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 );