Calibration: added max scale parameter

guilib/include/rtabmap/gui/CalibrationDialog.h

@@ -69,6 +69,7 @@ public slots:
 	void setBoardWidth(int width);
 	void setBoardHeight(int height);
 	void setSquareSize(double size);
+	void setMaxScale(int scale);
 
 private slots:
 	void processImages(const cv::Mat & imageLeft, const cv::Mat & imageRight, const QString & cameraName);

guilib/src/CalibrationDialog.cpp

@@ -80,6 +80,7 @@ CalibrationDialog::CalibrationDialog(bool stereo, const QString & savingDirector
 	connect(ui_->spinBox_boardWidth, SIGNAL(valueChanged(int)), this, SLOT(setBoardWidth(int)));
 	connect(ui_->spinBox_boardHeight, SIGNAL(valueChanged(int)), this, SLOT(setBoardHeight(int)));
 	connect(ui_->doubleSpinBox_squareSize, SIGNAL(valueChanged(double)), this, SLOT(setSquareSize(double)));
+	connect(ui_->spinBox_maxScale, SIGNAL(valueChanged(int)), this, SLOT(setMaxScale(int)));
 
 	connect(ui_->buttonBox, SIGNAL(rejected()), this, SLOT(close()));
 
@@ -112,6 +113,7 @@ void CalibrationDialog::saveSettings(QSettings & settings, const QString & group
 	settings.setValue("board_width", ui_->spinBox_boardWidth->value());
 	settings.setValue("board_height", ui_->spinBox_boardHeight->value());
 	settings.setValue("board_square_size", ui_->doubleSpinBox_squareSize->value());
+	settings.setValue("max_scale", ui_->spinBox_maxScale->value());
 	settings.setValue("geometry", this->saveGeometry());
 	if(!group.isEmpty())
 	{
@@ -128,6 +130,7 @@ void CalibrationDialog::loadSettings(QSettings & settings, const QString & group
 	this->setBoardWidth(settings.value("board_width", ui_->spinBox_boardWidth->value()).toInt());
 	this->setBoardHeight(settings.value("board_height", ui_->spinBox_boardHeight->value()).toInt());
 	this->setSquareSize(settings.value("board_square_size", ui_->doubleSpinBox_squareSize->value()).toDouble());
+	this->setMaxScale(settings.value("max_scale", ui_->spinBox_maxScale->value()).toDouble());
 	QByteArray bytes = settings.value("geometry", QByteArray()).toByteArray();
 	if(!bytes.isEmpty())
 	{
@@ -205,6 +208,14 @@ void CalibrationDialog::setSquareSize(double size)
 	}
 }
 
+void CalibrationDialog::setMaxScale(int scale)
+{
+	if(scale != ui_->spinBox_maxScale->value())
+	{
+		ui_->spinBox_maxScale->setValue(scale);
+	}
+}
+
 void CalibrationDialog::closeEvent(QCloseEvent* event)
 {
 	if(!savedCalibration_ && models_[0].isValidForRectification() &&
@@ -360,7 +371,7 @@ void CalibrationDialog::processImages(const cv::Mat & imageLeft, const cv::Mat &
 
 				if(!viewGray.empty())
 				{
-					int maxScale = viewGray.cols < 640?2:1;
+					int maxScale = ui_->spinBox_maxScale->value();
 					for( int scale = 1; scale <= maxScale; scale++ )
 					{
 						cv::Mat timg;

guilib/src/ui/calibrationDialog.ui

@@ -232,6 +232,29 @@
             </property>
            </widget>
           </item>
+          <item row="4" column="1">
+           <widget class="QSpinBox" name="spinBox_maxScale">
+            <property name="minimum">
+             <number>1</number>
+            </property>
+            <property name="maximum">
+             <number>3</number>
+            </property>
+            <property name="value">
+             <number>1</number>
+            </property>
+           </widget>
+          </item>
+          <item row="4" column="0">
+           <widget class="QLabel" name="label_22">
+            <property name="toolTip">
+             <string>Number of inner squares on the board</string>
+            </property>
+            <property name="text">
+             <string>Max scale</string>
+            </property>
+           </widget>
+          </item>
          </layout>
         </widget>
        </item>