Added CalibrationDialog in Preferences->source for convenience. The database is also changed to handle new FX, FY, CX and CY intrinsic parameters instead of only depthConstant parameter. Added version of the database in a new table Admin. Updated to version 0.7.0.

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1613 f169173b-cf89-36c8-b27e-44dbe73f0c83

guilib/include/rtabmap/gui/CalibrationDialog.h

@@ -27,11 +27,23 @@ public:
 	CalibrationDialog(QWidget * parent = 0);
 	virtual ~CalibrationDialog();
 
+	bool isCalibrated() const {return calibrated_;}
+	const cv::Mat & cameraMatrix() const {return cameraMatrix_;} // Matrix K
+	const cv::Mat & distCoeffs() const {return distCoeffs_;} // Matrix D
+	float fx() const {return cameraMatrix_.at<double>(0,0);} // K(0)
+	float fy() const {return cameraMatrix_.at<double>(1,1);} // K(4)
+	float cx() const {return cameraMatrix_.at<double>(0,2);} // K(2)
+	float cy() const {return cameraMatrix_.at<double>(1,2);} // K(5)
+
+public slots:
+	void setBoardWidth(int width);
+	void setBoardHeight(int height);
+	void setSquareSize(double size);
+
 private slots:
 	void processImage(const cv::Mat & image);
 	void restart();
 	void calibrate();
-	void exit();
 
 protected:
 	virtual void closeEvent(QCloseEvent* event);

guilib/include/rtabmap/gui/MainWindow.h

@@ -189,7 +189,10 @@ private:
 			int id,
 			const cv::Mat & rgb,
 			const cv::Mat & depth,
-			float depthConstant,
+			float fx,
+			float fy,
+			float cx,
+			float cy,
 			const Transform & localTransform,
 			const Transform & pose,
 			float voxelSize,
@@ -224,7 +227,10 @@ private:
 	QMap<int, std::vector<unsigned char> > _imagesMap;
 	QMap<int, std::vector<unsigned char> > _depthsMap;
 	QMap<int, std::vector<unsigned char> > _depths2DMap;
-	QMap<int, float> _depthConstantsMap;
+	QMap<int, float> _depthFxsMap;
+	QMap<int, float> _depthFysMap;
+	QMap<int, float> _depthCxsMap;
+	QMap<int, float> _depthCysMap;
 	QMap<int, Transform> _localTransformsMap;
 	std::map<int, Transform> _currentPosesMap;
 	Transform _odometryCorrection;

guilib/include/rtabmap/gui/PreferencesDialog.h

@@ -159,7 +159,10 @@ public:
 	Src getSourceRGBD() const; 			// Openni group
 	QString getSourceOpenniDevice() const;            //Openni group
 	Transform getSourceOpenniLocalTransform() const;    //Openni group
-	float getSourceOpenniFocalLength() const; // Openni group
+	float getSourceOpenniFx() const; // Openni group
+	float getSourceOpenniFy() const; // Openni group
+	float getSourceOpenniCx() const; // Openni group
+	float getSourceOpenniCy() const; // Openni group
 
 	int getIgnoredDCComponents() const;
 
@@ -219,6 +222,7 @@ private slots:
 	void openDatabaseViewer();
 	void cleanOdometryTest();
 	void testOdometry();
+	void calibrate();
 
 protected:
 	virtual void showEvent ( QShowEvent * event );

guilib/src/CMakeLists.txt

@@ -93,8 +93,6 @@ SET(LIBRARIES
     ${QT_LIBRARIES} 
 	${OpenCV_LIBS} 
 	${PCL_LIBRARIES}
-	QVTK 
-	vtkHybrid
 )
 
 #include files

guilib/src/CalibrationDialog.cpp

@@ -37,7 +37,15 @@ CalibrationDialog::CalibrationDialog(QWidget * parent) :
 
 	connect(ui_->pushButton_calibrate, SIGNAL(clicked()), this, SLOT(calibrate()));
 	connect(ui_->pushButton_restart, SIGNAL(clicked()), this, SLOT(restart()));
-	connect(ui_->pushButton_exit, SIGNAL(clicked()), this, SLOT(exit()));
+
+	connect(ui_->spinBox_boardWidth, SIGNAL(valueChanged(int)), this, SLOT(setBoardWidth(int)));
+	connect(ui_->spinBox_boardHeight, SIGNAL(valueChanged(int)), this, SLOT(setBoardHeight(int)));
+	connect(ui_->doubleSpinBox_squareSize, SIGNAL(valueChanged(double)), this, SLOT(setSquareSize(double)));
+
+	connect(ui_->buttonBox, SIGNAL(rejected()), this, SLOT(reject()));
+	connect(ui_->buttonBox, SIGNAL(accepted()), this, SLOT(accept()));
+
+	ui_->image_view->setFocus();
 
 	ui_->progressBar_count->setMaximum(COUNT_MIN);
 	ui_->progressBar_count->setFormat("%v");
@@ -51,6 +59,33 @@ CalibrationDialog::~CalibrationDialog()
 	delete ui_;
 }
 
+void CalibrationDialog::setBoardWidth(int width)
+{
+	if(width != boardSize_.width)
+	{
+		boardSize_.width = width;
+		this->restart();
+	}
+}
+
+void CalibrationDialog::setBoardHeight(int height)
+{
+	if(height != boardSize_.height)
+	{
+		boardSize_.height = height;
+		this->restart();
+	}
+}
+
+void CalibrationDialog::setSquareSize(double size)
+{
+	if(size != squareSize_)
+	{
+		squareSize_ = size;
+		this->restart();
+	}
+}
+
 void CalibrationDialog::closeEvent(QCloseEvent* event)
 {
 	this->unregisterFromEventsManager();
@@ -197,7 +232,7 @@ void CalibrationDialog::restart()
 	imageParams_.clear();
 
 	ui_->pushButton_calibrate->setEnabled(false);
-	ui_->pushButton_save->setEnabled(false);
+	ui_->buttonBox->button(QDialogButtonBox::Ok)->setEnabled(false);
 	ui_->checkBox_rectified->setEnabled(false);
 
 	ui_->progressBar_count->reset();
@@ -286,12 +321,9 @@ void CalibrationDialog::calibrate()
 
 		ui_->checkBox_rectified->setEnabled(true);
 		ui_->checkBox_rectified->setChecked(true);
-	}
-}
 
-void CalibrationDialog::exit()
-{
-	this->close();
+		ui_->buttonBox->button(QDialogButtonBox::Ok)->setEnabled(true);
+	}
 }
 
 float CalibrationDialog::getArea(const std::vector<cv::Point2f> & corners, const cv::Size & boardSize)

guilib/src/CloudViewer.cpp

@@ -448,13 +448,13 @@ void CloudViewer::updateCameraPosition(const Transform & pose)
 				cameras.front().view[2] = Fp[10];
 			}
 
+			_visualizer->removeCoordinateSystem(0);
+			_visualizer->addCoordinateSystem(0.2, m, 0);
 			_visualizer->setCameraPosition(
 					cameras.front().pos[0], cameras.front().pos[1], cameras.front().pos[2],
 					cameras.front().focal[0], cameras.front().focal[1], cameras.front().focal[2],
 					cameras.front().view[0], cameras.front().view[1], cameras.front().view[2]);
 		}
-		_visualizer->removeCoordinateSystem(0);
-		_visualizer->addCoordinateSystem(0.2, m, 0);
 	}
 
 	_lastPose = pose;

guilib/src/DatabaseViewer.cpp

@@ -200,17 +200,17 @@ void DatabaseViewer::exportDatabase()
 				{
 					int id = ids_.at(i);
 					std::vector<unsigned char> compressedRgb, compressedDepth, compressedDepth2d;
-					float tmpDepthConstant;
+					float tmpFx, tmpFy, tmpCx, tmpCy;
 					rtabmap::Transform tmpLocalTransform, pose;
 
-					memory_->getImageDepth(id, compressedRgb, compressedDepth, compressedDepth2d, tmpDepthConstant, tmpLocalTransform);
+					memory_->getImageDepth(id, compressedRgb, compressedDepth, compressedDepth2d, tmpFx, tmpFy, tmpCx, tmpCy, tmpLocalTransform);
 					if(dialog.isOdomExported())
 					{
 						memory_->getPose(id, pose, true);
 					}
 
 					cv::Mat rgb, depth, depth2d;
-					float depthConstant = 0;
+					float fx = 0, fy = 0, cx = 0, cy = 0;
 					rtabmap::Transform localTransform;
 
 					if(dialog.isRgbExported())
@@ -220,7 +220,10 @@ void DatabaseViewer::exportDatabase()
 					if(dialog.isDepthExported())
 					{
 						depth = rtabmap::util3d::uncompressImage(compressedDepth);
-						depthConstant = tmpDepthConstant;
+						fx = tmpFx;
+						fy = tmpFy;
+						cx = tmpCx;
+						cy = tmpCy;
 						localTransform = tmpLocalTransform;
 					}
 					if(dialog.isDepth2dExported())
@@ -228,7 +231,7 @@ void DatabaseViewer::exportDatabase()
 						depth2d = rtabmap::util3d::uncompressData(compressedDepth2d);
 					}
 
-					rtabmap::Image data(rgb, depth, depth2d, depthConstant, pose, localTransform, id);
+					rtabmap::Image data(rgb, depth, depth2d, fx, fy, cx, cy, pose, localTransform, id);
 					recorder.addData(data);
 
 					progressDialog.appendText(tr("Exported node %1").arg(id));
@@ -518,17 +521,17 @@ void DatabaseViewer::view3DMap()
 							if(!pose.isNull())
 							{
 								std::vector<unsigned char> image, depth, depth2d;
-								float depthConstant;
+								float fx, fy, cx, cy;
 								rtabmap::Transform localTransform;
-								memory_->getImageDepth(iter->first, image, depth, depth2d, depthConstant, localTransform);
+								memory_->getImageDepth(iter->first, image, depth, depth2d, fx, fy, cx, cy, localTransform);
 								pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud;
 								cv::Mat imageMat = rtabmap::util3d::uncompressImage(image);
 								cv::Mat depthMat = rtabmap::util3d::uncompressImage(depth);
 								cloud = rtabmap::util3d::cloudFromDepthRGB(
 										imageMat,
 										depthMat,
-										depthMat.cols/2, depthMat.rows/2,
-										1.0f/depthConstant, 1.0f/depthConstant,
+										cx, cy,
+										fx, fy,
 										decimation);
 
 								if(maxDepth)
@@ -616,17 +619,17 @@ void DatabaseViewer::generate3DMap()
 								if(!pose.isNull())
 								{
 									std::vector<unsigned char> image, depth, depth2d;
-									float depthConstant;
+									float fx, fy, cx, cy;
 									rtabmap::Transform localTransform;
-									memory_->getImageDepth(iter->first, image, depth, depth2d, depthConstant, localTransform);
+									memory_->getImageDepth(iter->first, image, depth, depth2d, fx, fy, cx, cy, localTransform);
 									pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud;
 									cv::Mat imageMat = rtabmap::util3d::uncompressImage(image);
 									cv::Mat depthMat = rtabmap::util3d::uncompressImage(depth);
 									cloud = rtabmap::util3d::cloudFromDepthRGB(
 											imageMat,
 											depthMat,
-											depthMat.cols/2, depthMat.rows/2,
-											1.0f/depthConstant, 1.0f/depthConstant,
+											cx, cy,
+											fx, fy,
 											decimation);
 
 									if(maxDepth)
@@ -703,9 +706,9 @@ void DatabaseViewer::update(int value,
 			if(memory_)
 			{
 				std::vector<unsigned char> image, depth, depth2d;
-				float depthConstant;
+				float fx, fy, cx, cy;
 				rtabmap::Transform localTransform;
-				memory_->getImageDepth(id, image, depth, depth2d, depthConstant, localTransform);
+				memory_->getImageDepth(id, image, depth, depth2d, fx, fy, cx, cy, localTransform);
 				cv::Mat imageMat = rtabmap::util3d::uncompressImage(image);
 				cv::Mat depthMat = rtabmap::util3d::uncompressImage(depth);
 				if(!image.empty())
@@ -830,17 +833,18 @@ void DatabaseViewer::updateConstraintView(const rtabmap::Link & link)
 		ui_->horizontalSlider_A->setValue(idToIndex_.value(link.from()));
 		ui_->horizontalSlider_B->setValue(idToIndex_.value(link.to()));
 
-		float depthConstantA, depthConstantB;
+		float fxA, fyA, cxA, cyA;
+		float fxB, fyB, cxB, cyB;
 		rtabmap::Transform localTransformA, localTransformB;
 
 		std::vector<unsigned char> imageBytesA, depthBytesA, depth2dBytesA;
-		memory_->getImageDepth(link.from(), imageBytesA, depthBytesA, depth2dBytesA, depthConstantA, localTransformA);
+		memory_->getImageDepth(link.from(), imageBytesA, depthBytesA, depth2dBytesA, fxA, fyA, cxA, cyA, localTransformA);
 		cv::Mat imageA = rtabmap::util3d::uncompressImage(imageBytesA);
 		cv::Mat depthA = rtabmap::util3d::uncompressImage(depthBytesA);
 		cv::Mat depth2dA = rtabmap::util3d::uncompressData(depth2dBytesA);
 
 		std::vector<unsigned char> imageBytesB, depthBytesB, depth2dBytesB;
-		memory_->getImageDepth(link.to(), imageBytesB, depthBytesB, depth2dBytesB, depthConstantB, localTransformB);
+		memory_->getImageDepth(link.to(), imageBytesB, depthBytesB, depth2dBytesB, fxB, fyB, cxB, cyB, localTransformB);
 		cv::Mat imageB = rtabmap::util3d::uncompressImage(imageBytesB);
 		cv::Mat depthB = rtabmap::util3d::uncompressImage(depthBytesB);
 		cv::Mat depth2dB = rtabmap::util3d::uncompressData(depth2dBytesB);
@@ -850,10 +854,8 @@ void DatabaseViewer::updateConstraintView(const rtabmap::Link & link)
 		cloudA = rtabmap::util3d::cloudFromDepthRGB(
 				imageA,
 				depthA,
-				depthA.cols/2,
-				depthA.rows/2,
-				1.0f/depthConstantA,
-				1.0f/depthConstantA,
+				cxA, cyA,
+				fxA, fyA,
 				1);
 
 		cloudA = rtabmap::util3d::removeNaNFromPointCloud(cloudA);
@@ -863,10 +865,8 @@ void DatabaseViewer::updateConstraintView(const rtabmap::Link & link)
 		cloudB = rtabmap::util3d::cloudFromDepthRGB(
 				imageB,
 				depthB,
-				depthB.cols/2,
-				depthB.rows/2,
-				1.0f/depthConstantB,
-				1.0f/depthConstantB,
+				cxB, cyB,
+				fxB, fyB,
 				1);
 
 		cloudB = rtabmap::util3d::removeNaNFromPointCloud(cloudB);
@@ -908,13 +908,13 @@ void DatabaseViewer::sliderIterationsValueChanged(int value)
 			UINFO("Update scans list...");
 			for(int i=0; i<ids_.size(); ++i)
 			{
-				std::vector<unsigned char> imageBytesA, depthBytesA, depth2dBytesA;
-				float depthConstantA;
-				rtabmap::Transform localTransformA;
-				memory_->getImageDepth(ids_.at(i), imageBytesA, depthBytesA, depth2dBytesA, depthConstantA, localTransformA);
-				if(depth2dBytesA.size())
+				std::vector<unsigned char> imageBytes, depthBytes, depth2dBytes;
+				float fx, fy, cx, cy;
+				rtabmap::Transform localTransform;
+				memory_->getImageDepth(ids_.at(i), imageBytes, depthBytes, depth2dBytes, fx, fy, cx, cy, localTransform);
+				if(depth2dBytes.size())
 				{
-					scans_.insert(ids_.at(i), depth2dBytesA);
+					scans_.insert(ids_.at(i), depth2dBytes);
 				}
 			}
 			UINFO("Update scans list... done");

guilib/src/LoopClosureViewer.cpp

@@ -129,10 +129,8 @@ void LoopClosureViewer::updateView(const Transform & transform)
 			pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudA;
 			cloudA = util3d::cloudFromDepthRGB(
 					imageA,
-					depthA,
-					depthA.cols/2,
-					depthA.rows/2,
-					1.0f/sA_->getDepthConstant(),
+					depthA,
+					sA_->getDepthCx(), sA_->getDepthCy(),
 					sA_->getDepthFx(), sA_->getDepthFy(),
 					decimation);
 
@@ -151,10 +149,8 @@ void LoopClosureViewer::updateView(const Transform & transform)
 			pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudB;
 			cloudB = util3d::cloudFromDepthRGB(
 					imageB,
-					depthB,
-					depthB.cols/2,
-					depthB.rows/2,
-					1.0f/sB_->getDepthConstant(),
+					depthB,
+					sB_->getDepthCx(), sB_->getDepthCy(),
 					sB_->getDepthFx(), sB_->getDepthFy(),
 					decimation);
 

guilib/src/MainWindow.cpp

@@ -575,14 +575,18 @@ void MainWindow::processOdometry(const rtabmap::Image & data, int quality)
 		if(data.depth().cols == data.image().cols &&
 		   data.depth().rows == data.image().rows &&
 		   !data.depth().empty() &&
-		   data.depthConstant() > 0.0f &&
+		   data.depthFx() > 0.0f &&
+		   data.depthFy() > 0.0f &&
 		   _preferencesDialog->isCloudsShown(1))
 		{
 			pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud;
 			cloud = createCloud(0,
 					data.image(),
 					data.depth(),
-					data.depthConstant(),
+					data.depthFx(),
+					data.depthFy(),
+					data.depthCx(),
+					data.depthCy(),
 					data.localTransform(),
 					pose,
 					_preferencesDialog->getCloudVoxelSize(1),
@@ -685,12 +689,18 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
 			{
 				if(!iter->second.empty() && !_depthsMap.contains(iter->first))
 				{
-					float constant = uValue(stat.getDepthConstants(), iter->first, 0.0f);
+					float fx = uValue(stat.getDepthFxs(), iter->first, 0.0f);
+					float fy = uValue(stat.getDepthFys(), iter->first, 0.0f);
+					float cx = uValue(stat.getDepthCxs(), iter->first, 0.0f);
+					float cy = uValue(stat.getDepthCys(), iter->first, 0.0f);
 					Transform transform = uValue(stat.getLocalTransforms(), iter->first, Transform());
-					if(constant != 0.0f && !transform.isNull())
+					if(fx > 0.0f && fy > 0.0f && !transform.isNull())
 					{
 						_depthsMap.insert(iter->first, iter->second);
-						_depthConstantsMap.insert(iter->first, constant);
+						_depthFxsMap.insert(iter->first, fx);
+						_depthFysMap.insert(iter->first, fy);
+						_depthCxsMap.insert(iter->first, cx);
+						_depthCysMap.insert(iter->first, cy);
 						_localTransformsMap.insert(iter->first, transform);
 					}
 					else
@@ -992,7 +1002,10 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
 						_depths2DMap.value(loopOldId, std::vector<unsigned char>()),
 						_imagesMap.value(loopOldId, std::vector<unsigned char>()),
 						_depthsMap.value(loopOldId, std::vector<unsigned char>()),
-						_depthConstantsMap.value(loopOldId, 0.0f),
+						_depthFxsMap.value(loopOldId, 0.0f),
+						_depthFysMap.value(loopOldId, 0.0f),
+						_depthCxsMap.value(loopOldId, 0.0f),
+						_depthCysMap.value(loopOldId, 0.0f),
 						_localTransformsMap.value(loopOldId, Transform()));
 
 				Signature * loopNew = new Signature(
@@ -1004,7 +1017,10 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
 						_depths2DMap.value(loopNewId, std::vector<unsigned char>()),
 						_imagesMap.value(loopNewId, std::vector<unsigned char>()),
 						_depthsMap.value(loopNewId, std::vector<unsigned char>()),
-						_depthConstantsMap.value(loopNewId, 0.0f),
+						_depthFxsMap.value(loopNewId, 0.0f),
+						_depthFysMap.value(loopNewId, 0.0f),
+						_depthCxsMap.value(loopNewId, 0.0f),
+						_depthCysMap.value(loopNewId, 0.0f),
 						_localTransformsMap.value(loopNewId, Transform()));
 
 				_ui->widget_loopClosureViewer->setData(loopOld, loopNew);
@@ -1212,7 +1228,10 @@ void MainWindow::createAndAddCloudToMap(int nodeId, const Transform & pose)
 	cloud = createCloud(nodeId,
 			util3d::uncompressImage(_imagesMap.value(nodeId)),
 			util3d::uncompressImage(_depthsMap.value(nodeId)),
-			_depthConstantsMap.value(nodeId),
+			_depthFxsMap.value(nodeId),
+			_depthFysMap.value(nodeId),
+			_depthCxsMap.value(nodeId),
+			_depthCysMap.value(nodeId),
 			_localTransformsMap.value(nodeId),
 			Transform::getIdentity(),
 			_preferencesDialog->getCloudVoxelSize(0),
@@ -1376,7 +1395,10 @@ void MainWindow::processRtabmapEvent3DMap(const rtabmap::RtabmapEvent3DMap & eve
 		UINFO(" images = %d", event.getImages().size());
 		UINFO(" depths = %d", event.getDepths().size());
 		UINFO(" depths2d = %d", event.getDepths2d().size());
-		UINFO(" depthConstants = %d", event.getDepthConstants().size());
+		UINFO(" depthFxs = %d", event.getDepthFxs().size());
+		UINFO(" depthFys = %d", event.getDepthFys().size());
+		UINFO(" depthCxs = %d", event.getDepthCxs().size());
+		UINFO(" depthCys = %d", event.getDepthCys().size());
 		UINFO(" localTransforms = %d", event.getLocalTransforms().size());
 		UINFO(" poses = %d", event.getPoses().size());
 		UINFO(" constraints = %d", event.getConstraints().size());
@@ -1401,13 +1423,40 @@ void MainWindow::processRtabmapEvent3DMap(const rtabmap::RtabmapEvent3DMap & eve
 		_initProgressDialog->appendText(tr("Inserted %1 depth images.").arg(_depthsMap.size()));
 		_initProgressDialog->incrementStep();
 
-		for(std::map<int, float>::const_iterator iter = event.getDepthConstants().begin();
-			iter!=event.getDepthConstants().end();
+		for(std::map<int, float>::const_iterator iter = event.getDepthFxs().begin();
+			iter!=event.getDepthFxs().end();
 			++iter)
 		{
-			_depthConstantsMap.insert(iter->first, iter->second);
+			_depthFxsMap.insert(iter->first, iter->second);
 		}
-		_initProgressDialog->appendText(tr("Inserted %1 depth constants.").arg(_depthConstantsMap.size()));
+		_initProgressDialog->appendText(tr("Inserted %1 depth fx parameters.").arg(_depthFxsMap.size()));
+		_initProgressDialog->incrementStep();
+
+		for(std::map<int, float>::const_iterator iter = event.getDepthFys().begin();
+			iter!=event.getDepthFys().end();
+			++iter)
+		{
+			_depthFysMap.insert(iter->first, iter->second);
+		}
+		_initProgressDialog->appendText(tr("Inserted %1 depth fy parameters.").arg(_depthFysMap.size()));
+		_initProgressDialog->incrementStep();
+
+		for(std::map<int, float>::const_iterator iter = event.getDepthCxs().begin();
+			iter!=event.getDepthCxs().end();
+			++iter)
+		{
+			_depthCxsMap.insert(iter->first, iter->second);
+		}
+		_initProgressDialog->appendText(tr("Inserted %1 depth cx parameters.").arg(_depthCxsMap.size()));
+		_initProgressDialog->incrementStep();
+
+		for(std::map<int, float>::const_iterator iter = event.getDepthCys().begin();
+			iter!=event.getDepthCys().end();
+			++iter)
+		{
+			_depthCysMap.insert(iter->first, iter->second);
+		}
+		_initProgressDialog->appendText(tr("Inserted %1 depth cy parameters.").arg(_depthCysMap.size()));
 		_initProgressDialog->incrementStep();
 
 		for(std::map<int, std::vector<unsigned char> >::const_iterator iter = event.getDepths2d().begin();
@@ -1966,14 +2015,20 @@ void MainWindow::startDetection()
 					_preferencesDialog->getSourceOpenniDevice().toStdString(),
 					_preferencesDialog->getGeneralInputRate(),
 					_preferencesDialog->getSourceOpenniLocalTransform(),
-					_preferencesDialog->getSourceOpenniFocalLength());
+					_preferencesDialog->getSourceOpenniFx(),
+					_preferencesDialog->getSourceOpenniFy(),
+					_preferencesDialog->getSourceOpenniCx(),
+					_preferencesDialog->getSourceOpenniCy());
 		}
 		else if(_preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI2)
 		{
 			camera = new CameraOpenNI2(
 					_preferencesDialog->getGeneralInputRate(),
 					_preferencesDialog->getSourceOpenniLocalTransform(),
-					_preferencesDialog->getSourceOpenniFocalLength());
+					_preferencesDialog->getSourceOpenniFx(),
+					_preferencesDialog->getSourceOpenniFy(),
+					_preferencesDialog->getSourceOpenniCx(),
+					_preferencesDialog->getSourceOpenniCy());
 		}
 		else if(_preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcFreenect)
 		{
@@ -1981,7 +2036,10 @@ void MainWindow::startDetection()
 					_preferencesDialog->getSourceOpenniDevice().isEmpty()?0:atoi(_preferencesDialog->getSourceOpenniDevice().toStdString().c_str()),
 					_preferencesDialog->getGeneralInputRate(),
 					_preferencesDialog->getSourceOpenniLocalTransform(),
-					_preferencesDialog->getSourceOpenniFocalLength());
+					_preferencesDialog->getSourceOpenniFx(),
+					_preferencesDialog->getSourceOpenniFy(),
+					_preferencesDialog->getSourceOpenniCx(),
+					_preferencesDialog->getSourceOpenniCy());
 		}
 		else if(_preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI_CV ||
 				_preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI_CV_ASUS)
@@ -1990,7 +2048,10 @@ void MainWindow::startDetection()
 					_preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI_CV_ASUS,
 					_preferencesDialog->getGeneralInputRate(),
 					_preferencesDialog->getSourceOpenniLocalTransform(),
-					_preferencesDialog->getSourceOpenniFocalLength());
+					_preferencesDialog->getSourceOpenniFx(),
+					_preferencesDialog->getSourceOpenniFy(),
+					_preferencesDialog->getSourceOpenniCx(),
+					_preferencesDialog->getSourceOpenniCy());
 		}
 		else
 		{
@@ -2611,7 +2672,10 @@ void MainWindow::clearTheCache()
 	_imagesMap.clear();
 	_depthsMap.clear();
 	_depths2DMap.clear();
-	_depthConstantsMap.clear();
+	_depthFxsMap.clear();
+	_depthFysMap.clear();
+	_depthCxsMap.clear();
+	_depthCysMap.clear();
 	_localTransformsMap.clear();
 	_ui->widget_cloudViewer->removeAllClouds();
 	_ui->widget_cloudViewer->render();
@@ -3481,7 +3545,10 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr MainWindow::createCloud(
 		int id,
 		const cv::Mat & rgb,
 		const cv::Mat & depth,
-		float depthConstant,
+		float fx,
+		float fy,
+		float cx,
+		float cy,
 		const Transform & localTransform,
 		const Transform & pose,
 		float voxelSize,
@@ -3492,11 +3559,9 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr MainWindow::createCloud(
 	pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud = util3d::cloudFromDepthRGB(
 			rgb,
 			depth,
-		   float(depth.cols/2),
-		   float(depth.rows/2),
-		   1.0f/depthConstant,
-		   1.0f/depthConstant,
-		   decimation);
+		    cx, cy,
+		    fx, fy,
+		    decimation);
 
 	if(cloud->size())
 	{
@@ -3543,7 +3608,10 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr MainWindow::createAssembledCloud(const st
 				cloud = createCloud(iter->first,
 						util3d::uncompressImage(_imagesMap.value(iter->first)),
 						util3d::uncompressImage(_depthsMap.value(iter->first)),
-						_depthConstantsMap.value(iter->first),
+						_depthFxsMap.value(iter->first),
+						_depthFysMap.value(iter->first),
+						_depthCxsMap.value(iter->first),
+						_depthCysMap.value(iter->first),
 						_localTransformsMap.value(iter->first),
 						iter->second,
 						_preferencesDialog->getCloudVoxelSize(2),
@@ -3619,7 +3687,10 @@ std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr > MainWindow::createPointCl
 				cloud = createCloud(iter->first,
 						util3d::uncompressImage(_imagesMap.value(iter->first)),
 						util3d::uncompressImage(_depthsMap.value(iter->first)),
-						_depthConstantsMap.value(iter->first),
+						_depthFxsMap.value(iter->first),
+						_depthFysMap.value(iter->first),
+						_depthCxsMap.value(iter->first),
+						_depthCysMap.value(iter->first),
 						_localTransformsMap.value(iter->first),
 						Transform::getIdentity(),
 						_preferencesDialog->getCloudVoxelSize(2),
@@ -3686,7 +3757,10 @@ std::map<int, pcl::PolygonMesh::Ptr> MainWindow::createMeshes(const std::map<int
 				cloud = createCloud(iter->first,
 						util3d::uncompressImage(_imagesMap.value(iter->first)),
 						util3d::uncompressImage(_depthsMap.value(iter->first)),
-						_depthConstantsMap.value(iter->first),
+						_depthFxsMap.value(iter->first),
+						_depthFysMap.value(iter->first),
+						_depthCxsMap.value(iter->first),
+						_depthCysMap.value(iter->first),
 						_localTransformsMap.value(iter->first),
 						Transform::getIdentity(),
 						_preferencesDialog->getCloudVoxelSize(2),

guilib/src/OdometryViewer.cpp

@@ -62,7 +62,7 @@ void OdometryViewer::processData()
 	}
 	dataMutex_.unlock();
 
-	if(!data.image().empty() && !data.depth().empty() && data.depthConstant()>0.0f && this->isVisible())
+	if(!data.image().empty() && !data.depth().empty() && data.depthFx()>0.0f && data.depthFy()>0.0f && this->isVisible())
 	{
 		UDEBUG("New pose = %s, quality=%d", data.pose().prettyPrint().c_str(), quality);
 
@@ -72,11 +72,9 @@ void OdometryViewer::processData()
 		cloud = util3d::cloudFromDepthRGB(
 				data.image(),
 				data.depth(),
-			   float(data.depth().cols/2),
-			   float(data.depth().rows/2),
-			   1.0f/data.depthConstant(),
-			   1.0f/data.depthConstant(),
-			   decimation_);
+				data.depthCx(), data.depthCy(),
+			    data.depthFx(), data.depthFy(),
+			    decimation_);
 
 		if(voxelSize_ > 0.0f)
 		{

guilib/src/PreferencesDialog.cpp

@@ -20,6 +20,7 @@
 #include "rtabmap/gui/PreferencesDialog.h"
 #include "rtabmap/gui/DatabaseViewer.h"
 #include "rtabmap/gui/OdometryViewer.h"
+#include "rtabmap/gui/CalibrationDialog.h"
 
 #include <QtCore/QSettings>
 #include <QtCore/QDir>
@@ -256,7 +257,11 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
 	_ui->radioButton_openni2->setEnabled(CameraOpenNI2::available());
 	connect(_ui->lineEdit_openniDevice, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
 	connect(_ui->lineEdit_openniLocalTransform, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
-	connect(_ui->doubleSpinBox_openniFocal, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel()));
+	connect(_ui->doubleSpinBox_openniFx, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel()));
+	connect(_ui->doubleSpinBox_openniFy, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel()));
+	connect(_ui->doubleSpinBox_openniCx, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel()));
+	connect(_ui->doubleSpinBox_openniCy, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel()));
+	connect(_ui->pushButton_calibrate, SIGNAL(clicked()), this, SLOT(calibrate()));
 
 
 	//Rtabmap basic
@@ -807,7 +812,10 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
 		_ui->radioButton_opennicvasus->setChecked(false);
 		_ui->lineEdit_openniDevice->setText("");
 		_ui->lineEdit_openniLocalTransform->setText("0 0 0 -PI_2 0 -PI_2");
-		_ui->doubleSpinBox_openniFocal->setValue(0.0);
+		_ui->doubleSpinBox_openniFx->setValue(0.0);
+		_ui->doubleSpinBox_openniFy->setValue(0.0);
+		_ui->doubleSpinBox_openniCx->setValue(0.0);
+		_ui->doubleSpinBox_openniCy->setValue(0.0);
 	}
 	else if(groupBox->objectName() == _ui->groupBox_rtabmap_basic0->objectName())
 	{
@@ -1063,7 +1071,10 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
 	_ui->radioButton_opennicvasus->setChecked(settings.value("openniCvAsusType", _ui->radioButton_opennicvasus->isChecked()).toBool());
 	_ui->lineEdit_openniDevice->setText(settings.value("device",_ui->lineEdit_openniDevice->text()).toString());
 	_ui->lineEdit_openniLocalTransform->setText(settings.value("localTransform",_ui->lineEdit_openniLocalTransform->text()).toString());
-	_ui->doubleSpinBox_openniFocal->setValue(settings.value("focalLength", _ui->doubleSpinBox_openniFocal->value()).toDouble());
+	_ui->doubleSpinBox_openniFx->setValue(settings.value("fx", _ui->doubleSpinBox_openniFx->value()).toDouble());
+	_ui->doubleSpinBox_openniFy->setValue(settings.value("fy", _ui->doubleSpinBox_openniFy->value()).toDouble());
+	_ui->doubleSpinBox_openniCx->setValue(settings.value("cx", _ui->doubleSpinBox_openniCx->value()).toDouble());
+	_ui->doubleSpinBox_openniCy->setValue(settings.value("cy", _ui->doubleSpinBox_openniCy->value()).toDouble());
 	settings.endGroup(); // Openni
 }
 
@@ -1273,7 +1284,10 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath)
 	settings.setValue("openniCvAsusType", 	_ui->radioButton_opennicvasus->isChecked());
 	settings.setValue("device", 		_ui->lineEdit_openniDevice->text());
 	settings.setValue("localTransform", _ui->lineEdit_openniLocalTransform->text());
-	settings.setValue("focalLength", _ui->doubleSpinBox_openniFocal->value());
+	settings.setValue("fx", _ui->doubleSpinBox_openniFx->value());
+	settings.setValue("fy", _ui->doubleSpinBox_openniFy->value());
+	settings.setValue("cx", _ui->doubleSpinBox_openniCx->value());
+	settings.setValue("cy", _ui->doubleSpinBox_openniCy->value());
 	settings.endGroup();
 }
 
@@ -2640,9 +2654,21 @@ Transform PreferencesDialog::getSourceOpenniLocalTransform() const
 	return t;
 }
 
-float PreferencesDialog::getSourceOpenniFocalLength() const
+float PreferencesDialog::getSourceOpenniFx() const
 {
-	return _ui->doubleSpinBox_openniFocal->value();
+	return _ui->doubleSpinBox_openniFx->value();
+}
+float PreferencesDialog::getSourceOpenniFy() const
+{
+	return _ui->doubleSpinBox_openniFy->value();
+}
+float PreferencesDialog::getSourceOpenniCx() const
+{
+	return _ui->doubleSpinBox_openniCx->value();
+}
+float PreferencesDialog::getSourceOpenniCy() const
+{
+	return _ui->doubleSpinBox_openniCy->value();
 }
 
 bool PreferencesDialog::isStatisticsPublished() const
@@ -2778,14 +2804,20 @@ void PreferencesDialog::testOdometry(int type)
 			this->getSourceOpenniDevice().toStdString(),
 			this->getGeneralInputRate(),
 			this->getSourceOpenniLocalTransform(),
-			this->getSourceOpenniFocalLength());
+			this->getSourceOpenniFx(),
+			this->getSourceOpenniFy(),
+			this->getSourceOpenniCx(),
+			this->getSourceOpenniCy());
 	}
 	else if(this->getSourceRGBD() == kSrcOpenNI2)
 	{
 		camera = new CameraOpenNI2(
 			this->getGeneralInputRate(),
 			this->getSourceOpenniLocalTransform(),
-			this->getSourceOpenniFocalLength());
+			this->getSourceOpenniFx(),
+			this->getSourceOpenniFy(),
+			this->getSourceOpenniCx(),
+			this->getSourceOpenniCy());
 
 	}
 	else if(this->getSourceRGBD() == kSrcFreenect)
@@ -2794,7 +2826,10 @@ void PreferencesDialog::testOdometry(int type)
 			this->getSourceOpenniDevice().isEmpty()?0:atoi(this->getSourceOpenniDevice().toStdString().c_str()),
 			this->getGeneralInputRate(),
 			this->getSourceOpenniLocalTransform(),
-			this->getSourceOpenniFocalLength());
+			this->getSourceOpenniFx(),
+			this->getSourceOpenniFy(),
+			this->getSourceOpenniCx(),
+			this->getSourceOpenniCy());
 	}
 	else if(this->getSourceRGBD() == kSrcOpenNI_CV || this->getSourceRGBD() == kSrcOpenNI_CV_ASUS)
 	{
@@ -2802,7 +2837,10 @@ void PreferencesDialog::testOdometry(int type)
 			this->getSourceRGBD() == kSrcOpenNI_CV_ASUS,
 			this->getGeneralInputRate(),
 			this->getSourceOpenniLocalTransform(),
-			this->getSourceOpenniFocalLength());
+			this->getSourceOpenniFx(),
+			this->getSourceOpenniFy(),
+			this->getSourceOpenniCx(),
+			this->getSourceOpenniCy());
 	}
 	else
 	{
@@ -2881,4 +2919,90 @@ void PreferencesDialog::cleanOdometryTest()
 	_ui->pushButton_testOdometry->setEnabled(true);
 }
 
+
+void PreferencesDialog::calibrate()
+{
+	CameraRGBD * camera = 0;
+	if(this->getSourceRGBD() == kSrcOpenNI_PCL)
+	{
+		camera = new CameraOpenni(
+			this->getSourceOpenniDevice().toStdString(),
+			this->getGeneralInputRate(),
+			this->getSourceOpenniLocalTransform(),
+			this->getSourceOpenniFx(),
+			this->getSourceOpenniFy(),
+			this->getSourceOpenniCx(),
+			this->getSourceOpenniCy());
+	}
+	else if(this->getSourceRGBD() == kSrcOpenNI2)
+	{
+		camera = new CameraOpenNI2(
+			this->getGeneralInputRate(),
+			this->getSourceOpenniLocalTransform(),
+			this->getSourceOpenniFx(),
+			this->getSourceOpenniFy(),
+			this->getSourceOpenniCx(),
+			this->getSourceOpenniCy());
+
+	}
+	else if(this->getSourceRGBD() == kSrcFreenect)
+	{
+		camera = new CameraFreenect(
+			this->getSourceOpenniDevice().isEmpty()?0:atoi(this->getSourceOpenniDevice().toStdString().c_str()),
+			this->getGeneralInputRate(),
+			this->getSourceOpenniLocalTransform(),
+			this->getSourceOpenniFx(),
+			this->getSourceOpenniFy(),
+			this->getSourceOpenniCx(),
+			this->getSourceOpenniCy());
+	}
+	else if(this->getSourceRGBD() == kSrcOpenNI_CV || this->getSourceRGBD() == kSrcOpenNI_CV_ASUS)
+	{
+		camera = new CameraOpenNICV(
+			this->getSourceRGBD() == kSrcOpenNI_CV_ASUS,
+			this->getGeneralInputRate(),
+			this->getSourceOpenniLocalTransform(),
+			this->getSourceOpenniFx(),
+			this->getSourceOpenniFy(),
+			this->getSourceOpenniCx(),
+			this->getSourceOpenniCy());
+	}
+	else
+	{
+		UFATAL("RGBD Source type undefined!");
+	}
+
+	if(!camera->init())
+	{
+		QMessageBox::warning(this,
+			   tr("RTAB-Map"),
+			   tr("RGBD camera initialization failed!"));
+		delete camera;
+		camera = 0;
+	}
+
+
+	if(camera)
+	{
+		CalibrationDialog * dialog = new CalibrationDialog(this);
+		dialog->registerToEventsManager();
+
+		CameraThread cameraThread(camera);
+		UEventsManager::createPipe(&cameraThread, dialog, "CameraEvent");
+
+		cameraThread.start();
+
+		if(dialog->exec() == QDialog::Accepted)
+		{
+			_ui->doubleSpinBox_openniFx->setValue(dialog->fx());
+			_ui->doubleSpinBox_openniFy->setValue(dialog->fy());
+			_ui->doubleSpinBox_openniCx->setValue(dialog->cx());
+			_ui->doubleSpinBox_openniCy->setValue(dialog->cy());
+		}
+
+		cameraThread.join(true);
+		delete dialog;
+	}
+}
+
 }

guilib/src/ui/aboutDialog.ui

@@ -222,7 +222,7 @@ p, li { white-space: pre-wrap; }
         <item>
          <widget class="QLabel" name="label_5">
           <property name="text">
-           <string>Copyright (C) 2011 IntRoLab - Université de Sherbrooke</string>
+           <string>Copyright (C) 2010-2014 IntRoLab - Université de Sherbrooke</string>
           </property>
           <property name="alignment">
            <set>Qt::AlignCenter</set>

guilib/src/ui/calibrationDialog.ui

@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>629</width>
-    <height>452</height>
+    <width>1040</width>
+    <height>745</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -33,84 +33,158 @@
      <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>
+        <widget class="QGroupBox" name="groupBox">
+         <property name="title">
+          <string>Chessboard</string>
+         </property>
+         <layout class="QFormLayout" name="formLayout_3">
+          <item row="0" column="0">
+           <widget class="QLabel" name="label_12">
+            <property name="toolTip">
+             <string>Number of inner squares on the board</string>
+            </property>
+            <property name="text">
+             <string>Board width</string>
+            </property>
+           </widget>
+          </item>
+          <item row="0" column="1">
+           <widget class="QSpinBox" name="spinBox_boardWidth">
+            <property name="minimum">
+             <number>2</number>
+            </property>
+            <property name="value">
+             <number>8</number>
+            </property>
+           </widget>
+          </item>
+          <item row="1" column="0">
+           <widget class="QLabel" name="label_15">
+            <property name="toolTip">
+             <string>Number of inner squares on the board</string>
+            </property>
+            <property name="text">
+             <string>Board height</string>
+            </property>
+           </widget>
+          </item>
+          <item row="1" column="1">
+           <widget class="QSpinBox" name="spinBox_boardHeight">
+            <property name="minimum">
+             <number>2</number>
+            </property>
+            <property name="value">
+             <number>6</number>
+            </property>
+           </widget>
+          </item>
+          <item row="2" column="0">
+           <widget class="QLabel" name="label_16">
+            <property name="text">
+             <string>Square size (m)</string>
+            </property>
+           </widget>
+          </item>
+          <item row="2" column="1">
+           <widget class="QDoubleSpinBox" name="doubleSpinBox_squareSize">
+            <property name="decimals">
+             <number>3</number>
+            </property>
+            <property name="maximum">
+             <double>1.000000000000000</double>
+            </property>
+            <property name="value">
+             <double>0.033000000000000</double>
+            </property>
+           </widget>
+          </item>
+         </layout>
+        </widget>
+       </item>
+       <item>
+        <widget class="QGroupBox" name="groupBox_2">
+         <property name="title">
+          <string>Progress</string>
+         </property>
+         <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>
+        </widget>
        </item>
        <item>
         <widget class="QPushButton" name="pushButton_calibrate">
@@ -120,134 +194,139 @@
         </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>
+        <widget class="QGroupBox" name="groupBox_3">
+         <property name="title">
+          <string>Camera intrinsic parameters</string>
+         </property>
+         <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="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>
+          <item row="7" column="0" colspan="2">
+           <widget class="QLabel" name="label_13">
+            <property name="text">
+             <string/>
+            </property>
+           </widget>
+          </item>
+         </layout>
+        </widget>
        </item>
        <item>
         <layout class="QHBoxLayout" name="horizontalLayout">
@@ -258,13 +337,6 @@
            </property>
           </widget>
          </item>
-         <item>
-          <widget class="QPushButton" name="pushButton_save">
-           <property name="text">
-            <string>Save</string>
-           </property>
-          </widget>
-         </item>
         </layout>
        </item>
        <item>
@@ -285,28 +357,11 @@
     </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>
+    <widget class="QDialogButtonBox" name="buttonBox">
+     <property name="standardButtons">
+      <set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok</set>
+     </property>
+    </widget>
    </item>
   </layout>
  </widget>

guilib/src/ui/preferencesDialog.ui

@@ -6,7 +6,7 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>1007</width>
+    <width>1035</width>
     <height>628</height>
    </rect>
   </property>
@@ -63,9 +63,9 @@
           <property name="geometry">
            <rect>
             <x>0</x>
-            <y>0</y>
-            <width>709</width>
-            <height>853</height>
+            <y>-617</y>
+            <width>732</width>
+            <height>1198</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_16">
@@ -86,7 +86,7 @@
                 <enum>QFrame::Raised</enum>
                </property>
                <property name="currentIndex">
-                <number>1</number>
+                <number>3</number>
                </property>
                <widget class="QWidget" name="page_22">
                 <layout class="QVBoxLayout" name="verticalLayout_29">
@@ -1763,25 +1763,97 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                            </property>
                           </widget>
                          </item>
-                         <item row="2" column="0">
-                          <widget class="QDoubleSpinBox" name="doubleSpinBox_openniFocal">
-                           <property name="maximum">
-                            <double>1000.000000000000000</double>
-                           </property>
-                          </widget>
-                         </item>
-                         <item row="2" column="1">
-                          <widget class="QLabel" name="label_160">
-                           <property name="text">
-                            <string>Intrinsic focal length (fx=fy, K[4]). Set 0 to use the default from the camera. Examples:  ~525 for Kinect, ~545 for Xtion Pro Live.</string>
-                           </property>
-                           <property name="wordWrap">
-                            <bool>true</bool>
-                           </property>
-                          </widget>
-                         </item>
                         </layout>
                        </item>
+                       <item>
+                        <widget class="QGroupBox" name="groupBox_3">
+                         <property name="title">
+                          <string>Calibration</string>
+                         </property>
+                         <layout class="QVBoxLayout" name="verticalLayout_41">
+                          <item>
+                           <widget class="QLabel" name="label_160">
+                            <property name="text">
+                             <string>Camera intrinsic parameters. While the default values are good, a calibration is recommended to increase the precision of the 3D clouds. Set values to 0 to use the default parameters from the camera. For example, the focal length is ~525 for Kinect and ~545 for Xtion Pro Live. The button &quot;Calibrate&quot; below can be used to calibrate the camera with a chessboard pattern.</string>
+                            </property>
+                            <property name="wordWrap">
+                             <bool>true</bool>
+                            </property>
+                           </widget>
+                          </item>
+                          <item>
+                           <layout class="QFormLayout" name="formLayout_21">
+                            <property name="fieldGrowthPolicy">
+                             <enum>QFormLayout::ExpandingFieldsGrow</enum>
+                            </property>
+                            <item row="0" column="0">
+                             <widget class="QDoubleSpinBox" name="doubleSpinBox_openniFx">
+                              <property name="maximum">
+                               <double>1000.000000000000000</double>
+                              </property>
+                             </widget>
+                            </item>
+                            <item row="0" column="1">
+                             <widget class="QLabel" name="label_161">
+                              <property name="text">
+                               <string>fx=K[0]</string>
+                              </property>
+                             </widget>
+                            </item>
+                            <item row="1" column="0">
+                             <widget class="QDoubleSpinBox" name="doubleSpinBox_openniFy">
+                              <property name="maximum">
+                               <double>1000.000000000000000</double>
+                              </property>
+                             </widget>
+                            </item>
+                            <item row="1" column="1">
+                             <widget class="QLabel" name="label_162">
+                              <property name="text">
+                               <string>fy=K[4]</string>
+                              </property>
+                             </widget>
+                            </item>
+                            <item row="2" column="0">
+                             <widget class="QDoubleSpinBox" name="doubleSpinBox_openniCx">
+                              <property name="maximum">
+                               <double>1000.000000000000000</double>
+                              </property>
+                             </widget>
+                            </item>
+                            <item row="2" column="1">
+                             <widget class="QLabel" name="label_166">
+                              <property name="text">
+                               <string>cx=K[2]</string>
+                              </property>
+                             </widget>
+                            </item>
+                            <item row="3" column="0">
+                             <widget class="QDoubleSpinBox" name="doubleSpinBox_openniCy">
+                              <property name="maximum">
+                               <double>1000.000000000000000</double>
+                              </property>
+                             </widget>
+                            </item>
+                            <item row="3" column="1">
+                             <widget class="QLabel" name="label_165">
+                              <property name="text">
+                               <string>cy=K[5]</string>
+                              </property>
+                             </widget>
+                            </item>
+                           </layout>
+                          </item>
+                          <item>
+                           <widget class="QPushButton" name="pushButton_calibrate">
+                            <property name="text">
+                             <string>Calibrate</string>
+                            </property>
+                           </widget>
+                          </item>
+                         </layout>
+                        </widget>
+                       </item>
                       </layout>
                      </widget>
                     </item>