Integration of CLAMS depth calibration #114

guilib/src/DepthCalibrationDialog.h

@@ -0,0 +1,83 @@
+/*
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef GUILIB_SRC_DEPTHCALIBRATIONDIALOG_H_
+#define GUILIB_SRC_DEPTHCALIBRATIONDIALOG_H_
+
+#include <QDialog>
+#include <QMap>
+#include <QtCore/QSettings>
+#include <rtabmap/core/Signature.h>
+#include <rtabmap/core/Parameters.h>
+
+class Ui_DepthCalibrationDialog;
+
+namespace clams {
+class DiscreteDepthDistortionModel;
+}
+
+namespace rtabmap {
+
+class ProgressDialog;
+
+class DepthCalibrationDialog : public QDialog
+{
+	Q_OBJECT
+
+public:
+	DepthCalibrationDialog(QWidget * parent = 0);
+	virtual ~DepthCalibrationDialog();
+
+	void saveSettings(QSettings & settings, const QString & group = "") const;
+	void loadSettings(QSettings & settings, const QString & group = "");
+
+	void calibrate(const std::map<int, Transform> & poses,
+			const QMap<int, Signature> & cachedSignatures,
+			const QString & workingDirectory,
+			const ParametersMap & parameters);
+
+signals:
+	void configChanged();
+
+public slots:
+	void restoreDefaults();
+
+private slots:
+	void saveModel();
+	void cancel();
+
+private:
+	Ui_DepthCalibrationDialog * _ui;
+	ProgressDialog * _progressDialog;
+	bool _canceled;
+	clams::DiscreteDepthDistortionModel * _model;
+	QString _workingDirectory;
+};
+
+} /* namespace rtabmap */
+
+#endif /* GUILIB_SRC_DEPTHCALIBRATIONDIALOG_H_ */