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GUI: Added new Freenect2 and StereoDC1394 source options.

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This commit is contained in:
Mathieu Labbe
2015-04-06 00:28:04 -04:00
parent fee32c4e25
commit 04b35b2adf
22 changed files with 765 additions and 758 deletions
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guilib/include/rtabmap/gui/CalibrationDialog.h
+13 -10
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@@ -31,6 +31,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/gui/RtabmapGuiExp.h" // DLL export/import defines
#include <QDialog>
#include <QSettings>
#include <opencv2/opencv.hpp>
#include <rtabmap/core/CameraModel.h>
@@ -46,16 +47,18 @@ class RTABMAPGUI_EXP CalibrationDialog : public QDialog, public UEventsHandler
Q_OBJECT;
public:
CalibrationDialog(bool stereo = false, QWidget * parent = 0);
CalibrationDialog(bool stereo = false, const QString & savingDirectory = ".", QWidget * parent = 0);
virtual ~CalibrationDialog();
bool isCalibrated() const {return calibrated_;}
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)
const rtabmap::CameraModel & getCameraModel() const {return model_;}
const rtabmap::StereoCameraModel & getStereoCameraModel() const {return stereoModel_;}
void saveSettings(QSettings & settings, const QString & group = "") const;
void loadSettings(QSettings & settings, const QString & group = "");
void setStereoMode(bool stereo);
void setSavingDirectory(const QString & savingDirectory) {savingDirectory_ = savingDirectory;}
public slots:
void setBoardWidth(int width);
@@ -66,7 +69,7 @@ private slots:
void processImages(const cv::Mat & imageLeft, const cv::Mat & imageRight, const QString & cameraName);
void restart();
void calibrate();
void save();
bool save();
protected:
virtual void closeEvent(QCloseEvent* event);
@@ -85,13 +88,13 @@ private:
private:
// parameters
cv::Size boardSize_; // innner squares
float squareSize_; // m
bool stereo_;
QString savingDirectory_;
QString cameraName_;
bool calibrated_;
bool processingData_;
bool savedCalibration_;
std::vector<std::vector<std::vector<cv::Point2f> > > imagePoints_;
std::vector<std::vector<std::vector<float> > > imageParams_;