i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-04 00:37:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

DBViewer: show local transform in calibration parameters, increased precision of small numbers < 0.001 for parameters toolbox

Browse Source
This commit is contained in:
matlabbe
2016-11-16 11:39:44 -05:00
parent f6cca3313a
commit d73394abd8
2 changed files with 14 additions and 7 deletions
Download Patch File Download Diff File Expand all files Collapse all files
guilib/src/DatabaseViewer.cpp
+9 -6
View File
@@ -2419,7 +2419,7 @@ void DatabaseViewer::update(int value,
{
if(!data.depthRaw().empty() && data.depthRaw().cols!=data.imageRaw().cols && data.imageRaw().cols)
{
labelCalib->setText(tr("%1 %2x%3 [%8x%9] fx=%4 fy=%5 cx=%6 cy=%7")
labelCalib->setText(tr("%1 %2x%3 [%8x%9] fx=%4 fy=%5 cx=%6 cy=%7 T=%10")
.arg(data.cameraModels().size())
.arg(data.cameraModels()[0].imageWidth()>0?data.cameraModels()[0].imageWidth():data.imageRaw().cols/data.cameraModels().size())
.arg(data.cameraModels()[0].imageHeight()>0?data.cameraModels()[0].imageHeight():data.imageRaw().rows)
@@ -2428,31 +2428,34 @@ void DatabaseViewer::update(int value,
.arg(data.cameraModels()[0].cx())
.arg(data.cameraModels()[0].cy())
.arg(data.depthRaw().cols/data.cameraModels().size())
.arg(data.depthRaw().rows));
.arg(data.depthRaw().rows)
.arg(data.cameraModels()[0].localTransform().prettyPrint().c_str()));
}
else
{
labelCalib->setText(tr("%1 %2x%3 fx=%4 fy=%5 cx=%6 cy=%7")
labelCalib->setText(tr("%1 %2x%3 fx=%4 fy=%5 cx=%6 cy=%7 T=%8")
.arg(data.cameraModels().size())
.arg(data.cameraModels()[0].imageWidth()>0?data.cameraModels()[0].imageWidth():data.imageRaw().cols/data.cameraModels().size())
.arg(data.cameraModels()[0].imageHeight()>0?data.cameraModels()[0].imageHeight():data.imageRaw().rows)
.arg(data.cameraModels()[0].fx())
.arg(data.cameraModels()[0].fy())
.arg(data.cameraModels()[0].cx())
.arg(data.cameraModels()[0].cy()));
.arg(data.cameraModels()[0].cy())
.arg(data.cameraModels()[0].localTransform().prettyPrint().c_str()));
}
}
else
{
//stereo
labelCalib->setText(tr("%1x%2 fx=%3 fy=%4 cx=%5 cy=%6 baseline=%7m")
labelCalib->setText(tr("%1x%2 fx=%3 fy=%4 cx=%5 cy=%6 baseline=%7m T=%8")
.arg(data.stereoCameraModel().left().imageWidth()>0?data.stereoCameraModel().left().imageWidth():data.imageRaw().cols)
.arg(data.stereoCameraModel().left().imageHeight()>0?data.stereoCameraModel().left().imageHeight():data.imageRaw().rows)
.arg(data.stereoCameraModel().left().fx())
.arg(data.stereoCameraModel().left().fy())
.arg(data.stereoCameraModel().left().cx())
.arg(data.stereoCameraModel().left().cy())
.arg(data.stereoCameraModel().baseline()));
.arg(data.stereoCameraModel().baseline())
.arg(data.stereoCameraModel().localTransform().prettyPrint().c_str()));
}
}
guilib/src/ParametersToolBox.cpp
+5 -1
View File
@@ -358,7 +358,11 @@ void ParametersToolBox::addParameter(QVBoxLayout * layout,
{
QDoubleSpinBox * widget = new QDoubleSpinBox(this);
double def = uStr2Double(Parameters::getDefaultParameters().at(key.toStdString()));
if(def<0.01)
if(def<0.001)
{
widget->setDecimals(5);
}
else if(def<0.01)
{
widget->setDecimals(4);
}