diff --git a/guilib/src/CalibrationDialog.cpp b/guilib/src/CalibrationDialog.cpp index 6fdc6fcc..02cacd1c 100644 --- a/guilib/src/CalibrationDialog.cpp +++ b/guilib/src/CalibrationDialog.cpp @@ -722,8 +722,8 @@ void CalibrationDialog::calibrate() P.at(2,3) = 1; K.copyTo(P.colRange(0,3).rowRange(0,3)); - std::cout << "cameraMatrix = " << K << std::endl; - std::cout << "distCoeffs = " << D << std::endl; + std::cout << "K = " << K << std::endl; + std::cout << "D = " << D << std::endl; std::cout << "width = " << imageSize_[id].width << std::endl; std::cout << "height = " << imageSize_[id].height << std::endl; @@ -738,8 +738,8 @@ void CalibrationDialog::calibrate() ui_->label_error->setNum(totalAvgErr); std::stringstream strK, strD, strR, strP; - strK << models_[id].K(); - strD << models_[id].D(); + strK << models_[id].K_raw(); + strD << models_[id].D_raw(); strR << models_[id].R(); strP << models_[id].P(); ui_->lineEdit_K->setText(strK.str().c_str()); @@ -756,8 +756,8 @@ void CalibrationDialog::calibrate() ui_->label_error_2->setNum(totalAvgErr); std::stringstream strK, strD, strR, strP; - strK << models_[id].K(); - strD << models_[id].D(); + strK << models_[id].K_raw(); + strD << models_[id].D_raw(); strR << models_[id].R(); strP << models_[id].P(); ui_->lineEdit_K_2->setText(strK.str().c_str()); @@ -806,6 +806,11 @@ void CalibrationDialog::calibrate() #endif UINFO("stereo calibration... done with RMS error=%f", rms); + std::cout << "R = " << R << std::endl; + std::cout << "T = " << T << std::endl; + std::cout << "E = " << E << std::endl; + std::cout << "F = " << F << std::endl; + if(imageSize_[0] == imageSize_[1]) { //Stereo, compute stereo rectification diff --git a/guilib/src/ui/calibrationDialog.ui b/guilib/src/ui/calibrationDialog.ui index dd92f251..8cb3fc7f 100644 --- a/guilib/src/ui/calibrationDialog.ui +++ b/guilib/src/ui/calibrationDialog.ui @@ -7,7 +7,7 @@ 0 0 1314 - 860 + 853 @@ -136,600 +136,618 @@ - - - - - Chessboard + + + true + + + + + 0 + 0 + 371 + 822 + + + + + 0 - - - - - 2 - - - 6 - - - - - - - Number of inner squares on the board - - - Square size - - - - - - - Number of inner squares on the board - - - Board size - - - - - - - Number of inner squares on the board - - - - - - - - - - 2 - - - 8 - - - - - - - m - - - 4 - - - 1.000000000000000 - - - 0.033000000000000 - - - - - - - Number of inner squares on the board - - - Download - - - - - - - Number of inner squares on the board - - - <html><head/><body><p><a href="https://github.com/introlab/rtabmap/raw/master/bin/data/check-108.pdf"><span style=" text-decoration: underline; color:#0000ff;">Sample8x6</span></a></p></body></html> - - - true - - - - - - - 1 - - - 3 - - - 1 - - - - - - - Number of inner squares on the board - - - Max scale - - - - - - - - - - Progress - - - - - - X - - - - - - - Skew - - - - - - - 24 - - - - - - - 24 - - - - - - - Y - - - - - - - 24 - - - %p - - - - - - - 24 - - - %p% - - - - - - - 24 - - - - - - - Size - - - - - - - Count - - - - - - - 24 - - - true - - - QProgressBar::TopToBottom - - - %p% - - - - - - - 24 - - - true - - - - - - - 24 - - - true - - - - - - - 24 - - - true - - - - - - - Serial - - - - - - - 0 - - - Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse - - - - - - - 24 - - - true - - - %p - - - - - - - Switch images - - - - - - - - - + + + Chessboard + + + + + + 2 + + + 6 + + + + + + + Number of inner squares on the board + + + Square size + + + + + + + Number of inner squares on the board + + + Board size + + + + + + + Number of inner squares on the board + + + + + + + + + + 2 + + + 8 + + + + + + + m + + + 4 + + + 1.000000000000000 + + + 0.033000000000000 + + + + + + + Number of inner squares on the board + + + Download + + + + + + + Number of inner squares on the board + + + <html><head/><body><p><a href="https://github.com/introlab/rtabmap/raw/master/bin/data/check-108.pdf"><span style=" text-decoration: underline; color:#0000ff;">Sample8x6</span></a></p></body></html> + + + true + + + + + + + 1 + + + 3 + + + 1 + + + + + + + Number of inner squares on the board + + + Max scale + + + + + + + + + + Progress + + + + + + X + + + + + + + Skew + + + + + + + 24 + + + + + + + 24 + + + + + + + Y + + + + + + + 24 + + + %p + + + + + + + 24 + + + %p% + + + + + + + 24 + + + + + + + Size + + + + + + + Count + + + + + + + 24 + + + true + + + QProgressBar::TopToBottom + + + %p% + + + + + + + 24 + + + true + + + + + + + 24 + + + true + + + + + + + 24 + + + true + + + + + + + Serial + + + + + + + 0 + + + Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse + + + + + + + 24 + + + true + + + %p + + + + + + + Switch images + + + + + + + + + + + + Calibrate + + + + + + + Unlock + + + + + + + + + Camera intrinsic parameters + + + + + + 0 + + + Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse + + + + + + + 0 + + + Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse + + + + + + + true + + + + + + + 0 + + + Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse + + + + + + + cy + + + + + + + 0 + + + Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse + + + + + + + Camera matrix + + + K + + + + + + + fy + + + + + + + cx + + + + + + + fx + + + + + + + Distorsion coefficients + + + R + + + + + + + true + + + + + + + Distorsion coefficients + + + D + + + + + + + true + + + + + + + Avg. reproduction error + + + Error + + + + + + + 0 + + + + + + + 0 + + + Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse + + + + + + + 0 + + + Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse + + + + + + + 0 + + + Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse + + + + + + + 0 + + + Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse + + + + + + + true + + + + + + + Distorsion coefficients + + + P + + + + + + + true + + + + + + + true + + + + + + + true + + + + + + + true + + + + + + + baseline + + + + + + + 0 + + + Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse + + + + + + + 0 + + + + + + + + - Calibrate + Export calibration (*.yaml) - - - Unlock + + + + + Restart + + + + + + + + + Qt::Vertical - + + + 20 + 40 + + + - - - - - Camera intrinsic parameters - - - - - - 0 - - - Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse - - - - - - - 0 - - - Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse - - - - - - - true - - - - - - - 0 - - - Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse - - - - - - - cy - - - - - - - 0 - - - Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse - - - - - - - Camera matrix - - - K - - - - - - - fy - - - - - - - cx - - - - - - - fx - - - - - - - Distorsion coefficients - - - R - - - - - - - true - - - - - - - Distorsion coefficients - - - D - - - - - - - true - - - - - - - Avg. reproduction error - - - Error - - - - - - - 0 - - - - - - - 0 - - - Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse - - - - - - - 0 - - - Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse - - - - - - - 0 - - - Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse - - - - - - - 0 - - - Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse - - - - - - - true - - - - - - - Distorsion coefficients - - - P - - - - - - - true - - - - - - - true - - - - - - - true - - - - - - - true - - - - - - - baseline - - - - - - - 0 - - - Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse - - - - - - - 0 - - - - - - - - - - Export calibration (*.yaml) - - - - - - - - - Restart - - - - - - - - - Qt::Vertical - - - - 20 - 40 - - - - - + +