industrial_calibration::CameraIntrinsicCalibrationWidget Class Reference

Widget for performing camera intrinsic calibration from a data set of 2D image observations. More...

Detailed Description

See also

Camera Intrinsic Calibration GUI Application

#include <camera_intrinsic_calibration_widget.h>

Inheritance diagram for industrial_calibration::CameraIntrinsicCalibrationWidget:

Signals
void	calibrationComplete (const CameraIntrinsicResult &)
	Signal emitted when calibration has successfully completed.
Signals inherited from industrial_calibration::CameraCalibrationDataManagerWidget
void	imageSelected (const QPixmap &image)
	Signal emitted when an observation is selected in the tree widget.

Public Member Functions
	CameraIntrinsicCalibrationWidget (QWidget *parent=nullptr)
void	loadConfig (const std::string &config_file)
	Loads the calibration configuration from file (defined in Configuration Definition)
void	calibrate ()
	Performs the calibration.
void	saveResults (const std::string &file) const
	Saves the calibration results.
void	saveROSFormat (const std::string &file) const
	Saves the calibration results to a YAML file in a format compatible with ROS.
Public Member Functions inherited from industrial_calibration::CameraCalibrationDataManagerWidget
	CameraCalibrationDataManagerWidget (QWidget *parent=nullptr)
void	loadObservations (const std::string &observations_file)
	Loads the calibration observations from file.
QTreeWidget *	getTreeWidget () const

Static Public Member Functions
static std::string	getInstructions ()
	Returns an HTML-formatted string with instructions on running the calibration.

Public Attributes
QAction *	action_instructions
QAction *	action_load_configuration
QAction *	action_use_extrinsic_guesses
QAction *	action_use_opencv
QAction *	action_calibrate
QAction *	action_save
QAction *	action_save_ros_format
QToolBar *	tool_bar
	Configured tool bar with actions for the calibration.
Public Attributes inherited from industrial_calibration::CameraCalibrationDataManagerWidget
QAction *	action_load_observations
QAction *	action_edit_target_finder
QAction *	action_edit_camera_intrinsics

Protected Member Functions
void	onLoadConfig ()
void	onCalibrate ()
void	onSaveResults ()
void	onSaveROSFormat ()
Protected Member Functions inherited from industrial_calibration::CameraCalibrationDataManagerWidget
void	closeEvent (QCloseEvent *event) override
void	onLoadObservations ()
void	loadTargetFinder ()
void	drawImage (QTreeWidgetItem *item, int col)

Protected Attributes
std::shared_ptr< CameraIntrinsicResult >	result_
Protected Attributes inherited from industrial_calibration::CameraCalibrationDataManagerWidget
Ui::CameraCalibrationDataManager *	ui_
TargetFinderWidget *	target_finder_widget_
CameraIntrinsicsWidget *	camera_intrinsics_widget_
boost_plugin_loader::PluginLoader	loader_
TargetFinderFactoryOpenCV::ConstPtr	factory_
TargetFinderOpenCV::ConstPtr	target_finder_

Additional Inherited Members
Static Protected Member Functions inherited from industrial_calibration::CameraCalibrationDataManagerWidget
static QPixmap	toQt (const cv::Mat &image)
	helper function for converting an OpenCV image to a Qt pixmap
static void	info (QTreeWidgetItem *item, const QString &message)
	helper function for showing an info message with a tree item
static void	error (QTreeWidgetItem *item, const QString &message)
	helper function for showing an error message with a tree item
Static Protected Attributes inherited from industrial_calibration::CameraCalibrationDataManagerWidget
static const unsigned	RANDOM_SEED = 1
	Random seed used for homography analysis.
static const int	IMAGE_FILE_NAME_ROLE = Qt::UserRole + 1
	Role for image file in tree widget.
static const int	POSE_FILE_NAME_ROLE = Qt::UserRole + 2
	Role for pose file in tree widget.
static const int	IDX_FEATURES = 0
	Data index of the detected target feature count inside a tree widget item.
static const int	IDX_HOMOGRAPHY = 1
	Data index of the homography error inside a tree widget item.

Member Function Documentation

loadConfig()

void industrial_calibration::CameraIntrinsicCalibrationWidget::loadConfig

(

const std::string &

config_file

)

Exceptions

Exception

on failure

calibrate()

void industrial_calibration::CameraIntrinsicCalibrationWidget::calibrate

(

)

Exceptions

Exception

on failure

saveResults()

void industrial_calibration::CameraIntrinsicCalibrationWidget::saveResults

(

const std::string &

file

)

const

Exceptions

Exception

on failure

saveROSFormat()

void industrial_calibration::CameraIntrinsicCalibrationWidget::saveROSFormat

(

const std::string &

file

)

const

Format definition https://wiki.ros.org/camera_calibration_parsers#File_formats

Exceptions

Exception

on failure

Member Data Documentation

tool_bar

QToolBar* industrial_calibration::CameraIntrinsicCalibrationWidget::tool_bar

This tool bar is not added to the layout of the widget by default