#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	setExpectedStereoBaseline (double length)

void	setMaxScale (int scale)

void	setSquareSize (double size)

Public Member Functions
int	boardHeight () const

int	boardWidth () const

	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)

double	squareSize () const

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

◆ CalibrationDialog()

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

Definition at line 56 of file CalibrationDialog.cpp.

◆ ~CalibrationDialog()

rtabmap::CalibrationDialog::~CalibrationDialog ( )

virtual

Definition at line 113 of file CalibrationDialog.cpp.

Member Function Documentation

◆ boardHeight()

int rtabmap::CalibrationDialog::boardHeight ( ) const

Definition at line 220 of file CalibrationDialog.cpp.

◆ boardWidth()

int rtabmap::CalibrationDialog::boardWidth ( ) const

Definition at line 216 of file CalibrationDialog.cpp.

◆ calibrate

void rtabmap::CalibrationDialog::calibrate ( )

slot

Definition at line 714 of file CalibrationDialog.cpp.

◆ closeEvent()

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

protectedvirtual

Definition at line 272 of file CalibrationDialog.cpp.

◆ getArea()

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

private

Definition at line 1295 of file CalibrationDialog.cpp.

◆ getLeftCameraModel()

const rtabmap::CameraModel& rtabmap::CalibrationDialog::getLeftCameraModel ( ) const

inline

Definition at line 55 of file CalibrationDialog.h.

◆ getParams()

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 1337 of file CalibrationDialog.cpp.

◆ getRightCameraModel()

const rtabmap::CameraModel& rtabmap::CalibrationDialog::getRightCameraModel ( ) const

inline

Definition at line 56 of file CalibrationDialog.h.

◆ getSkew()

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

private

Definition at line 1313 of file CalibrationDialog.cpp.

◆ getStereoCameraModel()

const rtabmap::StereoCameraModel& rtabmap::CalibrationDialog::getStereoCameraModel ( ) const

inline

Definition at line 57 of file CalibrationDialog.h.

◆ getStereoPairs()

int rtabmap::CalibrationDialog::getStereoPairs ( ) const

inline

Definition at line 59 of file CalibrationDialog.h.

◆ handleEvent()

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 306 of file CalibrationDialog.cpp.

◆ isCalibrated()

bool rtabmap::CalibrationDialog::isCalibrated ( ) const

inline

Definition at line 54 of file CalibrationDialog.h.

◆ isProcessing()

bool rtabmap::CalibrationDialog::isProcessing ( ) const

inline

Definition at line 58 of file CalibrationDialog.h.

◆ loadSettings()

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

Definition at line 136 of file CalibrationDialog.cpp.

◆ processImages

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

slot

Definition at line 326 of file CalibrationDialog.cpp.

◆ resetSettings()

void rtabmap::CalibrationDialog::resetSettings ( )

Definition at line 157 of file CalibrationDialog.cpp.

◆ restart

void rtabmap::CalibrationDialog::restart ( )

slot

Definition at line 650 of file CalibrationDialog.cpp.

◆ save

bool rtabmap::CalibrationDialog::save ( )

slot

Definition at line 1233 of file CalibrationDialog.cpp.

◆ saveSettings()

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

Definition at line 119 of file CalibrationDialog.cpp.

◆ setBoardHeight

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

slot

Definition at line 238 of file CalibrationDialog.cpp.

◆ setBoardWidth

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

slot

Definition at line 229 of file CalibrationDialog.cpp.

◆ setCameraName()

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

Definition at line 164 of file CalibrationDialog.cpp.

◆ setExpectedStereoBaseline

void rtabmap::CalibrationDialog::setExpectedStereoBaseline ( double length )

slot

Definition at line 256 of file CalibrationDialog.cpp.

◆ setFisheyeImages()

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

Definition at line 179 of file CalibrationDialog.cpp.

◆ setMaxScale

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

slot

Definition at line 264 of file CalibrationDialog.cpp.

◆ setProgressVisibility()

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

Definition at line 169 of file CalibrationDialog.cpp.

◆ setSavingDirectory()

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

inline

Definition at line 73 of file CalibrationDialog.h.

◆ setSquareSize

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

slot

Definition at line 247 of file CalibrationDialog.cpp.

◆ setStereoMode()

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

Definition at line 184 of file CalibrationDialog.cpp.

◆ setSwitchedImages()

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

Definition at line 174 of file CalibrationDialog.cpp.

◆ squareSize()

double rtabmap::CalibrationDialog::squareSize ( ) const

Definition at line 224 of file CalibrationDialog.cpp.

◆ stereoCalibration()

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

Definition at line 967 of file CalibrationDialog.cpp.

◆ unlock

void rtabmap::CalibrationDialog::unlock ( )

privateslot

Definition at line 709 of file CalibrationDialog.cpp.

Member Data Documentation

◆ cameraName_

QString rtabmap::CalibrationDialog::cameraName_

private

Definition at line 114 of file CalibrationDialog.h.

◆ imageParams_

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

private

Definition at line 119 of file CalibrationDialog.h.

◆ imagePoints_

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

private

Definition at line 118 of file CalibrationDialog.h.

◆ imageSize_

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

private

Definition at line 121 of file CalibrationDialog.h.

◆ leftSuffix_

QString rtabmap::CalibrationDialog::leftSuffix_

private

Definition at line 110 of file CalibrationDialog.h.

◆ maxIrs_

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

private

Definition at line 125 of file CalibrationDialog.h.

◆ minIrs_

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

private

Definition at line 124 of file CalibrationDialog.h.

◆ models_

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

private

Definition at line 122 of file CalibrationDialog.h.

◆ processingData_

bool rtabmap::CalibrationDialog::processingData_

private

Definition at line 115 of file CalibrationDialog.h.

◆ rightSuffix_

QString rtabmap::CalibrationDialog::rightSuffix_

private

Definition at line 111 of file CalibrationDialog.h.

◆ savedCalibration_

bool rtabmap::CalibrationDialog::savedCalibration_

private

Definition at line 116 of file CalibrationDialog.h.

◆ savingDirectory_

QString rtabmap::CalibrationDialog::savingDirectory_

private

Definition at line 112 of file CalibrationDialog.h.

◆ stereo_

bool rtabmap::CalibrationDialog::stereo_

private

Definition at line 109 of file CalibrationDialog.h.

◆ stereoImagePoints_

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

private

Definition at line 120 of file CalibrationDialog.h.

◆ stereoModel_

rtabmap::StereoCameraModel rtabmap::CalibrationDialog::stereoModel_

private

Definition at line 123 of file CalibrationDialog.h.

◆ ui_

Ui_calibrationDialog* rtabmap::CalibrationDialog::ui_

private

Definition at line 127 of file CalibrationDialog.h.

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

Public Slots

Public Member Functions

Protected Member Functions

Private Slots

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ CalibrationDialog()

◆ ~CalibrationDialog()

Member Function Documentation

◆ boardHeight()

◆ boardWidth()

◆ calibrate

◆ closeEvent()

◆ getArea()

◆ getLeftCameraModel()

◆ getParams()

◆ getRightCameraModel()

◆ getSkew()

◆ getStereoCameraModel()

◆ getStereoPairs()

◆ handleEvent()

◆ isCalibrated()

◆ isProcessing()

◆ loadSettings()

◆ processImages

◆ resetSettings()

◆ restart

◆ save

◆ saveSettings()

◆ setBoardHeight

◆ setBoardWidth

◆ setCameraName()

◆ setExpectedStereoBaseline

◆ setFisheyeImages()

◆ setMaxScale

◆ setProgressVisibility()

◆ setSavingDirectory()

◆ setSquareSize

◆ setStereoMode()

◆ setSwitchedImages()

◆ squareSize()

◆ stereoCalibration()

◆ unlock

Member Data Documentation

◆ cameraName_

◆ imageParams_

◆ imagePoints_

◆ imageSize_

◆ leftSuffix_

◆ maxIrs_

◆ minIrs_

◆ models_

◆ processingData_

◆ rightSuffix_

◆ savedCalibration_

◆ savingDirectory_

◆ stereo_

◆ stereoImagePoints_

◆ stereoModel_

◆ ui_