mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-01 17:10:26 +08:00
Added image size to all camera calibration inputs. Memory::computeTransform() more fine tuning to know if data should be loaded from database.
This commit is contained in:
matlabbe
@@ -170,7 +170,10 @@ void CreateSimpleCalibrationDialog::saveCalibration()
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ui_->doubleSpinBox_fx->value(),
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ui_->doubleSpinBox_fy->value(),
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ui_->doubleSpinBox_cx->value(),
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ui_->doubleSpinBox_cy->value());
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ui_->doubleSpinBox_cy->value(),
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Transform::getIdentity(),
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0,
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cv::Size(width, height));
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UASSERT(modelLeft.isValidForProjection());
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}
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else
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@@ -215,7 +218,8 @@ void CreateSimpleCalibrationDialog::saveCalibration()
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ui_->doubleSpinBox_cx->value(),
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ui_->doubleSpinBox_cy->value(),
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Transform::getIdentity(),
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ui_->doubleSpinBox_baseline->value()*-ui_->doubleSpinBox_fx->value());
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ui_->doubleSpinBox_baseline->value()*-ui_->doubleSpinBox_fx->value(),
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cv::Size(width, height));
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UASSERT(modelRight.isValidForProjection());
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stereoModel = StereoCameraModel(name.toStdString(), modelLeft, modelRight, Transform());
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UASSERT(stereoModel.isValidForProjection());
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@@ -1133,7 +1133,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
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_3dRenderingDecimation[i]->setValue(8);
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_3dRenderingMaxDepth[i]->setValue(0.0);
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_3dRenderingShowScans[i]->setChecked(true);
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_3dRenderingShowFeatures[i]->setChecked(false);
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_3dRenderingShowFeatures[i]->setChecked(i==0?false:true);
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_3dRenderingDownsamplingScan[i]->setValue(1);
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_3dRenderingVoxelSizeScan[i]->setValue(0.0);
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@@ -6,8 +6,8 @@
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<rect>
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<x>0</x>
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<y>0</y>
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<width>546</width>
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<height>568</height>
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<width>563</width>
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<height>597</height>
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</rect>
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</property>
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<property name="windowTitle">
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@@ -42,7 +42,7 @@
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<item>
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<widget class="QStackedWidget" name="stackedWidget">
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<property name="currentIndex">
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<number>1</number>
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<number>0</number>
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</property>
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<widget class="QWidget" name="page_2">
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<layout class="QVBoxLayout" name="verticalLayout">
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@@ -146,19 +146,6 @@
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</layout>
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</widget>
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</item>
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<item>
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<spacer name="verticalSpacer">
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<property name="orientation">
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<enum>Qt::Vertical</enum>
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</property>
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<property name="sizeHint" stdset="0">
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<size>
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<width>20</width>
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<height>40</height>
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</size>
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</property>
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</spacer>
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</item>
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</layout>
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</widget>
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<widget class="QWidget" name="page">
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@@ -168,237 +155,231 @@
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<property name="title">
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<string>Camera Intrinsics</string>
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</property>
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<layout class="QVBoxLayout" name="verticalLayout_4">
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<item>
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<layout class="QGridLayout" name="gridLayout_3" columnstretch="0,0,1">
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<item row="0" column="0">
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<widget class="QLabel" name="label_left">
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<property name="text">
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<string>Left</string>
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</property>
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</widget>
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</item>
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<item row="0" column="1">
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<widget class="QLabel" name="label_right">
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<property name="text">
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<string>Right</string>
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</property>
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</widget>
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</item>
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<item row="1" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_fx_l">
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<property name="decimals">
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<number>6</number>
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</property>
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<property name="maximum">
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<double>99999.000000000000000</double>
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</property>
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</widget>
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</item>
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<item row="1" column="1">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_fx_r">
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<property name="decimals">
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<number>6</number>
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</property>
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<property name="maximum">
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<double>99999.000000000000000</double>
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</property>
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</widget>
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</item>
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<item row="1" column="2">
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<widget class="QLabel" name="label_10">
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<property name="text">
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<string>fx</string>
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</property>
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</widget>
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</item>
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<item row="2" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_fy_l">
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<property name="decimals">
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<number>6</number>
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</property>
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<property name="maximum">
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<double>99999.000000000000000</double>
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</property>
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</widget>
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</item>
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<item row="2" column="1">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_fy_r">
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<property name="decimals">
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<number>6</number>
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</property>
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<property name="maximum">
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<double>99999.000000000000000</double>
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</property>
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</widget>
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</item>
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<item row="2" column="2">
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<widget class="QLabel" name="label_9">
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<property name="text">
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<string>fy</string>
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</property>
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</widget>
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</item>
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<item row="3" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_cx_l">
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<property name="decimals">
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<number>6</number>
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</property>
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<property name="maximum">
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<double>99999.000000000000000</double>
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</property>
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</widget>
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</item>
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<item row="3" column="1">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_cx_r">
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<property name="decimals">
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<number>6</number>
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</property>
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||||
<property name="maximum">
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<double>99999.000000000000000</double>
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</property>
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</widget>
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</item>
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<item row="3" column="2">
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<widget class="QLabel" name="label_11">
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<property name="text">
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<string>cx</string>
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</property>
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||||
</widget>
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</item>
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<item row="4" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_cy_l">
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||||
<property name="decimals">
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<number>6</number>
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||||
</property>
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||||
<property name="maximum">
|
||||
<double>99999.000000000000000</double>
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</property>
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||||
</widget>
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||||
</item>
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||||
<item row="4" column="1">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_cy_r">
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||||
<property name="decimals">
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||||
<number>6</number>
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||||
</property>
|
||||
<property name="maximum">
|
||||
<double>99999.000000000000000</double>
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||||
</property>
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||||
</widget>
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||||
</item>
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||||
<item row="4" column="2">
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||||
<widget class="QLabel" name="label_8">
|
||||
<property name="text">
|
||||
<string>cy</string>
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||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="0">
|
||||
<widget class="QLineEdit" name="lineEdit_D_l"/>
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||||
</item>
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||||
<item row="5" column="1">
|
||||
<widget class="QLineEdit" name="lineEdit_D_r"/>
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||||
</item>
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||||
<item row="5" column="2">
|
||||
<widget class="QLabel" name="label_12">
|
||||
<property name="toolTip">
|
||||
<string>k1, k2, p1, p2[, k3[, k4, k5, k6 ]]</string>
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</property>
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||||
<property name="text">
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||||
<string>Distorsion coefficients (4, 5 or 8 values)</string>
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</property>
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||||
<property name="wordWrap">
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||||
<bool>true</bool>
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||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="Line" name="line">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<layout class="QGridLayout" name="gridLayout_4" columnstretch="0,1">
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||||
<item row="0" column="0">
|
||||
<widget class="QSpinBox" name="spinBox_width">
|
||||
<property name="maximum">
|
||||
<number>99999</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="1">
|
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<widget class="QLabel" name="label_5">
|
||||
<property name="text">
|
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<string>Image width</string>
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||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="0">
|
||||
<widget class="QSpinBox" name="spinBox_height">
|
||||
<property name="maximum">
|
||||
<number>99999</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<widget class="QLabel" name="label_13">
|
||||
<property name="text">
|
||||
<string>Image height</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QGroupBox" name="groupBox_stereo_extrinsics">
|
||||
<property name="title">
|
||||
<string>Stereo Camera Extrinsics</string>
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||||
</property>
|
||||
<layout class="QGridLayout" name="gridLayout_2">
|
||||
<item row="0" column="0" rowspan="2" colspan="2">
|
||||
<widget class="QLineEdit" name="lineEdit_RT">
|
||||
<property name="toolTip">
|
||||
<string><html><head/><body><p>Format (3 values): x y z<br/>Format (6 values): x y z roll pitch yaw<br/>Format (7 values): x y z qx qy qz qw<br/>Format (9 values, 3x3 rotation): r11 r12 r13 r21 r22 r23 r31 r32 r33<br/>Format (12 values, 3x4 transform): r11 r12 r13 tx r21 r22 r23 ty r31 r32 r33 tz</p><p>KITTI: /base_link to /gray_camera = 0 0 1 -1 0 0 0 -1 0<br/>KITTI: /base_link to /color_camera = 0 0 1 0 -1 0 0 -0.06 0 -1 0 0</p></body></html></string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="2">
|
||||
<widget class="QLabel" name="label_6">
|
||||
<layout class="QGridLayout" name="gridLayout_3" columnstretch="0,0,1">
|
||||
<item row="1" column="0">
|
||||
<widget class="QLabel" name="label_left">
|
||||
<property name="text">
|
||||
<string>Transform between the cameras</string>
|
||||
<string>Left</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="1">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_fx_r">
|
||||
<property name="decimals">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>99999.000000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="0">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_fx_l">
|
||||
<property name="decimals">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>99999.000000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<widget class="QLabel" name="label_right">
|
||||
<property name="text">
|
||||
<string>Right</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="0">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_cx_l">
|
||||
<property name="decimals">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>99999.000000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="2">
|
||||
<widget class="QLabel" name="label_10">
|
||||
<property name="text">
|
||||
<string>fx</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="1">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_fy_r">
|
||||
<property name="decimals">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>99999.000000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="0">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_fy_l">
|
||||
<property name="decimals">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>99999.000000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="1">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_cx_r">
|
||||
<property name="decimals">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>99999.000000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="1">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_cy_r">
|
||||
<property name="decimals">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>99999.000000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="0">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_cy_l">
|
||||
<property name="decimals">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>99999.000000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="2">
|
||||
<widget class="QLabel" name="label_9">
|
||||
<property name="text">
|
||||
<string>fy</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="1">
|
||||
<widget class="QLineEdit" name="lineEdit_D_r"/>
|
||||
</item>
|
||||
<item row="5" column="2">
|
||||
<widget class="QLabel" name="label_8">
|
||||
<property name="text">
|
||||
<string>cy</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="0">
|
||||
<widget class="QLineEdit" name="lineEdit_D_l"/>
|
||||
</item>
|
||||
<item row="6" column="2">
|
||||
<widget class="QLabel" name="label_12">
|
||||
<property name="toolTip">
|
||||
<string>k1, k2, p1, p2[, k3[, k4, k5, k6 ]]</string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Distorsion coefficients (4, 5 or 8 values)</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="2">
|
||||
<widget class="QLabel" name="label_11">
|
||||
<property name="text">
|
||||
<string>cx</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<spacer name="verticalSpacer_2">
|
||||
<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>
|
||||
</widget>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QGroupBox" name="groupBox_2">
|
||||
<property name="title">
|
||||
<string>Image Size</string>
|
||||
</property>
|
||||
<layout class="QGridLayout" name="gridLayout_4" columnstretch="0,1">
|
||||
<item row="0" column="0">
|
||||
<widget class="QSpinBox" name="spinBox_width">
|
||||
<property name="maximum">
|
||||
<number>99999</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="1">
|
||||
<widget class="QLabel" name="label_5">
|
||||
<property name="text">
|
||||
<string>Image width</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="0">
|
||||
<widget class="QSpinBox" name="spinBox_height">
|
||||
<property name="maximum">
|
||||
<number>99999</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<widget class="QLabel" name="label_13">
|
||||
<property name="text">
|
||||
<string>Image height</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QGroupBox" name="groupBox_stereo_extrinsics">
|
||||
<property name="title">
|
||||
<string>Stereo Camera Extrinsics</string>
|
||||
</property>
|
||||
<layout class="QGridLayout" name="gridLayout_2">
|
||||
<item row="0" column="0" rowspan="2" colspan="2">
|
||||
<widget class="QLineEdit" name="lineEdit_RT">
|
||||
<property name="toolTip">
|
||||
<string><html><head/><body><p>Format (3 values): x y z<br/>Format (6 values): x y z roll pitch yaw<br/>Format (7 values): x y z qx qy qz qw<br/>Format (9 values, 3x3 rotation): r11 r12 r13 r21 r22 r23 r31 r32 r33<br/>Format (12 values, 3x4 transform): r11 r12 r13 tx r21 r22 r23 ty r31 r32 r33 tz</p><p>KITTI: /base_link to /gray_camera = 0 0 1 -1 0 0 0 -1 0<br/>KITTI: /base_link to /color_camera = 0 0 1 0 -1 0 0 -0.06 0 -1 0 0</p></body></html></string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="2">
|
||||
<widget class="QLabel" name="label_6">
|
||||
<property name="text">
|
||||
<string>Transform between the cameras</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</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>
|
||||
<item>
|
||||
<widget class="QDialogButtonBox" name="buttonBox">
|
||||
<property name="orientation">
|
||||
|
||||
Reference in New Issue
Block a user