added CalibrationDialog class and Calibration tool app

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1587 f169173b-cf89-36c8-b27e-44dbe73f0c83

guilib/include/rtabmap/gui/CalibrationDialog.h

@@ -0,0 +1,67 @@
+/*
+ * CalibrationDialog.h
+ *
+ *  Created on: 2014-07-22
+ *      Author: Mathieu
+ */
+
+#ifndef CALIBRATIONDIALOG_H_
+#define CALIBRATIONDIALOG_H_
+
+#include "rtabmap/gui/RtabmapGuiExp.h" // DLL export/import defines
+
+#include <QtGui/QDialog>
+#include <opencv2/opencv.hpp>
+
+#include <rtabmap/utilite/UEventsHandler.h>
+
+class Ui_calibrationDialog;
+
+namespace rtabmap {
+
+class RTABMAPGUI_EXP CalibrationDialog  : public QDialog, public UEventsHandler
+{
+	Q_OBJECT;
+
+public:
+	CalibrationDialog(QWidget * parent = 0);
+	virtual ~CalibrationDialog();
+
+private slots:
+	void processImage(const cv::Mat & image);
+	void restart();
+	void calibrate();
+	void exit();
+
+protected:
+	virtual void closeEvent(QCloseEvent* event);
+	virtual void handleEvent(UEvent * event);
+
+private:
+	float getArea(const std::vector<cv::Point2f> & corners, const cv::Size & boardSize);
+	float getSkew(const std::vector<cv::Point2f> & corners, const cv::Size & boardSize);
+
+	// x -> [0, 1] (left, right)
+	// y -> [0, 1] (top, bottom)
+	// size -> [0, 1] (small -> big)
+	// skew -> [0, 1] (low, high)
+	void getParams(const std::vector<cv::Point2f> & corners, const cv::Size & boardSize, const cv::Size & imageSize,
+			float & x, float & y, float & size, float & skew);
+
+private:
+	// parameters
+	cv::Size boardSize_; // innner squares
+	float squareSize_; // m
+
+	std::vector<std::vector<cv::Point2f> > imagePoints_;
+	std::vector<std::vector<float> > imageParams_;
+	cv::Size imageSize_;
+	bool calibrated_;
+	cv::Mat cameraMatrix_;
+	cv::Mat distCoeffs_;
+
+	Ui_calibrationDialog * ui_;
+};
+
+} /* namespace rtabmap */
+#endif /* CALIBRATIONDIALOG_H_ */