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Stereo Calibration: doing separate calibrations before stereo calibration

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matlabbe
2015-04-07 23:42:38 -04:00
parent 3ed6a1b2f0
commit e965275fe6
3 changed files with 292 additions and 228 deletions
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9
guilib/include/rtabmap/gui/CalibrationDialog.h
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@@ -50,8 +50,9 @@ public:
CalibrationDialog(bool stereo = false, const QString & savingDirectory = ".", QWidget * parent = 0);
virtual ~CalibrationDialog();
bool isCalibrated() const {return calibrated_;}
const rtabmap::CameraModel & getCameraModel() const {return model_;}
bool isCalibrated() const {return models_[0].isValid() && (stereo_?models_[1].isValid():true);}
const rtabmap::CameraModel & getLeftCameraModel() const {return models_[0];}
const rtabmap::CameraModel & getRightCameraModel() const {return models_[1];}
const rtabmap::StereoCameraModel & getStereoCameraModel() const {return stereoModel_;}
void saveSettings(QSettings & settings, const QString & group = "") const;
@@ -92,14 +93,14 @@ private:
QString savingDirectory_;
QString cameraName_;
bool calibrated_;
bool processingData_;
bool savedCalibration_;
std::vector<std::vector<std::vector<cv::Point2f> > > imagePoints_;
std::vector<std::vector<std::vector<float> > > imageParams_;
std::vector<std::vector<std::vector<cv::Point2f> > > stereoImagePoints_;
std::vector<cv::Size > imageSize_;
rtabmap::CameraModel model_;
std::vector<rtabmap::CameraModel> models_;
rtabmap::StereoCameraModel stereoModel_;
Ui_calibrationDialog * ui_;