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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.

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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
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2
guilib/src/ui/aboutDialog.ui
View File

@@ -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>

529
guilib/src/ui/calibrationDialog.ui
View File

@@ -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>

116
guilib/src/ui/preferencesDialog.ui
View File

@@ -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>