
+                <property name="value">
+                 <number>24</number>
+                </property>
+                <property name="invertedAppearance">
+                 <bool>true</bool>
+                </property>
+                <property name="format">
+                 <string>%p</string>
+                </property>
+               </widget>
+              </item>
+              <item row="2" column="0">
+               <widget class="QLabel" name="label">
+                <property name="text">
+                 <string>X</string>
+                </property>
+               </widget>
+              </item>
+              <item row="2" column="1">
+               <widget class="QProgressBar" name="progressBar_x">
+                <property name="value">
+                 <number>24</number>
+                </property>
+                <property name="format">
+                 <string>%p%</string>
+                </property>
+               </widget>
+              </item>
+              <item row="2" column="2">
+               <widget class="QProgressBar" name="progressBar_x_2">
+                <property name="value">
+                 <number>24</number>
+                </property>
+                <property name="invertedAppearance">
+                 <bool>true</bool>
+                </property>
+                <property name="textDirection">
+                 <enum>QProgressBar::TopToBottom</enum>
+                </property>
+                <property name="format">
+                 <string>%p%</string>
+                </property>
+               </widget>
+              </item>
+              <item row="3" column="0">
+               <widget class="QLabel" name="label_2">
+                <property name="text">
+                 <string>Y</string>
+                </property>
+               </widget>
+              </item>
+              <item row="3" column="1">
+               <widget class="QProgressBar" name="progressBar_y">
+                <property name="value">
+                 <number>24</number>
+                </property>
+               </widget>
+              </item>
+              <item row="3" column="2">
+               <widget class="QProgressBar" name="progressBar_y_2">
+                <property name="value">
+                 <number>24</number>
+                </property>
+                <property name="invertedAppearance">
+                 <bool>true</bool>
+                </property>
+               </widget>
+              </item>
+              <item row="4" column="0">
+               <widget class="QLabel" name="label_3">
+                <property name="text">
+                 <string>Size</string>
+                </property>
+               </widget>
+              </item>
+              <item row="4" column="1">
+               <widget class="QProgressBar" name="progressBar_size">
+                <property name="value">
+                 <number>24</number>
+                </property>
+               </widget>
+              </item>
+              <item row="4" column="2">
+               <widget class="QProgressBar" name="progressBar_size_2">
+                <property name="value">
+                 <number>24</number>
+                </property>
+                <property name="invertedAppearance">
+                 <bool>true</bool>
+                </property>
+               </widget>
+              </item>
+              <item row="5" column="0">
+               <widget class="QLabel" name="label_4">
+                <property name="text">
+                 <string>Skew</string>
+                </property>
+               </widget>
+              </item>
+              <item row="5" column="1">
+               <widget class="QProgressBar" name="progressBar_skew">
+                <property name="value">
+                 <number>24</number>
+                </property>
+               </widget>
+              </item>
+              <item row="5" column="2">
+               <widget class="QProgressBar" name="progressBar_skew_2">
+                <property name="value">
+                 <number>24</number>
+                </property>
+                <property name="invertedAppearance">
+                 <bool>true</bool>
+                </property>
+               </widget>
+              </item>
+             </layout>
+            </item>
+            <item>
+             <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">
+              <property name="title">
+               <string>Camera intrinsic parameters</string>
+              </property>
+              <layout class="QGridLayout" name="gridLayout_2">
+               <item row="0" column="1">
+                <widget class="QLabel" name="label_fx">
+                 <property name="text">
+                  <string>0</string>
+                 </property>
+                 <property name="textInteractionFlags">
+                  <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+                 </property>
+                </widget>
+               </item>
+               <item row="1" column="1">
+                <widget class="QLabel" name="label_fy">
+                 <property name="text">
+                  <string>0</string>
+                 </property>
+                 <property name="textInteractionFlags">
+                  <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+                 </property>
+                </widget>
+               </item>
+               <item row="5" column="1">
+                <widget class="QLineEdit" name="lineEdit_K">
+                 <property name="readOnly">
+                  <bool>true</bool>
+                 </property>
+                </widget>
+               </item>
+               <item row="2" column="1">
+                <widget class="QLabel" name="label_cx">
+                 <property name="text">
+                  <string>0</string>
+                 </property>
+                 <property name="textInteractionFlags">
+                  <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+                 </property>
+                </widget>
+               </item>
+               <item row="3" column="0">
+                <widget class="QLabel" name="label_11">
+                 <property name="text">
+                  <string>cy</string>
+                 </property>
+                </widget>
+               </item>
+               <item row="3" column="1">
+                <widget class="QLabel" name="label_cy">
+                 <property name="text">
+                  <string>0</string>
+                 </property>
+                 <property name="textInteractionFlags">
+                  <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+                 </property>
+                </widget>
+               </item>
+               <item row="5" column="0">
+                <widget class="QLabel" name="label_6">
+                 <property name="toolTip">
+                  <string>Camera matrix</string>
+                 </property>
+                 <property name="text">
+                  <string>K</string>
+                 </property>
+                </widget>
+               </item>
+               <item row="1" column="0">
+                <widget class="QLabel" name="label_9">
+                 <property name="text">
+                  <string>fy</string>
+                 </property>
+                </widget>
+               </item>
+               <item row="2" column="0">
+                <widget class="QLabel" name="label_10">
+                 <property name="text">
+                  <string>cx</string>
+                 </property>
+                </widget>
+               </item>
+               <item row="0" column="0">
+                <widget class="QLabel" name="label_8">
+                 <property name="text">
+                  <string>fx</string>
+                 </property>
+                </widget>
+               </item>
+               <item row="7" column="0">
+                <widget class="QLabel" name="label_17">
+                 <property name="toolTip">
+                  <string>Distorsion coefficients</string>
+                 </property>
+                 <property name="text">
+                  <string>R</string>
+                 </property>
+                </widget>
+               </item>
+               <item row="6" column="2">
+                <widget class="QLineEdit" name="lineEdit_D_2">
+                 <property name="readOnly">
+                  <bool>true</bool>
+                 </property>
+                </widget>
+               </item>
+               <item row="6" column="0">
+                <widget class="QLabel" name="label_7">
+                 <property name="toolTip">
+                  <string>Distorsion coefficients</string>
+                 </property>
+                 <property name="text">
+                  <string>D</string>
+                 </property>
+                </widget>
+               </item>
+               <item row="6" column="1">
+                <widget class="QLineEdit" name="lineEdit_D">
+                 <property name="readOnly">
+                  <bool>true</bool>
+                 </property>
+                </widget>
+               </item>
+               <item row="9" column="0">
+                <widget class="QLabel" name="label_14">
+                 <property name="toolTip">
+                  <string>Avg. reproduction error</string>
+                 </property>
+                 <property name="text">
+                  <string>Error</string>
+                 </property>
+                </widget>
+               </item>
+               <item row="9" column="1">
+                <widget class="QLabel" name="label_error">
+                 <property name="text">
+                  <string>0</string>
+                 </property>
+                </widget>
+               </item>
+               <item row="0" column="2">
+                <widget class="QLabel" name="label_fx_2">
+                 <property name="text">
+                  <string>0</string>
+                 </property>
+                 <property name="textInteractionFlags">
+                  <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+                 </property>
+                </widget>
+               </item>
+               <item row="2" column="2">
+                <widget class="QLabel" name="label_cx_2">
+                 <property name="text">
+                  <string>0</string>
+                 </property>
+                 <property name="textInteractionFlags">
+                  <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+                 </property>
+                </widget>
+               </item>
+               <item row="1" column="2">
+                <widget class="QLabel" name="label_fy_2">
+                 <property name="text">
+                  <string>0</string>
+                 </property>
+                 <property name="textInteractionFlags">
+                  <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+                 </property>
+                </widget>
+               </item>
+               <item row="3" column="2">
+                <widget class="QLabel" name="label_cy_2">
+                 <property name="text">
+                  <string>0</string>
+                 </property>
+                 <property name="textInteractionFlags">
+                  <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+                 </property>
+                </widget>
+               </item>
+               <item row="5" column="2">
+                <widget class="QLineEdit" name="lineEdit_K_2">
+                 <property name="readOnly">
+                  <bool>true</bool>
+                 </property>
+                </widget>
+               </item>
+               <item row="8" column="0">
+                <widget class="QLabel" name="label_18">
+                 <property name="toolTip">
+                  <string>Distorsion coefficients</string>
+                 </property>
+                 <property name="text">
+                  <string>P</string>
+                 </property>
+                </widget>
+               </item>
+               <item row="7" column="1">
+                <widget class="QLineEdit" name="lineEdit_R">
+                 <property name="readOnly">
+                  <bool>true</bool>
+                 </property>
+                </widget>
+               </item>
+               <item row="8" column="1">
+                <widget class="QLineEdit" name="lineEdit_P">
+                 <property name="readOnly">
+                  <bool>true</bool>
+                 </property>
+                </widget>
+               </item>
+               <item row="7" column="2">
+                <widget class="QLineEdit" name="lineEdit_R_2">
+                 <property name="readOnly">
+                  <bool>true</bool>
+                 </property>
+                </widget>
+               </item>
+               <item row="8" column="2">
+                <widget class="QLineEdit" name="lineEdit_P_2">
+                 <property name="readOnly">
+                  <bool>true</bool>
+                 </property>
+                </widget>
+               </item>
+               <item row="4" column="0">
+                <widget class="QLabel" name="label_baseline_name">
+                 <property name="text">
+                  <string>baseline</string>
+                 </property>
+                </widget>
+               </item>
+               <item row="4" column="2">
+                <widget class="QLabel" name="label_baseline">
+                 <property name="text">
+                  <string>0</string>
+                 </property>
+                 <property name="textInteractionFlags">
+                  <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+                 </property>
+                </widget>
+               </item>
+               <item row="9" column="2">
+                <widget class="QLabel" name="label_error_2">
+                 <property name="text">
+                  <string>0</string>
+                 </property>
+                </widget>
+               </item>
+              </layout>
+             </widget>
+            </item>
+            <item>
+             <widget class="QPushButton" name="pushButton_save">
               <property name="text">
-               <string>X</string>
+               <string>Export calibration (*.yaml)</string>
               </property>
              </widget>
             </item>
-            <item row="5" column="0">
-             <widget class="QLabel" name="label_4">
+            <item>
+             <widget class="QPushButton" name="pushButton_restart">
               <property name="text">
-               <string>Skew</string>
-              </property>
-             </widget>
-            </item>
-            <item row="5" column="1">
-             <widget class="QProgressBar" name="progressBar_skew">
-              <property name="value">
-               <number>24</number>
-              </property>
-             </widget>
-            </item>
-            <item row="4" column="1">
-             <widget class="QProgressBar" name="progressBar_size">
-              <property name="value">
-               <number>24</number>
-              </property>
-             </widget>
-            </item>
-            <item row="3" column="0">
-             <widget class="QLabel" name="label_2">
-              <property name="text">
-               <string>Y</string>
-              </property>
-             </widget>
-            </item>
-            <item row="1" column="1">
-             <widget class="QProgressBar" name="progressBar_count">
-              <property name="value">
-               <number>24</number>
-              </property>
-              <property name="format">
-               <string>%p</string>
-              </property>
-             </widget>
-            </item>
-            <item row="2" column="1">
-             <widget class="QProgressBar" name="progressBar_x">
-              <property name="value">
-               <number>24</number>
-              </property>
-              <property name="format">
-               <string>%p%</string>
-              </property>
-             </widget>
-            </item>
-            <item row="3" column="1">
-             <widget class="QProgressBar" name="progressBar_y">
-              <property name="value">
-               <number>24</number>
-              </property>
-             </widget>
-            </item>
-            <item row="4" column="0">
-             <widget class="QLabel" name="label_3">
-              <property name="text">
-               <string>Size</string>
-              </property>
-             </widget>
-            </item>
-            <item row="1" column="0">
-             <widget class="QLabel" name="label_5">
-              <property name="text">
-               <string>Count</string>
-              </property>
-             </widget>
-            </item>
-            <item row="2" column="2">
-             <widget class="QProgressBar" name="progressBar_x_2">
-              <property name="value">
-               <number>24</number>
-              </property>
-              <property name="invertedAppearance">
-               <bool>true</bool>
-              </property>
-              <property name="textDirection">
-               <enum>QProgressBar::TopToBottom</enum>
-              </property>
-              <property name="format">
-               <string>%p%</string>
-              </property>
-             </widget>
-            </item>
-            <item row="3" column="2">
-             <widget class="QProgressBar" name="progressBar_y_2">
-              <property name="value">
-               <number>24</number>
-              </property>
-              <property name="invertedAppearance">
-               <bool>true</bool>
-              </property>
-             </widget>
-            </item>
-            <item row="4" column="2">
-             <widget class="QProgressBar" name="progressBar_size_2">
-              <property name="value">
-               <number>24</number>
-              </property>
-              <property name="invertedAppearance">
-               <bool>true</bool>
-              </property>
-             </widget>
-            </item>
-            <item row="5" column="2">
-             <widget class="QProgressBar" name="progressBar_skew_2">
-              <property name="value">
-               <number>24</number>
-              </property>
-              <property name="invertedAppearance">
-               <bool>true</bool>
-              </property>
-             </widget>
-            </item>
-            <item row="0" column="0">
-             <widget class="QLabel" name="label_19">
-              <property name="text">
-               <string>Serial</string>
-              </property>
-             </widget>
-            </item>
-            <item row="0" column="1">
-             <widget class="QLabel" name="label_serial">
-              <property name="text">
-               <string>0</string>
-              </property>
-              <property name="textInteractionFlags">
-               <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
-              </property>
-             </widget>
-            </item>
-            <item row="1" column="2">
-             <widget class="QProgressBar" name="progressBar_count_2">
-              <property name="value">
-               <number>24</number>
-              </property>
-              <property name="invertedAppearance">
-               <bool>true</bool>
-              </property>
-              <property name="format">
-               <string>%p</string>
-              </property>
-             </widget>
-            </item>
-            <item row="0" column="2">
-             <widget class="QCheckBox" name="checkBox_switchImages">
-              <property name="text">
-               <string>Switch images</string>
+               <string>Restart</string>
               </property>
              </widget>
             </item>
            </layout>
           </widget>
          </item>
-         <item>
-          <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">
-           <property name="title">
-            <string>Camera intrinsic parameters</string>
-           </property>
-           <layout class="QGridLayout" name="gridLayout_2">
-            <item row="0" column="1">
-             <widget class="QLabel" name="label_fx">
-              <property name="text">
-               <string>0</string>
-              </property>
-              <property name="textInteractionFlags">
-               <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
-              </property>
-             </widget>
-            </item>
-            <item row="1" column="1">
-             <widget class="QLabel" name="label_fy">
-              <property name="text">
-               <string>0</string>
-              </property>
-              <property name="textInteractionFlags">
-               <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
-              </property>
-             </widget>
-            </item>
-            <item row="5" column="1">
-             <widget class="QLineEdit" name="lineEdit_K">
-              <property name="readOnly">
-               <bool>true</bool>
-              </property>
-             </widget>
-            </item>
-            <item row="2" column="1">
-             <widget class="QLabel" name="label_cx">
-              <property name="text">
-               <string>0</string>
-              </property>
-              <property name="textInteractionFlags">
-               <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
-              </property>
-             </widget>
-            </item>
-            <item row="3" column="0">
-             <widget class="QLabel" name="label_11">
-              <property name="text">
-               <string>cy</string>
-              </property>
-             </widget>
-            </item>
-            <item row="3" column="1">
-             <widget class="QLabel" name="label_cy">
-              <property name="text">
-               <string>0</string>
-              </property>
-              <property name="textInteractionFlags">
-               <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
-              </property>
-             </widget>
-            </item>
-            <item row="5" column="0">
-             <widget class="QLabel" name="label_6">
-              <property name="toolTip">
-               <string>Camera matrix</string>
-              </property>
-              <property name="text">
-               <string>K</string>
-              </property>
-             </widget>
-            </item>
-            <item row="1" column="0">
-             <widget class="QLabel" name="label_9">
-              <property name="text">
-               <string>fy</string>
-              </property>
-             </widget>
-            </item>
-            <item row="2" column="0">
-             <widget class="QLabel" name="label_10">
-              <property name="text">
-               <string>cx</string>
-              </property>
-             </widget>
-            </item>
-            <item row="0" column="0">
-             <widget class="QLabel" name="label_8">
-              <property name="text">
-               <string>fx</string>
-              </property>
-             </widget>
-            </item>
-            <item row="7" column="0">
-             <widget class="QLabel" name="label_17">
-              <property name="toolTip">
-               <string>Distorsion coefficients</string>
-              </property>
-              <property name="text">
-               <string>R</string>
-              </property>
-             </widget>
-            </item>
-            <item row="6" column="2">
-             <widget class="QLineEdit" name="lineEdit_D_2">
-              <property name="readOnly">
-               <bool>true</bool>
-              </property>
-             </widget>
-            </item>
-            <item row="6" column="0">
-             <widget class="QLabel" name="label_7">
-              <property name="toolTip">
-               <string>Distorsion coefficients</string>
-              </property>
-              <property name="text">
-               <string>D</string>
-              </property>
-             </widget>
-            </item>
-            <item row="6" column="1">
-             <widget class="QLineEdit" name="lineEdit_D">
-              <property name="readOnly">
-               <bool>true</bool>
-              </property>
-             </widget>
-            </item>
-            <item row="9" column="0">
-             <widget class="QLabel" name="label_14">
-              <property name="toolTip">
-               <string>Avg. reproduction error</string>
-              </property>
-              <property name="text">
-               <string>Error</string>
-              </property>
-             </widget>
-            </item>
-            <item row="9" column="1">
-             <widget class="QLabel" name="label_error">
-              <property name="text">
-               <string>0</string>
-              </property>
-             </widget>
-            </item>
-            <item row="0" column="2">
-             <widget class="QLabel" name="label_fx_2">
-              <property name="text">
-               <string>0</string>
-              </property>
-              <property name="textInteractionFlags">
-               <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
-              </property>
-             </widget>
-            </item>
-            <item row="2" column="2">
-             <widget class="QLabel" name="label_cx_2">
-              <property name="text">
-               <string>0</string>
-              </property>
-              <property name="textInteractionFlags">
-               <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
-              </property>
-             </widget>
-            </item>
-            <item row="1" column="2">
-             <widget class="QLabel" name="label_fy_2">
-              <property name="text">
-               <string>0</string>
-              </property>
-              <property name="textInteractionFlags">
-               <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
-              </property>
-             </widget>
-            </item>
-            <item row="3" column="2">
-             <widget class="QLabel" name="label_cy_2">
-              <property name="text">
-               <string>0</string>
-              </property>
-              <property name="textInteractionFlags">
-               <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
-              </property>
-             </widget>
-            </item>
-            <item row="5" column="2">
-             <widget class="QLineEdit" name="lineEdit_K_2">
-              <property name="readOnly">
-               <bool>true</bool>
-              </property>
-             </widget>
-            </item>
-            <item row="8" column="0">
-             <widget class="QLabel" name="label_18">
-              <property name="toolTip">
-               <string>Distorsion coefficients</string>
-              </property>
-              <property name="text">
-               <string>P</string>
-              </property>
-             </widget>
-            </item>
-            <item row="7" column="1">
-             <widget class="QLineEdit" name="lineEdit_R">
-              <property name="readOnly">
-               <bool>true</bool>
-              </property>
-             </widget>
-            </item>
-            <item row="8" column="1">
-             <widget class="QLineEdit" name="lineEdit_P">
-              <property name="readOnly">
-               <bool>true</bool>
-              </property>
-             </widget>
-            </item>
-            <item row="7" column="2">
-             <widget class="QLineEdit" name="lineEdit_R_2">
-              <property name="readOnly">
-               <bool>true</bool>
-              </property>
-             </widget>
-            </item>
-            <item row="8" column="2">
-             <widget class="QLineEdit" name="lineEdit_P_2">
-              <property name="readOnly">
-               <bool>true</bool>
-              </property>
-             </widget>
-            </item>
-            <item row="4" column="0">
-             <widget class="QLabel" name="label_baseline_name">
-              <property name="text">
-               <string>baseline</string>
-              </property>
-             </widget>
-            </item>
-            <item row="4" column="2">
-             <widget class="QLabel" name="label_baseline">
-              <property name="text">
-               <string>0</string>
-              </property>
-              <property name="textInteractionFlags">
-               <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
-              </property>
-             </widget>
-            </item>
-            <item row="9" column="2">
-             <widget class="QLabel" name="label_error_2">
-              <property name="text">
-               <string>0</string>
-              </property>
-             </widget>
-            </item>
-           </layout>
-          </widget>
-         </item>
-         <item>
-          <widget class="QPushButton" name="pushButton_save">
-           <property name="text">
-            <string>Export calibration (*.yaml)</string>
-           </property>
-          </widget>
-         </item>
-         <item>
-          <layout class="QHBoxLayout" name="horizontalLayout">
-           <item>
-            <widget class="QPushButton" name="pushButton_restart">
-             <property name="text">
-              <string>Restart</string>
-             </property>
-            </widget>
-           </item>
-          </layout>
-         </item>
          <item>
           <spacer name="verticalSpacer">
            <property name="orientation">