i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 09:30:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

Added stereo option for the CalibrationDialog class

Browse Source
This commit is contained in:
Mathieu Labbe
2015-04-05 16:42:41 -04:00
parent 6a0e48a6fa
commit fee32c4e25
14 changed files with 1075 additions and 318 deletions
Download Patch File Download Diff File Expand all files Collapse all files

32
guilib/include/rtabmap/gui/CalibrationDialog.h
View File

@@ -33,6 +33,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <QDialog>
#include <opencv2/opencv.hpp>
#include <rtabmap/core/CameraModel.h>
#include <rtabmap/utilite/UEventsHandler.h>
class Ui_calibrationDialog;
@@ -44,16 +46,16 @@ class RTABMAPGUI_EXP CalibrationDialog : public QDialog, public UEventsHandler
Q_OBJECT;
public:
CalibrationDialog(QWidget * parent = 0);
CalibrationDialog(bool stereo = false, 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)
const cv::Mat & cameraMatrix() const {return model_.K();} // Matrix K
const cv::Mat & distCoeffs() const {return model_.D();} // Matrix D
float fx() const {return model_.fx();} // K(0)
float fy() const {return model_.fy();} // K(4)
float cx() const {return model_.cx();} // K(2)
float cy() const {return model_.cy();} // K(5)
public slots:
void setBoardWidth(int width);
@@ -61,7 +63,7 @@ public slots:
void setSquareSize(double size);
private slots:
void processImage(const cv::Mat & image);
void processImages(const cv::Mat & imageLeft, const cv::Mat & imageRight, const QString & cameraName);
void restart();
void calibrate();
void save();
@@ -85,13 +87,17 @@ private:
// parameters
cv::Size boardSize_; // innner squares
float squareSize_; // m
bool stereo_;
std::vector<std::vector<cv::Point2f> > imagePoints_;
std::vector<std::vector<float> > imageParams_;
cv::Size imageSize_;
QString cameraName_;
bool calibrated_;
cv::Mat cameraMatrix_;
cv::Mat distCoeffs_;
bool processingData_;
std::vector<std::vector<std::vector<cv::Point2f> > > imagePoints_;
std::vector<std::vector<std::vector<float> > > imageParams_;
std::vector<cv::Size > imageSize_;
rtabmap::CameraModel model_;
rtabmap::StereoCameraModel stereoModel_;
Ui_calibrationDialog * ui_;
};