mirror of
https://github.com/introlab/rtabmap.git
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added CalibrationDialog class and Calibration tool app
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1587 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
67
guilib/include/rtabmap/gui/CalibrationDialog.h
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67
guilib/include/rtabmap/gui/CalibrationDialog.h
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@@ -0,0 +1,67 @@
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/*
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* CalibrationDialog.h
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*
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* Created on: 2014-07-22
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* Author: Mathieu
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*/
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#ifndef CALIBRATIONDIALOG_H_
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#define CALIBRATIONDIALOG_H_
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#include "rtabmap/gui/RtabmapGuiExp.h" // DLL export/import defines
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#include <QtGui/QDialog>
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#include <opencv2/opencv.hpp>
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#include <rtabmap/utilite/UEventsHandler.h>
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class Ui_calibrationDialog;
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namespace rtabmap {
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class RTABMAPGUI_EXP CalibrationDialog : public QDialog, public UEventsHandler
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{
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Q_OBJECT;
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public:
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CalibrationDialog(QWidget * parent = 0);
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virtual ~CalibrationDialog();
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private slots:
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void processImage(const cv::Mat & image);
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void restart();
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void calibrate();
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void exit();
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protected:
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virtual void closeEvent(QCloseEvent* event);
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virtual void handleEvent(UEvent * event);
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private:
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float getArea(const std::vector<cv::Point2f> & corners, const cv::Size & boardSize);
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float getSkew(const std::vector<cv::Point2f> & corners, const cv::Size & boardSize);
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// x -> [0, 1] (left, right)
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// y -> [0, 1] (top, bottom)
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// size -> [0, 1] (small -> big)
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// skew -> [0, 1] (low, high)
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void getParams(const std::vector<cv::Point2f> & corners, const cv::Size & boardSize, const cv::Size & imageSize,
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float & x, float & y, float & size, float & skew);
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private:
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// parameters
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cv::Size boardSize_; // innner squares
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float squareSize_; // m
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std::vector<std::vector<cv::Point2f> > imagePoints_;
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std::vector<std::vector<float> > imageParams_;
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cv::Size imageSize_;
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bool calibrated_;
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cv::Mat cameraMatrix_;
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cv::Mat distCoeffs_;
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Ui_calibrationDialog * ui_;
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};
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} /* namespace rtabmap */
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#endif /* CALIBRATIONDIALOG_H_ */
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@@ -12,10 +12,12 @@ SET(headers_ui
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./StatsToolBox.h
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./DetailedProgressDialog.h
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./utilite/UPlot.h
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./utilite/UImageView.h
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../include/${PROJECT_PREFIX}/gui/CloudViewer.h
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../include/${PROJECT_PREFIX}/gui/OdometryViewer.h
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../include/${PROJECT_PREFIX}/gui/LoopClosureViewer.h
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../include/${PROJECT_PREFIX}/gui/DataRecorder.h
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../include/${PROJECT_PREFIX}/gui/CalibrationDialog.h
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./ExportDialog.h
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./MapVisibilityWidget.h
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)
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@@ -28,6 +30,7 @@ SET(uis
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./ui/DatabaseViewer.ui
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./ui/loopClosureViewer.ui
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./ui/exportDialog.ui
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./ui/calibrationDialog.ui
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)
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SET(qrc
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@@ -63,6 +66,7 @@ SET(SRC_FILES
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./OdometryViewer.cpp
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./LoopClosureViewer.cpp
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./DataRecorder.cpp
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./CalibrationDialog.cpp
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./ExportDialog.cpp
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./MapVisibilityWidget.cpp
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./GraphViewer.cpp
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358
guilib/src/CalibrationDialog.cpp
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358
guilib/src/CalibrationDialog.cpp
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@@ -0,0 +1,358 @@
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/*
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* CalibrationDialog.cpp
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*
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* Created on: 2014-07-22
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* Author: Mathieu
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*/
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#include "rtabmap/gui/CalibrationDialog.h"
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#include "ui_calibrationDialog.h"
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#include <opencv2/core/core.hpp>
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#include <opencv2/imgproc/imgproc.hpp>
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#include <opencv2/calib3d/calib3d.hpp>
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#include <opencv2/highgui/highgui.hpp>
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#include <rtabmap/core/CameraEvent.h>
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#include <rtabmap/gui/UCv2Qt.h>
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#include <rtabmap/utilite/ULogger.h>
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namespace rtabmap {
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#define COUNT_MIN 12
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CalibrationDialog::CalibrationDialog(QWidget * parent) :
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QDialog(parent),
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boardSize_(8,6),
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squareSize_(0.033),
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calibrated_(false),
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cameraMatrix_(cv::Mat::eye(3, 3, CV_64F)),
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distCoeffs_(cv::Mat::zeros(8, 1, CV_64F))
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{
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qRegisterMetaType<cv::Mat>("cv::Mat");
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ui_ = new Ui_calibrationDialog();
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ui_->setupUi(this);
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connect(ui_->pushButton_calibrate, SIGNAL(clicked()), this, SLOT(calibrate()));
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connect(ui_->pushButton_restart, SIGNAL(clicked()), this, SLOT(restart()));
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connect(ui_->pushButton_exit, SIGNAL(clicked()), this, SLOT(exit()));
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ui_->progressBar_count->setMaximum(COUNT_MIN);
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ui_->progressBar_count->setFormat("%v");
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this->restart();
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}
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CalibrationDialog::~CalibrationDialog()
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{
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this->unregisterFromEventsManager();
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delete ui_;
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}
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void CalibrationDialog::closeEvent(QCloseEvent* event)
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{
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this->unregisterFromEventsManager();
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}
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void CalibrationDialog::handleEvent(UEvent * event)
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{
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if(event->getClassName().compare("CameraEvent") == 0)
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{
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rtabmap::CameraEvent * e = (rtabmap::CameraEvent *)event;
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if(e->getCode() == rtabmap::CameraEvent::kCodeImage ||
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e->getCode() == rtabmap::CameraEvent::kCodeImageDepth)
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{
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QMetaObject::invokeMethod(this, "processImage", Q_ARG(cv::Mat, e->image().image()));
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}
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}
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}
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void CalibrationDialog::processImage(const cv::Mat & image)
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{
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imageSize_ = image.size();
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std::vector<cv::Point2f> pointBuf;
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bool found = cv::findChessboardCorners( image, boardSize_, pointBuf,
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CV_CALIB_CB_ADAPTIVE_THRESH | CV_CALIB_CB_FAST_CHECK | CV_CALIB_CB_NORMALIZE_IMAGE);
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if ( found) // If done with success,
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{
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// improve the found corners' coordinate accuracy for chessboard
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cv::Mat viewGray;
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cvtColor(image, viewGray, cv::COLOR_BGR2GRAY);
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int border = 8; // minimum distance from border
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bool reject = false;
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for(unsigned int i=0; i<pointBuf.size(); ++i)
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{
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if(pointBuf[i].x < border || pointBuf[i].x > image.cols-border ||
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pointBuf[i].y < border || pointBuf[i].y > image.rows-border)
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{
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reject = false;
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break;
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}
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}
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if(!reject)
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{
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float minSquareDistance = -1.0f;
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for(unsigned int i=0; i<pointBuf.size()-1; ++i)
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{
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float d = cv::norm(pointBuf[i] - pointBuf[i+1]);
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if(minSquareDistance == -1.0f || minSquareDistance > d)
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{
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minSquareDistance = d;
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}
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}
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float radius = minSquareDistance/2.0f +0.5f;
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cv::cornerSubPix( viewGray, pointBuf, cv::Size(radius, radius), cv::Size(-1,-1),
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cv::TermCriteria( CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 30, 0.1 ));
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// verify if view is different from any previous samples
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std::vector<float> params(4, 0);
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getParams(pointBuf, boardSize_, imageSize_, params[0], params[1], params[2], params[3]);
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bool add = true;
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for(unsigned int i=0; i<imageParams_.size(); ++i)
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{
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if(fabs(params[0] - imageParams_[i].at(0)) < 0.1 && // x
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fabs(params[1] - imageParams_[i].at(1)) < 0.1 && // y
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fabs(params[2] - imageParams_[i].at(2)) < 0.1 && // size
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fabs(params[3] - imageParams_[i].at(3)) < 0.1) // skew
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{
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add = false;
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}
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}
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if(add)
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{
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UINFO("Added board. (x=%f, y=%f, size=%f, skew=%f)", params[0], params[1], params[2], params[3]);
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imagePoints_.push_back(pointBuf);
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imageParams_.push_back(params);
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// update statistics
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std::vector<float> xRange(2, imageParams_[0].at(0));
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std::vector<float> yRange(2, imageParams_[0].at(1));
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std::vector<float> sizeRange(2, imageParams_[0].at(2));
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std::vector<float> skewRange(2, imageParams_[0].at(3));
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for(unsigned int i=1; i<imageParams_.size(); ++i)
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{
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xRange[0] = imageParams_[i].at(0) < xRange[0] ? imageParams_[i].at(0) : xRange[0];
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xRange[1] = imageParams_[i].at(0) > xRange[1] ? imageParams_[i].at(0) : xRange[1];
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yRange[0] = imageParams_[i].at(1) < yRange[0] ? imageParams_[i].at(1) : yRange[0];
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yRange[1] = imageParams_[i].at(1) > yRange[1] ? imageParams_[i].at(1) : yRange[1];
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sizeRange[0] = imageParams_[i].at(2) < sizeRange[0] ? imageParams_[i].at(2) : sizeRange[0];
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sizeRange[1] = imageParams_[i].at(2) > sizeRange[1] ? imageParams_[i].at(2) : sizeRange[1];
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skewRange[0] = imageParams_[i].at(3) < skewRange[0] ? imageParams_[i].at(3) : skewRange[0];
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skewRange[1] = imageParams_[i].at(3) > skewRange[1] ? imageParams_[i].at(3) : skewRange[1];
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}
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UINFO("Stats:");
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UINFO(" Count = %d", (int)imagePoints_.size());
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UINFO(" x = [%f -> %f]", xRange[0], xRange[1]);
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UINFO(" y = [%f -> %f]", yRange[0], yRange[1]);
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UINFO(" size = [%f -> %f]", sizeRange[0], sizeRange[1]);
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UINFO(" skew = [%f -> %f]", skewRange[0], skewRange[1]);
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float xGood = xRange[1] - xRange[0];
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float yGood = yRange[1] - yRange[0];
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float sizeGood = sizeRange[1] - sizeRange[0];
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float skewGood = skewRange[1] - skewRange[0];
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if((int)imagePoints_.size() > ui_->progressBar_count->maximum())
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{
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ui_->progressBar_count->setMaximum((int)imagePoints_.size());
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}
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ui_->progressBar_count->setValue((int)imagePoints_.size());
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ui_->progressBar_x->setValue(xGood*100);
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ui_->progressBar_y->setValue(yGood*100);
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ui_->progressBar_size->setValue(sizeGood*100);
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ui_->progressBar_skew->setValue(skewGood*100);
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if(imagePoints_.size() >= COUNT_MIN && xGood > 0.5 && yGood > 0.5 && sizeGood > 0.4 && skewGood > 0.5)
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{
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ui_->pushButton_calibrate->setEnabled(true);
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}
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}
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}
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// Draw the corners.
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cv::drawChessboardCorners( image, boardSize_, cv::Mat(pointBuf), found );
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}
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if(calibrated_ && ui_->checkBox_rectified->isChecked())
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{
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cv::Mat temp = image.clone();
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cv::undistort(temp, image, cameraMatrix_, distCoeffs_);
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}
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//show frame
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ui_->image_view->setImage(uCvMat2QImage(image));
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}
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void CalibrationDialog::restart()
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{
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// restart
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calibrated_ = false;
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imagePoints_.clear();
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imageParams_.clear();
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ui_->pushButton_calibrate->setEnabled(false);
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ui_->pushButton_save->setEnabled(false);
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ui_->checkBox_rectified->setEnabled(false);
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ui_->progressBar_count->reset();
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ui_->progressBar_count->setMaximum(COUNT_MIN);
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ui_->progressBar_x->reset();
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ui_->progressBar_y->reset();
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ui_->progressBar_size->reset();
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ui_->progressBar_skew->reset();
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ui_->label_fx->setNum(0);
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ui_->label_fy->setNum(0);
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ui_->label_cx->setNum(0);
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ui_->label_cy->setNum(0);
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ui_->label_error->setNum(0);
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ui_->lineEdit_K->clear();
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ui_->lineEdit_D->clear();
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}
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void CalibrationDialog::calibrate()
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{
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//calibrate
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std::vector<cv::Mat> rvecs, tvecs;
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std::vector<float> reprojErrs;
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double totalAvgErr = 0;
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std::vector<std::vector<cv::Point3f> > objectPoints(1);
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// compute board corner positions
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for( int i = 0; i < boardSize_.height; ++i )
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for( int j = 0; j < boardSize_.width; ++j )
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objectPoints[0].push_back(cv::Point3f(float( j*squareSize_ ), float( i*squareSize_ ), 0));
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objectPoints.resize(imagePoints_.size(),objectPoints[0]);
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//Find intrinsic and extrinsic camera parameters
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double rms = cv::calibrateCamera(objectPoints,
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imagePoints_,
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imageSize_,
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cameraMatrix_,
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distCoeffs_,
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rvecs,
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tvecs,
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CV_CALIB_FIX_K4|CV_CALIB_FIX_K5);
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std::cout << "cameraMatrix = " << cameraMatrix_ << std::endl;
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std::cout << "distCoeffs = " << distCoeffs_ << std::endl;
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UINFO("Re-projection error reported by calibrateCamera: %f", rms);
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calibrated_ = checkRange(cameraMatrix_) && checkRange(distCoeffs_);
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// compute reprojection errors
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std::vector<cv::Point2f> imagePoints2;
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int i, totalPoints = 0;
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double totalErr = 0, err;
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reprojErrs.resize(objectPoints.size());
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for( i = 0; i < (int)objectPoints.size(); ++i )
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{
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cv::projectPoints( cv::Mat(objectPoints[i]), rvecs[i], tvecs[i], cameraMatrix_,
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distCoeffs_, imagePoints2);
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err = cv::norm(cv::Mat(imagePoints_[i]), cv::Mat(imagePoints2), CV_L2);
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int n = (int)objectPoints[i].size();
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reprojErrs[i] = (float) std::sqrt(err*err/n);
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totalErr += err*err;
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totalPoints += n;
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}
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totalAvgErr = std::sqrt(totalErr/totalPoints);
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UINFO("%s. avg re projection error = %f", calibrated_ ? "Calibration succeeded" : "Calibration failed", totalAvgErr);
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if(calibrated_)
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{
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ui_->label_fx->setNum(cameraMatrix_.at<double>(0,0)); // K(0)
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ui_->label_fy->setNum(cameraMatrix_.at<double>(1,1)); // K(4)
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ui_->label_cx->setNum(cameraMatrix_.at<double>(0,2)); // K(2)
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ui_->label_cy->setNum(cameraMatrix_.at<double>(1,2)); // K(5)
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ui_->label_error->setNum(totalAvgErr);
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std::stringstream strK, strD;
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strK << cameraMatrix_;
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strD << distCoeffs_;
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ui_->lineEdit_K->setText(strK.str().c_str());
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ui_->lineEdit_D->setText(strD.str().c_str());
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ui_->checkBox_rectified->setEnabled(true);
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ui_->checkBox_rectified->setChecked(true);
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}
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}
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void CalibrationDialog::exit()
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{
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this->close();
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}
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float CalibrationDialog::getArea(const std::vector<cv::Point2f> & corners, const cv::Size & boardSize)
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{
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//Get 2d image area of the detected checkerboard.
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//The projected checkerboard is assumed to be a convex quadrilateral, and the area computed as
|
||||
//|p X q|/2; see http://mathworld.wolfram.com/Quadrilateral.html.
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cv::Point2f up_left = corners[0];
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cv::Point2f up_right = corners[boardSize.width-1];
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cv::Point2f down_right = corners[corners.size()-1];
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cv::Point2f down_left = corners[corners.size()-boardSize.width];
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||||
cv::Point2f a = up_right - up_left;
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||||
cv::Point2f b = down_right - up_right;
|
||||
cv::Point2f c = down_left - down_right;
|
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cv::Point2f p = b + c;
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cv::Point2f q = a + b;
|
||||
return std::fabs(p.x*q.y - p.y*q.x) / 2.0f;
|
||||
}
|
||||
|
||||
float CalibrationDialog::getSkew(const std::vector<cv::Point2f> & corners, const cv::Size & boardSize)
|
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{
|
||||
// Get skew for given checkerboard detection.
|
||||
// Scaled to [0,1], which 0 = no skew, 1 = high skew
|
||||
// Skew is proportional to the divergence of three outside corners from 90 degrees.
|
||||
|
||||
cv::Point2f up_left = corners[0];
|
||||
cv::Point2f up_right = corners[boardSize.width-1];
|
||||
cv::Point2f down_right = corners[corners.size()-1];
|
||||
|
||||
|
||||
// Return angle between lines ab, bc
|
||||
cv::Point2f ab = up_left - up_right;
|
||||
cv::Point2f cb = down_right - up_right;
|
||||
float angle = std::acos(ab.dot(cb) / (cv::norm(ab) * cv::norm(cb)));
|
||||
|
||||
float r = 2.0f * std::fabs((CV_PI / 2.0f) - angle);
|
||||
return r > 1.0f?1.0f:r;
|
||||
}
|
||||
|
||||
// x -> [0, 1] (left, right)
|
||||
// y -> [0, 1] (top, bottom)
|
||||
// size -> [0, 1] (small -> big)
|
||||
// skew -> [0, 1] (low, high)
|
||||
void CalibrationDialog::getParams(const std::vector<cv::Point2f> & corners, const cv::Size & boardSize, const cv::Size & imageSize,
|
||||
float & x, float & y, float & size, float & skew)
|
||||
{
|
||||
float area = getArea(corners, boardSize);
|
||||
size = std::sqrt(area / (imageSize.width * imageSize.height));
|
||||
skew = getSkew(corners, boardSize);
|
||||
float meanX = 0.0f;
|
||||
float meanY = 0.0f;
|
||||
for(unsigned int i=0; i<corners.size(); ++i)
|
||||
{
|
||||
meanX += corners[i].x;
|
||||
meanY += corners[i].y;
|
||||
}
|
||||
meanX /= corners.size();
|
||||
meanY /= corners.size();
|
||||
x = meanX / imageSize.width;
|
||||
y = meanY / imageSize.height;
|
||||
}
|
||||
|
||||
} /* namespace rtabmap */
|
||||
323
guilib/src/ui/calibrationDialog.ui
Normal file
323
guilib/src/ui/calibrationDialog.ui
Normal file
@@ -0,0 +1,323 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<ui version="4.0">
|
||||
<class>calibrationDialog</class>
|
||||
<widget class="QDialog" name="calibrationDialog">
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>0</x>
|
||||
<y>0</y>
|
||||
<width>629</width>
|
||||
<height>452</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="windowTitle">
|
||||
<string>Dialog</string>
|
||||
</property>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_3">
|
||||
<item>
|
||||
<layout class="QHBoxLayout" name="horizontalLayout_2" stretch="1,0">
|
||||
<item>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_2" stretch="1,0">
|
||||
<item>
|
||||
<widget class="UImageView" name="image_view" native="true"/>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QCheckBox" name="checkBox_rectified">
|
||||
<property name="text">
|
||||
<string>Show rectified</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item>
|
||||
<layout class="QVBoxLayout" name="verticalLayout">
|
||||
<item>
|
||||
<layout class="QFormLayout" name="formLayout">
|
||||
<item row="0" column="0">
|
||||
<widget class="QLabel" name="label_5">
|
||||
<property name="text">
|
||||
<string>Count</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" 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="0">
|
||||
<widget class="QLabel" name="label">
|
||||
<property name="text">
|
||||
<string>X</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" 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="0">
|
||||
<widget class="QLabel" name="label_2">
|
||||
<property name="text">
|
||||
<string>Y</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="1">
|
||||
<widget class="QProgressBar" name="progressBar_y">
|
||||
<property name="value">
|
||||
<number>24</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="0">
|
||||
<widget class="QLabel" name="label_3">
|
||||
<property name="text">
|
||||
<string>Size</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="1">
|
||||
<widget class="QProgressBar" name="progressBar_size">
|
||||
<property name="value">
|
||||
<number>24</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="0">
|
||||
<widget class="QLabel" name="label_4">
|
||||
<property name="text">
|
||||
<string>Skew</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="1">
|
||||
<widget class="QProgressBar" name="progressBar_skew">
|
||||
<property name="value">
|
||||
<number>24</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QPushButton" name="pushButton_calibrate">
|
||||
<property name="text">
|
||||
<string>Calibrate</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<layout class="QFormLayout" name="formLayout_2">
|
||||
<item row="0" column="0">
|
||||
<widget class="QLabel" name="label_8">
|
||||
<property name="text">
|
||||
<string>fx</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<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="0">
|
||||
<widget class="QLabel" name="label_9">
|
||||
<property name="text">
|
||||
<string>fy</string>
|
||||
</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="2" column="0">
|
||||
<widget class="QLabel" name="label_10">
|
||||
<property name="text">
|
||||
<string>cx</string>
|
||||
</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="4" 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="4" column="1">
|
||||
<widget class="QLineEdit" name="lineEdit_K">
|
||||
<property name="readOnly">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" 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="5" column="1">
|
||||
<widget class="QLineEdit" name="lineEdit_D">
|
||||
<property name="readOnly">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="8" column="0">
|
||||
<widget class="QLabel" name="label_13">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" 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="6" column="1">
|
||||
<widget class="QLabel" name="label_error">
|
||||
<property name="text">
|
||||
<string>0</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item>
|
||||
<layout class="QHBoxLayout" name="horizontalLayout">
|
||||
<item>
|
||||
<widget class="QPushButton" name="pushButton_restart">
|
||||
<property name="text">
|
||||
<string>Restart</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QPushButton" name="pushButton_save">
|
||||
<property name="text">
|
||||
<string>Save</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</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>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item>
|
||||
<layout class="QHBoxLayout" name="horizontalLayout_3">
|
||||
<item>
|
||||
<spacer name="horizontalSpacer">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>40</width>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QPushButton" name="pushButton_exit">
|
||||
<property name="text">
|
||||
<string>Exit</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
<customwidgets>
|
||||
<customwidget>
|
||||
<class>UImageView</class>
|
||||
<extends>QWidget</extends>
|
||||
<header>utilite/UImageView.h</header>
|
||||
<container>1</container>
|
||||
</customwidget>
|
||||
</customwidgets>
|
||||
<resources/>
|
||||
<connections/>
|
||||
</ui>
|
||||
Reference in New Issue
Block a user