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 generateBoard ()
 
void processImages (const cv::Mat &imageLeft, const cv::Mat &imageRight, const QString &cameraName)
 
void restart ()
 
bool save ()
 
void setBoardHeight (int height)
 
void setBoardType (int type)
 
void setBoardWidth (int width)
 
void setCalibrationDataSaved (bool enabled)
 
void setExpectedStereoBaseline (double length)
 
void setMarkerDictionary (int dictionary)
 
void setMarkerLength (double length)
 
void setMaxScale (int scale)
 
void setSquareSize (double size)
 
void setSubpixelMaxError (double value)
 
void setSubpixelRefinement (bool enabled)
 

Public Member Functions

int boardHeight () const
 
int boardWidth () const
 
 CalibrationDialog (bool stereo=false, const QString &savingDirectory=".", bool switchImages=false, QWidget *parent=0)
 
const rtabmap::CameraModelgetLeftCameraModel () const
 
const rtabmap::CameraModelgetRightCameraModel () const
 
const rtabmap::StereoCameraModelgetStereoCameraModel () const
 
int getStereoPairs () const
 
bool isCalibrated () const
 
bool isProcessing () const
 
void loadSettings (QSettings &settings, const QString &group="")
 
double markerLength () const
 
void resetSettings ()
 
void saveSettings (QSettings &settings, const QString &group="") const
 
void setCameraName (const QString &name)
 
void setFisheyeModel ()
 
void setPlumbobModel ()
 
void setProgressVisibility (bool visible)
 
void setRationalModel ()
 
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, QTextStream *logStream=0) 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)
 
float getSkew (const std::vector< cv::Point2f > &fourCorners)
 

Private Attributes

QString cameraName_
 
std::vector< intchessboardPointIds_
 
std::vector< cv::Point3f > chessboardPoints_
 
int currentId_
 
std::vector< std::vector< int > > imageIds_
 
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::CameraModelmodels_
 
std::vector< std::vector< std::vector< cv::Point3f > > > objectPoints_
 
bool processingData_
 
QString rightSuffix_
 
bool savedCalibration_
 
QString savingDirectory_
 
bool stereo_
 
std::vector< intstereoImageIds_
 
std::vector< std::vector< std::vector< cv::Point2f > > > stereoImagePoints_
 
rtabmap::StereoCameraModel stereoModel_
 
std::vector< std::vector< cv::Point3f > > stereoObjectPoints_
 
QString timestamp_
 
Ui_calibrationDialog * ui_
 

Detailed Description

Definition at line 52 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 93 of file CalibrationDialog.cpp.

◆ ~CalibrationDialog()

rtabmap::CalibrationDialog::~CalibrationDialog ( )
virtual

Definition at line 169 of file CalibrationDialog.cpp.

Member Function Documentation

◆ boardHeight()

int rtabmap::CalibrationDialog::boardHeight ( ) const

Definition at line 392 of file CalibrationDialog.cpp.

◆ boardWidth()

int rtabmap::CalibrationDialog::boardWidth ( ) const

Definition at line 388 of file CalibrationDialog.cpp.

◆ calibrate

void rtabmap::CalibrationDialog::calibrate ( )
slot

Definition at line 1307 of file CalibrationDialog.cpp.

◆ closeEvent()

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

Definition at line 525 of file CalibrationDialog.cpp.

◆ generateBoard

void rtabmap::CalibrationDialog::generateBoard ( )
slot

Definition at line 266 of file CalibrationDialog.cpp.

◆ getArea()

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

Definition at line 2001 of file CalibrationDialog.cpp.

◆ getLeftCameraModel()

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

Definition at line 61 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 2065 of file CalibrationDialog.cpp.

◆ getRightCameraModel()

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

Definition at line 62 of file CalibrationDialog.h.

◆ getSkew() [1/2]

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

Definition at line 2042 of file CalibrationDialog.cpp.

◆ getSkew() [2/2]

float rtabmap::CalibrationDialog::getSkew ( const std::vector< cv::Point2f > &  fourCorners)
private

Definition at line 2034 of file CalibrationDialog.cpp.

◆ getStereoCameraModel()

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

Definition at line 63 of file CalibrationDialog.h.

◆ getStereoPairs()

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

Definition at line 65 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 560 of file CalibrationDialog.cpp.

◆ isCalibrated()

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

Definition at line 60 of file CalibrationDialog.h.

◆ isProcessing()

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

Definition at line 64 of file CalibrationDialog.h.

◆ loadSettings()

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

Definition at line 200 of file CalibrationDialog.cpp.

◆ markerLength()

double rtabmap::CalibrationDialog::markerLength ( ) const

Definition at line 400 of file CalibrationDialog.cpp.

◆ processImages

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

Definition at line 633 of file CalibrationDialog.cpp.

◆ resetSettings()

void rtabmap::CalibrationDialog::resetSettings ( )

Definition at line 240 of file CalibrationDialog.cpp.

◆ restart

void rtabmap::CalibrationDialog::restart ( )
slot

Definition at line 1123 of file CalibrationDialog.cpp.

◆ save

bool rtabmap::CalibrationDialog::save ( )
slot

Definition at line 1939 of file CalibrationDialog.cpp.

◆ saveSettings()

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

Definition at line 175 of file CalibrationDialog.cpp.

◆ setBoardHeight

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

Definition at line 432 of file CalibrationDialog.cpp.

◆ setBoardType

void rtabmap::CalibrationDialog::setBoardType ( int  type)
slot

Definition at line 405 of file CalibrationDialog.cpp.

◆ setBoardWidth

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

Definition at line 423 of file CalibrationDialog.cpp.

◆ setCalibrationDataSaved

void rtabmap::CalibrationDialog::setCalibrationDataSaved ( bool  enabled)
slot

Definition at line 500 of file CalibrationDialog.cpp.

◆ setCameraName()

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

Definition at line 323 of file CalibrationDialog.cpp.

◆ setExpectedStereoBaseline

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

Definition at line 509 of file CalibrationDialog.cpp.

◆ setFisheyeModel()

void rtabmap::CalibrationDialog::setFisheyeModel ( )

Definition at line 338 of file CalibrationDialog.cpp.

◆ setMarkerDictionary

void rtabmap::CalibrationDialog::setMarkerDictionary ( int  dictionary)
slot

Definition at line 414 of file CalibrationDialog.cpp.

◆ setMarkerLength

void rtabmap::CalibrationDialog::setMarkerLength ( double  length)
slot

Definition at line 465 of file CalibrationDialog.cpp.

◆ setMaxScale

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

Definition at line 517 of file CalibrationDialog.cpp.

◆ setPlumbobModel()

void rtabmap::CalibrationDialog::setPlumbobModel ( )

Definition at line 343 of file CalibrationDialog.cpp.

◆ setProgressVisibility()

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

Definition at line 328 of file CalibrationDialog.cpp.

◆ setRationalModel()

void rtabmap::CalibrationDialog::setRationalModel ( )

Definition at line 348 of file CalibrationDialog.cpp.

◆ setSavingDirectory()

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

Definition at line 82 of file CalibrationDialog.h.

◆ setSquareSize

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

Definition at line 441 of file CalibrationDialog.cpp.

◆ setStereoMode()

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

Definition at line 353 of file CalibrationDialog.cpp.

◆ setSubpixelMaxError

void rtabmap::CalibrationDialog::setSubpixelMaxError ( double  value)
slot

Definition at line 491 of file CalibrationDialog.cpp.

◆ setSubpixelRefinement

void rtabmap::CalibrationDialog::setSubpixelRefinement ( bool  enabled)
slot

Definition at line 482 of file CalibrationDialog.cpp.

◆ setSwitchedImages()

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

Definition at line 333 of file CalibrationDialog.cpp.

◆ squareSize()

double rtabmap::CalibrationDialog::squareSize ( ) const

Definition at line 396 of file CalibrationDialog.cpp.

◆ stereoCalibration()

StereoCameraModel rtabmap::CalibrationDialog::stereoCalibration ( const CameraModel left,
const CameraModel right,
bool  ignoreStereoRectification,
QTextStream *  logStream = 0 
) const

Definition at line 1636 of file CalibrationDialog.cpp.

◆ unlock

void rtabmap::CalibrationDialog::unlock ( )
privateslot

Definition at line 1302 of file CalibrationDialog.cpp.

Member Data Documentation

◆ cameraName_

QString rtabmap::CalibrationDialog::cameraName_
private

Definition at line 132 of file CalibrationDialog.h.

◆ chessboardPointIds_

std::vector<int> rtabmap::CalibrationDialog::chessboardPointIds_
private

Definition at line 139 of file CalibrationDialog.h.

◆ chessboardPoints_

std::vector<cv::Point3f> rtabmap::CalibrationDialog::chessboardPoints_
private

Definition at line 138 of file CalibrationDialog.h.

◆ currentId_

int rtabmap::CalibrationDialog::currentId_
private

Definition at line 135 of file CalibrationDialog.h.

◆ imageIds_

std::vector<std::vector<int > > rtabmap::CalibrationDialog::imageIds_
private

Definition at line 150 of file CalibrationDialog.h.

◆ imageParams_

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

Definition at line 149 of file CalibrationDialog.h.

◆ imagePoints_

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

Definition at line 147 of file CalibrationDialog.h.

◆ imageSize_

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

Definition at line 154 of file CalibrationDialog.h.

◆ leftSuffix_

QString rtabmap::CalibrationDialog::leftSuffix_
private

Definition at line 128 of file CalibrationDialog.h.

◆ maxIrs_

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

Definition at line 158 of file CalibrationDialog.h.

◆ minIrs_

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

Definition at line 157 of file CalibrationDialog.h.

◆ models_

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

Definition at line 155 of file CalibrationDialog.h.

◆ objectPoints_

std::vector<std::vector<std::vector<cv::Point3f> > > rtabmap::CalibrationDialog::objectPoints_
private

Definition at line 148 of file CalibrationDialog.h.

◆ processingData_

bool rtabmap::CalibrationDialog::processingData_
private

Definition at line 133 of file CalibrationDialog.h.

◆ rightSuffix_

QString rtabmap::CalibrationDialog::rightSuffix_
private

Definition at line 129 of file CalibrationDialog.h.

◆ savedCalibration_

bool rtabmap::CalibrationDialog::savedCalibration_
private

Definition at line 134 of file CalibrationDialog.h.

◆ savingDirectory_

QString rtabmap::CalibrationDialog::savingDirectory_
private

Definition at line 130 of file CalibrationDialog.h.

◆ stereo_

bool rtabmap::CalibrationDialog::stereo_
private

Definition at line 127 of file CalibrationDialog.h.

◆ stereoImageIds_

std::vector<int> rtabmap::CalibrationDialog::stereoImageIds_
private

Definition at line 153 of file CalibrationDialog.h.

◆ stereoImagePoints_

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

Definition at line 151 of file CalibrationDialog.h.

◆ stereoModel_

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

Definition at line 156 of file CalibrationDialog.h.

◆ stereoObjectPoints_

std::vector<std::vector<cv::Point3f> > rtabmap::CalibrationDialog::stereoObjectPoints_
private

Definition at line 152 of file CalibrationDialog.h.

◆ timestamp_

QString rtabmap::CalibrationDialog::timestamp_
private

Definition at line 136 of file CalibrationDialog.h.

◆ ui_

Ui_calibrationDialog* rtabmap::CalibrationDialog::ui_
private

Definition at line 160 of file CalibrationDialog.h.


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


rtabmap
Author(s): Mathieu Labbe
autogenerated on Thu Jul 25 2024 02:50:27