Public Slots | Public Member Functions | Protected Member Functions | Private Slots | Private Member Functions | Private Attributes | List of all members
rtabmap::CalibrationDialog Class Reference

#include <CalibrationDialog.h>

Inheritance diagram for rtabmap::CalibrationDialog:
Inheritance graph
[legend]

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 setFisheyeImages (bool enabled)
 
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 ()
 
- Public Member Functions inherited from UEventsHandler
void registerToEventsManager ()
 
void unregisterFromEventsManager ()
 
- Public Member Functions inherited from UEventsSender
 UEventsSender ()
 
virtual ~UEventsSender ()
 

Protected Member Functions

virtual void closeEvent (QCloseEvent *event)
 
virtual bool handleEvent (UEvent *event)
 
- Protected Member Functions inherited from UEventsHandler
 UEventsHandler ()
 
virtual ~UEventsHandler ()
 
- Protected Member Functions inherited from UEventsSender
void post (UEvent *event, bool async=true) const
 

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 56 of file CalibrationDialog.cpp.

rtabmap::CalibrationDialog::~CalibrationDialog ( )
virtual

Definition at line 113 of file CalibrationDialog.cpp.

Member Function Documentation

void rtabmap::CalibrationDialog::calibrate ( )
slot

Definition at line 686 of file CalibrationDialog.cpp.

void rtabmap::CalibrationDialog::closeEvent ( QCloseEvent *  event)
protectedvirtual

Definition at line 249 of file CalibrationDialog.cpp.

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

Definition at line 1236 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 1278 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 1254 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)
protectedvirtual

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 283 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 136 of file CalibrationDialog.cpp.

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

Definition at line 303 of file CalibrationDialog.cpp.

void rtabmap::CalibrationDialog::resetSettings ( )

Definition at line 157 of file CalibrationDialog.cpp.

void rtabmap::CalibrationDialog::restart ( )
slot

Definition at line 620 of file CalibrationDialog.cpp.

bool rtabmap::CalibrationDialog::save ( )
slot

Definition at line 1174 of file CalibrationDialog.cpp.

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

Definition at line 119 of file CalibrationDialog.cpp.

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

Definition at line 223 of file CalibrationDialog.cpp.

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

Definition at line 214 of file CalibrationDialog.cpp.

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

Definition at line 164 of file CalibrationDialog.cpp.

void rtabmap::CalibrationDialog::setFisheyeImages ( bool  enabled)

Definition at line 179 of file CalibrationDialog.cpp.

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

Definition at line 241 of file CalibrationDialog.cpp.

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

Definition at line 169 of file CalibrationDialog.cpp.

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

Definition at line 70 of file CalibrationDialog.h.

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

Definition at line 232 of file CalibrationDialog.cpp.

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

Definition at line 184 of file CalibrationDialog.cpp.

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

Definition at line 174 of file CalibrationDialog.cpp.

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

Definition at line 908 of file CalibrationDialog.cpp.

void rtabmap::CalibrationDialog::unlock ( )
privateslot

Definition at line 680 of file CalibrationDialog.cpp.

Member Data Documentation

QString rtabmap::CalibrationDialog::cameraName_
private

Definition at line 110 of file CalibrationDialog.h.

std::vector<std::vector<std::vector<float> > > rtabmap::CalibrationDialog::imageParams_
private

Definition at line 115 of file CalibrationDialog.h.

std::vector<std::vector<std::vector<cv::Point2f> > > rtabmap::CalibrationDialog::imagePoints_
private

Definition at line 114 of file CalibrationDialog.h.

std::vector<cv::Size > rtabmap::CalibrationDialog::imageSize_
private

Definition at line 117 of file CalibrationDialog.h.

QString rtabmap::CalibrationDialog::leftSuffix_
private

Definition at line 106 of file CalibrationDialog.h.

std::vector<unsigned short> rtabmap::CalibrationDialog::maxIrs_
private

Definition at line 121 of file CalibrationDialog.h.

std::vector<unsigned short> rtabmap::CalibrationDialog::minIrs_
private

Definition at line 120 of file CalibrationDialog.h.

std::vector<rtabmap::CameraModel> rtabmap::CalibrationDialog::models_
private

Definition at line 118 of file CalibrationDialog.h.

bool rtabmap::CalibrationDialog::processingData_
private

Definition at line 111 of file CalibrationDialog.h.

QString rtabmap::CalibrationDialog::rightSuffix_
private

Definition at line 107 of file CalibrationDialog.h.

bool rtabmap::CalibrationDialog::savedCalibration_
private

Definition at line 112 of file CalibrationDialog.h.

QString rtabmap::CalibrationDialog::savingDirectory_
private

Definition at line 108 of file CalibrationDialog.h.

bool rtabmap::CalibrationDialog::stereo_
private

Definition at line 105 of file CalibrationDialog.h.

std::vector<std::vector<std::vector<cv::Point2f> > > rtabmap::CalibrationDialog::stereoImagePoints_
private

Definition at line 116 of file CalibrationDialog.h.

rtabmap::StereoCameraModel rtabmap::CalibrationDialog::stereoModel_
private

Definition at line 119 of file CalibrationDialog.h.

Ui_calibrationDialog* rtabmap::CalibrationDialog::ui_
private

Definition at line 123 of file CalibrationDialog.h.

The documentation for this class was generated from the following files:

rtabmap
Author(s): Mathieu Labbe
autogenerated on Mon Dec 14 2020 03:37:08