i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-12 14:30:19 +08:00
Code Issues Packages Projects Releases Wiki Activity

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.

Browse Source 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1613 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-07-26 04:36:00 +00:00
parent 1557b3d44d
commit f090c81aaf
44 changed files with 1389 additions and 715 deletions
Download Patch File Download Diff File Expand all files Collapse all files
guilib/src/CalibrationDialog.cpp
+39 -7
View File
@@ -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)