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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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116
guilib/src/ui/preferencesDialog.ui
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@@ -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>