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Added CalibrationDialog in Preferences->source for convenience. The database is also changed to handle new FX, FY, CX and CY intrinsic parameters instead of only depthConstant parameter. Added version of the database in a new table Admin. Updated to version 0.7.0.

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1613 f169173b-cf89-36c8-b27e-44dbe73f0c83
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matlabbe
2014-07-26 04:36:00 +00:00
parent 1557b3d44d
commit f090c81aaf
44 changed files with 1389 additions and 715 deletions
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guilib/include/rtabmap/gui/CalibrationDialog.h
+13 -1
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@@ -27,11 +27,23 @@ public:
CalibrationDialog(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)
public slots:
void setBoardWidth(int width);
void setBoardHeight(int height);
void setSquareSize(double size);
private slots:
void processImage(const cv::Mat & image);
void restart();
void calibrate();
void exit();
protected:
virtual void closeEvent(QCloseEvent* event);