#include <CalibrationDialog.h>

Inheritance diagram for rtabmap::CalibrationDialog:

[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::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="")

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< int >	chessboardPointIds_

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::CameraModel >	models_

std::vector< std::vector< std::vector< cv::Point3f > > >	objectPoints_

bool	processingData_

QString	rightSuffix_

bool	savedCalibration_

QString	savingDirectory_

bool	stereo_

std::vector< int >	stereoImageIds_

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:

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()

◆ generateBoard

◆ getArea()

◆ getLeftCameraModel()

◆ getParams()

◆ getRightCameraModel()

◆ getSkew() [1/2]

◆ getSkew() [2/2]

◆ getStereoCameraModel()

◆ getStereoPairs()

◆ handleEvent()

◆ isCalibrated()

◆ isProcessing()

◆ loadSettings()

◆ markerLength()

◆ processImages

◆ resetSettings()

◆ restart

◆ save

◆ saveSettings()

◆ setBoardHeight

◆ setBoardType

◆ setBoardWidth

◆ setCalibrationDataSaved

◆ setCameraName()

◆ setExpectedStereoBaseline

◆ setFisheyeModel()

◆ setMarkerDictionary

◆ setMarkerLength

◆ setMaxScale

◆ setPlumbobModel()

◆ setProgressVisibility()

◆ setRationalModel()

◆ setSavingDirectory()

◆ setSquareSize

◆ setStereoMode()

◆ setSubpixelMaxError

◆ setSubpixelRefinement

◆ setSwitchedImages()

◆ squareSize()

◆ stereoCalibration()

◆ unlock

Member Data Documentation

◆ cameraName_

◆ chessboardPointIds_

◆ chessboardPoints_

◆ currentId_

◆ imageIds_

◆ imageParams_

◆ imagePoints_

◆ imageSize_

◆ leftSuffix_

◆ maxIrs_

◆ minIrs_

◆ models_

◆ objectPoints_

◆ processingData_

◆ rightSuffix_

◆ savedCalibration_

◆ savingDirectory_

◆ stereo_

◆ stereoImageIds_

◆ stereoImagePoints_

◆ stereoModel_

◆ stereoObjectPoints_

◆ timestamp_