#include <CalibrationDialog.h>

Inheritance diagram for rtabmap::CalibrationDialog:

Public Slots
void	calibrate ()
void	processImages (const cv::Mat &imageLeft, const cv::Mat &imageRight, const QString &cameraName)
void	restart ()
bool	save ()
void	setBoardHeight (int height)
void	setBoardWidth (int width)
void	setMaxScale (int scale)
void	setSquareSize (double size)
Public Member Functions
	CalibrationDialog (bool stereo=false, const QString &savingDirectory=".", bool switchImages=false, QWidget *parent=0)
const rtabmap::CameraModel &	getLeftCameraModel () const
const rtabmap::CameraModel &	getRightCameraModel () const
const rtabmap::StereoCameraModel &	getStereoCameraModel () const
int	getStereoPairs () const
bool	isCalibrated () const
bool	isProcessing () const
void	loadSettings (QSettings &settings, const QString &group="")
void	resetSettings ()
void	saveSettings (QSettings &settings, const QString &group="") const
void	setCameraName (const QString &name)
void	setProgressVisibility (bool visible)
void	setSavingDirectory (const QString &savingDirectory)
void	setStereoMode (bool stereo, const QString &leftSuffix="left", const QString &rightSuffix="right")
void	setSwitchedImages (bool switched)
StereoCameraModel	stereoCalibration (const CameraModel &left, const CameraModel &right, bool ignoreStereoRectification) const
virtual	~CalibrationDialog ()
Protected Member Functions
virtual void	closeEvent (QCloseEvent *event)
virtual bool	handleEvent (UEvent *event)
Private Slots
void	unlock ()
Private Member Functions
float	getArea (const std::vector< cv::Point2f > &corners, const cv::Size &boardSize)
void	getParams (const std::vector< cv::Point2f > &corners, const cv::Size &boardSize, const cv::Size &imageSize, float &x, float &y, float &size, float &skew)
float	getSkew (const std::vector< cv::Point2f > &corners, const cv::Size &boardSize)
Private Attributes
QString	cameraName_
std::vector< std::vector < std::vector< float > > >	imageParams_
std::vector< std::vector < std::vector< cv::Point2f > > >	imagePoints_
std::vector< cv::Size >	imageSize_
QString	leftSuffix_
std::vector< unsigned short >	maxIrs_
std::vector< unsigned short >	minIrs_
std::vector< rtabmap::CameraModel >	models_
bool	processingData_
QString	rightSuffix_
bool	savedCalibration_
QString	savingDirectory_
bool	stereo_
std::vector< std::vector < std::vector< cv::Point2f > > >	stereoImagePoints_
rtabmap::StereoCameraModel	stereoModel_
Ui_calibrationDialog *	ui_

Detailed Description

Definition at line 46 of file CalibrationDialog.h.

Constructor & Destructor Documentation

rtabmap::CalibrationDialog::CalibrationDialog	(	bool	stereo = `false`,
		const QString &	savingDirectory = `"."`,
		bool	switchImages = `false`,
		QWidget *	parent = `0`
	)

Definition at line 53 of file CalibrationDialog.cpp.

rtabmap::CalibrationDialog::~CalibrationDialog ( ) [virtual]

Definition at line 110 of file CalibrationDialog.cpp.

Member Function Documentation

void rtabmap::CalibrationDialog::calibrate ( ) [slot]

Definition at line 680 of file CalibrationDialog.cpp.

void rtabmap::CalibrationDialog::closeEvent ( QCloseEvent * event ) [protected, virtual]

Definition at line 241 of file CalibrationDialog.cpp.

float rtabmap::CalibrationDialog::getArea	(	const std::vector< cv::Point2f > &	corners,
		const cv::Size &	boardSize
	)		`[private]`

Definition at line 1115 of file CalibrationDialog.cpp.

const rtabmap::CameraModel& rtabmap::CalibrationDialog::getLeftCameraModel ( ) const [inline]

Definition at line 55 of file CalibrationDialog.h.

void rtabmap::CalibrationDialog::getParams	(	const std::vector< cv::Point2f > &	corners,
		const cv::Size &	boardSize,
		const cv::Size &	imageSize,
		float &	x,
		float &	y,
		float &	size,
		float &	skew
	)		`[private]`

Definition at line 1157 of file CalibrationDialog.cpp.

const rtabmap::CameraModel& rtabmap::CalibrationDialog::getRightCameraModel ( ) const [inline]

Definition at line 56 of file CalibrationDialog.h.

float rtabmap::CalibrationDialog::getSkew	(	const std::vector< cv::Point2f > &	corners,
		const cv::Size &	boardSize
	)		`[private]`

Definition at line 1133 of file CalibrationDialog.cpp.

const rtabmap::StereoCameraModel& rtabmap::CalibrationDialog::getStereoCameraModel ( ) const [inline]

Definition at line 57 of file CalibrationDialog.h.

int rtabmap::CalibrationDialog::getStereoPairs ( ) const [inline]

Definition at line 59 of file CalibrationDialog.h.

bool rtabmap::CalibrationDialog::handleEvent ( UEvent * event ) [protected, virtual]

Method called by the UEventsManager to handle an event. Important : this method must do a minimum of work because the faster the dispatching loop is done; the faster the events are received. If a handling function takes too much time, the events list can grow faster than it is emptied. The event can be modified.

Returns:: "true" to notify UEventsManager that this handler took ownership of the event (meaning it must delete it). The event will not be dispatched to next handlers.; "false" to let event be dispatched to next handlers (default behavior). UEventsManager will take care of deleting the event.

Implements UEventsHandler.

Definition at line 275 of file CalibrationDialog.cpp.

bool rtabmap::CalibrationDialog::isCalibrated ( ) const [inline]

Definition at line 54 of file CalibrationDialog.h.

bool rtabmap::CalibrationDialog::isProcessing ( ) const [inline]

Definition at line 58 of file CalibrationDialog.h.

void rtabmap::CalibrationDialog::loadSettings	(	QSettings &	settings,
		const QString &	group = `""`
	)

Definition at line 133 of file CalibrationDialog.cpp.

void rtabmap::CalibrationDialog::processImages	(	const cv::Mat &	imageLeft,
		const cv::Mat &	imageRight,
		const QString &	cameraName
	)		`[slot]`

Definition at line 295 of file CalibrationDialog.cpp.

void rtabmap::CalibrationDialog::resetSettings ( )

Definition at line 154 of file CalibrationDialog.cpp.

void rtabmap::CalibrationDialog::restart ( ) [slot]

Definition at line 614 of file CalibrationDialog.cpp.

bool rtabmap::CalibrationDialog::save ( ) [slot]

Definition at line 1053 of file CalibrationDialog.cpp.

void rtabmap::CalibrationDialog::saveSettings	(	QSettings &	settings,
		const QString &	group = `""`
	)		const

Definition at line 116 of file CalibrationDialog.cpp.

void rtabmap::CalibrationDialog::setBoardHeight ( int height ) [slot]

Definition at line 215 of file CalibrationDialog.cpp.

void rtabmap::CalibrationDialog::setBoardWidth ( int width ) [slot]

Definition at line 206 of file CalibrationDialog.cpp.

void rtabmap::CalibrationDialog::setCameraName ( const QString & name )

Definition at line 161 of file CalibrationDialog.cpp.

void rtabmap::CalibrationDialog::setMaxScale ( int scale ) [slot]

Definition at line 233 of file CalibrationDialog.cpp.

void rtabmap::CalibrationDialog::setProgressVisibility ( bool visible )

Definition at line 166 of file CalibrationDialog.cpp.

void rtabmap::CalibrationDialog::setSavingDirectory ( const QString & savingDirectory ) [inline]

Definition at line 69 of file CalibrationDialog.h.

void rtabmap::CalibrationDialog::setSquareSize ( double size ) [slot]

Definition at line 224 of file CalibrationDialog.cpp.

void rtabmap::CalibrationDialog::setStereoMode	(	bool	stereo,
		const QString &	leftSuffix = `"left"`,
		const QString &	rightSuffix = `"right"`
	)

Definition at line 176 of file CalibrationDialog.cpp.

void rtabmap::CalibrationDialog::setSwitchedImages ( bool switched )

Definition at line 171 of file CalibrationDialog.cpp.

StereoCameraModel rtabmap::CalibrationDialog::stereoCalibration	(	const CameraModel &	left,
		const CameraModel &	right,
		bool	ignoreStereoRectification
	)		const