[Jderobot-admin] jderobot-r1003 - in trunk/src/stable/components: . rgbdManualCalibrator rgbdManualCalibrator/build-independent rgbdManualCalibrator/config-example

frivas en jderobot.org frivas en jderobot.org
Lun Oct 7 10:18:37 CEST 2013


Author: frivas
Date: 2013-10-07 10:17:36 +0200 (Mon, 07 Oct 2013)
New Revision: 1003

Added:
   trunk/src/stable/components/rgbdManualCalibrator/
   trunk/src/stable/components/rgbdManualCalibrator/rgbdManualCalibrator.cfg
   trunk/src/stable/components/rgbdManualCalibrator/rgbdManualCalibrator.cpp
   trunk/src/stable/components/rgbdManualCalibrator/rgbdManualCalibrator.glade
Removed:
   trunk/src/stable/components/rgbdManualCalibrator/calibratorKinect.cfg
   trunk/src/stable/components/rgbdManualCalibrator/calibratorKinect.cpp
   trunk/src/stable/components/rgbdManualCalibrator/calibratorKinect.glade
   trunk/src/stable/components/rgbdManualCalibrator/cam2-alicia.cfg
Modified:
   trunk/src/stable/components/rgbdManualCalibrator/CMakeLists.txt
   trunk/src/stable/components/rgbdManualCalibrator/build-independent/CMakeLists.txt
   trunk/src/stable/components/rgbdManualCalibrator/common.h
   trunk/src/stable/components/rgbdManualCalibrator/config-example/cam-in
   trunk/src/stable/components/rgbdManualCalibrator/controller.cpp
   trunk/src/stable/components/rgbdManualCalibrator/controller.h
   trunk/src/stable/components/rgbdManualCalibrator/drawarea.cpp
   trunk/src/stable/components/rgbdManualCalibrator/drawarea.h
   trunk/src/stable/components/rgbdManualCalibrator/view.cpp
   trunk/src/stable/components/rgbdManualCalibrator/view.h
Log:
Issue #53 moved calibratorKinect to stable as rgbdManualCalibrator


Modified: trunk/src/stable/components/rgbdManualCalibrator/CMakeLists.txt
===================================================================
--- trunk/src/testing/components/calibratorKinect/CMakeLists.txt	2013-10-06 17:09:17 UTC (rev 1002)
+++ trunk/src/stable/components/rgbdManualCalibrator/CMakeLists.txt	2013-10-07 08:17:36 UTC (rev 1003)
@@ -1,4 +1,4 @@
-SET( SOURCE_FILES common.h controller.cpp drawarea.cpp view.h calibratorKinect.cpp controller.h drawarea.h view.cpp)
+SET( SOURCE_FILES common.h controller.cpp drawarea.cpp view.h rgbdManualCalibrator.cpp controller.h drawarea.h view.cpp)
 add_definitions(-DGLADE_DIR="${gladedir}")
 
 include_directories(
@@ -9,9 +9,9 @@
     ${glut_INCLUDE_DIRS}
     ${CMAKE_CURRENT_SOURCE_DIR})
 
-add_executable (calibratorKinect ${SOURCE_FILES})
+add_executable (rgbdManualCalibrator ${SOURCE_FILES})
 
-TARGET_LINK_LIBRARIES( calibratorKinect
+TARGET_LINK_LIBRARIES( rgbdManualCalibrator
  ${GLUT_LIBRARIES}
  ${opencv_LIBRARIES}
  ${gtkmm_LIBRARIES}

Modified: trunk/src/stable/components/rgbdManualCalibrator/build-independent/CMakeLists.txt
===================================================================
--- trunk/src/testing/components/calibratorKinect/build-independent/CMakeLists.txt	2013-10-06 17:09:17 UTC (rev 1002)
+++ trunk/src/stable/components/rgbdManualCalibrator/build-independent/CMakeLists.txt	2013-10-07 08:17:36 UTC (rev 1003)
@@ -1,5 +1,5 @@
  cmake_minimum_required(VERSION 2.8)
-SET( SOURCE_FILES ../calibratorKinect.cpp  ../controller.cpp  ../view.cpp ../drawarea.cpp)
+SET( SOURCE_FILES ../rgbdManualCalibrator.cpp  ../controller.cpp  ../view.cpp ../drawarea.cpp)
 SET( LIBS_DIR /usr/local/lib/jderobot/)
 
 
@@ -7,7 +7,7 @@
 	  /usr/local/include/jderobot
 )
 
-add_executable (calibratorKinect  ${SOURCE_FILES})
+add_executable (rgbdManualCalibrator  ${SOURCE_FILES})
 
 #automated opencv
 include(FindPkgConfig)
@@ -63,7 +63,7 @@
 set( CMAKE_CXX_FLAGS "-Wno-deprecated" ) # Opciones para el compilador
 
 
-TARGET_LINK_LIBRARIES(calibratorKinect
+TARGET_LINK_LIBRARIES(rgbdManualCalibrator
   ${opencv_LIBRARIES}
   ${gsl_LIBRARIES}
   ${Ice_LIBRARIES}

Deleted: trunk/src/stable/components/rgbdManualCalibrator/calibratorKinect.cfg
===================================================================
--- trunk/src/testing/components/calibratorKinect/calibratorKinect.cfg	2013-10-06 17:09:17 UTC (rev 1002)
+++ trunk/src/stable/components/rgbdManualCalibrator/calibratorKinect.cfg	2013-10-07 08:17:36 UTC (rev 1003)
@@ -1,35 +0,0 @@
-CalibratorKinect.CameraRGB.0.Proxy=cameraA:tcp -h 127.0.0.1 -p 9998
-CalibratorKinect.CameraDEPTH.0.Proxy=cameraB:tcp -h 127.0.0.1 -p 9998
-CalibratorKinect.CameraRGB.1.Proxy=cameraA:tcp -h 127.0.0.1 -p 9997
-CalibratorKinect.CameraDEPTH.1.Proxy=cameraB:tcp -h 127.0.0.1 -p 9997
-CalibratorKinect.Camera.FileOut=./config-example/cam-out
-CalibratorKinect.World.File=./config-example/lambecom
-
-CalibratorKinect.nCameras=2
-
-CalibratorKinect.Camera.0.Calibration=cam2-alicia.cfg
-CalibratorKinect.Camera.1.Calibration=cam1-mia.cfg
-
-
-#Extrinsics, position
-CalibratorKinect.Config.Position.X=1895
-CalibratorKinect.Config.Position.Y=4980
-CalibratorKinect.Config.Position.Z=1050
-CalibratorKinect.Config.Position.H=1.000000
-
-#Extrinsics, orientation
-CalibratorKinect.Config.FOAPosition.X=4633
-CalibratorKinect.Config.FOAPosition.Y=474
-CalibratorKinect.Config.FOAPosition.Z=1088
-CalibratorKinect.Config.FOAPosition.H=1.000000
-CalibratorKinect.Config.Roll=0
-
-#Intrinsics
-CalibratorKinect.Config.Fx=515
-CalibratorKinect.Config.Fy=515
-CalibratorKinect.Config.Skew=0.000000
-CalibratorKinect.Config.U0=219
-CalibratorKinect.Config.V0=323
-CalibratorKinect.Config.Columns=640
-CalibratorKinect.Config.Rows=480
-

Deleted: trunk/src/stable/components/rgbdManualCalibrator/calibratorKinect.cpp
===================================================================
--- trunk/src/testing/components/calibratorKinect/calibratorKinect.cpp	2013-10-06 17:09:17 UTC (rev 1002)
+++ trunk/src/stable/components/rgbdManualCalibrator/calibratorKinect.cpp	2013-10-07 08:17:36 UTC (rev 1003)
@@ -1,103 +0,0 @@
-/*
-*
-*  Copyright (C) 1997-2013 JDERobot Developers Team
-*
-*  This program is free software: you can redistribute it and/or modify
-*  it under the terms of the GNU General Public License as published by
-*  the Free Software Foundation, either version 3 of the License, or
-*  (at your option) any later version.
-*
-*  This program is distributed in the hope that it will be useful,
-*  but WITHOUT ANY WARRANTY; without even the implied warranty of
-*  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-*  GNU General Public License for more details.
-*
-*  You should have received a copy of the GNU General Public License
-*  along with this program.  If not, see http://www.gnu.org/licenses/. 
-*
-*  Authors : Sara Marugán Alonso <smarugan en gsyc.es>,
- *           Eduardo Perdices <eperdices en gsyc.es>
- *           Francisco Miguel Rivas Montero <franciscomiguel.rivas en urjc.es>
-*
-*/
-
-#include <iostream>
-#include <Ice/Ice.h>
-#include <IceUtil/IceUtil.h>
-#include <jderobot/camera.h>
-#include <colorspaces/colorspacesmm.h>
-#include "view.h"
-#include "controller.h"
-#include "common.h"
-
-
-//namespace calibrator{
-
-std::vector<CalibratorKinect::kinectData> sources;
-
-int main(int argc, char** argv){
-	int status;
-	Ice::CommunicatorPtr ic;
-	CalibratorKinect::View * view;
-	CalibratorKinect::Controller * controller;
-	int height, width, nCameras;
-
-	try{
-		ic = Ice::initialize(argc,argv);
-		
-
-		Ice::PropertiesPtr prop = ic->getProperties();
-		std::string worldconf = prop->getProperty("CalibratorKinect.World.File");
-		std::string camOutconf = prop->getProperty("CalibratorKinect.Camera.FileOut");
-		width=prop->getPropertyAsIntWithDefault("CalibratorKinect.Config.Columns",0);
-		height=prop->getPropertyAsIntWithDefault("CalibratorKinect.Config.Rows",0);
-		nCameras=prop->getPropertyAsIntWithDefault("CalibratorKinect.nCameras",0);
-		std::cout << "w=" << width << ", h=" << height << std::endl;
-
-		sources.resize(nCameras);
-		for (int i=0; i< nCameras; i++){
-			std::ostringstream sTemp;
-			std::ostringstream sTemp2;
-			sTemp << "CalibratorKinect.CameraRGB." << i << ".";
-			sources[i].RGB=new jderobot::cameraClient(ic, sTemp.str(),false);
-			sTemp2 << "CalibratorKinect.CameraDEPTH." << i << ".";
-			sources[i].DEPTH=new jderobot::cameraClient(ic, sTemp2.str(),false);
-
-
-			if (sources[i].RGB==NULL)
-				throw "Could not create proxy to RGB camera";
-			else
-				sources[i].RGB->start();
-			if (sources[i].DEPTH==NULL)
-				throw "Could not create proxy to DEPTH camera";
-			else
-				sources[i].DEPTH->start();
-		}
-
-
-
-		/*Create Controller and View*/
-		controller = new CalibratorKinect::Controller(prop, width, height, nCameras);
-
-		view = new CalibratorKinect::View(controller, worldconf, nCameras);
-
-
-		while(view->isVisible()){
-			view->display(sources);
-
-			usleep(1000);
-		}
-
-	}catch (const Ice::Exception& ex) {
-		std::cerr << ex << std::endl;
-		status = 1;
-	} catch (const char* msg) {
-		std::cerr << msg << std::endl;
-		status = 1;
-	}
-
-	if (ic)
-		ic->destroy();
-	return status;
-}
-//}

Deleted: trunk/src/stable/components/rgbdManualCalibrator/calibratorKinect.glade
===================================================================
--- trunk/src/testing/components/calibratorKinect/calibratorKinect.glade	2013-10-06 17:09:17 UTC (rev 1002)
+++ trunk/src/stable/components/rgbdManualCalibrator/calibratorKinect.glade	2013-10-07 08:17:36 UTC (rev 1003)
@@ -1,579 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" standalone="no"?>
-<!DOCTYPE glade-interface SYSTEM "glade-2.0.dtd">
-<!--Generated with glade3 3.4.2 on Fri Nov  9 21:33:03 2012 -->
-<glade-interface>
-  <widget class="GtkWindow" id="mainwindow">
-    <property name="visible">True</property>
-    <property name="title" translatable="yes">Calibrator</property>
-    <child>
-      <widget class="GtkVBox" id="vbox1">
-        <property name="visible">True</property>
-        <property name="orientation">GTK_ORIENTATION_VERTICAL</property>
-        <property name="orientation">GTK_ORIENTATION_VERTICAL</property>
-        <child>
-          <widget class="GtkVBox" id="vbox2">
-            <property name="visible">True</property>
-            <child>
-              <widget class="GtkTable" id="table2">
-                <property name="visible">True</property>
-                <property name="n_columns">2</property>
-                <child>
-                  <widget class="GtkTable" id="tableValues">
-                    <property name="height_request">500</property>
-                    <property name="visible">True</property>
-                    <property name="n_columns">3</property>
-                    <child>
-                      <widget class="GtkFrame" id="Position">
-                        <property name="visible">True</property>
-                        <property name="label_xalign">0</property>
-                        <property name="shadow_type">GTK_SHADOW_IN</property>
-                        <child>
-                          <widget class="GtkAlignment" id="alignment1">
-                            <property name="visible">True</property>
-                            <property name="left_padding">12</property>
-                            <child>
-                              <widget class="GtkTable" id="table6">
-                                <property name="visible">True</property>
-                                <property name="n_rows">2</property>
-                                <property name="n_columns">3</property>
-                                <child>
-                                  <widget class="GtkLabel" id="labelX">
-                                    <property name="visible">True</property>
-                                    <property name="label" translatable="yes">X</property>
-                                  </widget>
-                                  <packing>
-                                    <property name="x_options">GTK_FILL</property>
-                                    <property name="y_options"/>
-                                  </packing>
-                                </child>
-                                <child>
-                                  <widget class="GtkVScale" id="pos_x">
-                                    <property name="width_request">50</property>
-                                    <property name="height_request">400</property>
-                                    <property name="visible">True</property>
-                                    <property name="can_focus">True</property>
-                                    <property name="adjustment">0 -10000 10000 0 0 0</property>
-                                    <property name="inverted">True</property>
-                                    <property name="digits">0</property>
-                                    <property name="value_pos">GTK_POS_BOTTOM</property>
-                                  </widget>
-                                  <packing>
-                                    <property name="top_attach">1</property>
-                                    <property name="bottom_attach">2</property>
-                                  </packing>
-                                </child>
-                                <child>
-                                  <widget class="GtkLabel" id="label26">
-                                    <property name="visible">True</property>
-                                    <property name="label" translatable="yes">Y</property>
-                                  </widget>
-                                  <packing>
-                                    <property name="left_attach">1</property>
-                                    <property name="right_attach">2</property>
-                                    <property name="x_options">GTK_FILL</property>
-                                    <property name="y_options"/>
-                                  </packing>
-                                </child>
-                                <child>
-                                  <widget class="GtkVScale" id="pos_y">
-                                    <property name="width_request">50</property>
-                                    <property name="visible">True</property>
-                                    <property name="can_focus">True</property>
-                                    <property name="adjustment">0 -10000 10000 0 0 0</property>
-                                    <property name="inverted">True</property>
-                                    <property name="digits">0</property>
-                                    <property name="value_pos">GTK_POS_BOTTOM</property>
-                                  </widget>
-                                  <packing>
-                                    <property name="left_attach">1</property>
-                                    <property name="right_attach">2</property>
-                                    <property name="top_attach">1</property>
-                                    <property name="bottom_attach">2</property>
-                                  </packing>
-                                </child>
-                                <child>
-                                  <widget class="GtkLabel" id="label27">
-                                    <property name="visible">True</property>
-                                    <property name="label" translatable="yes">Z</property>
-                                  </widget>
-                                  <packing>
-                                    <property name="left_attach">2</property>
-                                    <property name="right_attach">3</property>
-                                    <property name="x_options">GTK_FILL</property>
-                                    <property name="y_options"/>
-                                  </packing>
-                                </child>
-                                <child>
-                                  <widget class="GtkVScale" id="pos_z">
-                                    <property name="width_request">50</property>
-                                    <property name="visible">True</property>
-                                    <property name="can_focus">True</property>
-                                    <property name="adjustment">0 -10000 10000 0 0 0</property>
-                                    <property name="inverted">True</property>
-                                    <property name="digits">0</property>
-                                    <property name="value_pos">GTK_POS_BOTTOM</property>
-                                  </widget>
-                                  <packing>
-                                    <property name="left_attach">2</property>
-                                    <property name="right_attach">3</property>
-                                    <property name="top_attach">1</property>
-                                    <property name="bottom_attach">2</property>
-                                  </packing>
-                                </child>
-                              </widget>
-                            </child>
-                          </widget>
-                        </child>
-                        <child>
-                          <widget class="GtkLabel" id="label9">
-                            <property name="visible">True</property>
-                            <property name="label" translatable="yes">&lt;b&gt;Position&lt;/b&gt;</property>
-                            <property name="use_markup">True</property>
-                          </widget>
-                          <packing>
-                            <property name="type">label_item</property>
-                          </packing>
-                        </child>
-                      </widget>
-                    </child>
-                    <child>
-                      <widget class="GtkFrame" id="Foa">
-                        <property name="visible">True</property>
-                        <property name="label_xalign">0</property>
-                        <property name="shadow_type">GTK_SHADOW_IN</property>
-                        <child>
-                          <widget class="GtkAlignment" id="alignment2">
-                            <property name="visible">True</property>
-                            <property name="left_padding">12</property>
-                            <child>
-                              <widget class="GtkTable" id="table7">
-                                <property name="visible">True</property>
-                                <property name="n_rows">2</property>
-                                <property name="n_columns">3</property>
-                                <child>
-                                  <widget class="GtkLabel" id="label1">
-                                    <property name="visible">True</property>
-                                    <property name="label" translatable="yes">X</property>
-                                  </widget>
-                                </child>
-                                <child>
-                                  <widget class="GtkLabel" id="label2">
-                                    <property name="visible">True</property>
-                                    <property name="label" translatable="yes">Y</property>
-                                  </widget>
-                                  <packing>
-                                    <property name="left_attach">1</property>
-                                    <property name="right_attach">2</property>
-                                  </packing>
-                                </child>
-                                <child>
-                                  <widget class="GtkLabel" id="label3">
-                                    <property name="visible">True</property>
-                                    <property name="label" translatable="yes">Z</property>
-                                  </widget>
-                                  <packing>
-                                    <property name="left_attach">2</property>
-                                    <property name="right_attach">3</property>
-                                  </packing>
-                                </child>
-                                <child>
-                                  <widget class="GtkVScale" id="foa_x">
-                                    <property name="width_request">50</property>
-                                    <property name="height_request">400</property>
-                                    <property name="visible">True</property>
-                                    <property name="can_focus">True</property>
-                                    <property name="adjustment">0 -10000 10000 0 0 0</property>
-                                    <property name="inverted">True</property>
-                                    <property name="digits">0</property>
-                                    <property name="value_pos">GTK_POS_BOTTOM</property>
-                                  </widget>
-                                  <packing>
-                                    <property name="top_attach">1</property>
-                                    <property name="bottom_attach">2</property>
-                                  </packing>
-                                </child>
-                                <child>
-                                  <widget class="GtkVScale" id="foa_y">
-                                    <property name="width_request">50</property>
-                                    <property name="visible">True</property>
-                                    <property name="can_focus">True</property>
-                                    <property name="adjustment">0 -10000 10000 0 0 0</property>
-                                    <property name="inverted">True</property>
-                                    <property name="digits">0</property>
-                                    <property name="value_pos">GTK_POS_BOTTOM</property>
-                                  </widget>
-                                  <packing>
-                                    <property name="left_attach">1</property>
-                                    <property name="right_attach">2</property>
-                                    <property name="top_attach">1</property>
-                                    <property name="bottom_attach">2</property>
-                                  </packing>
-                                </child>
-                                <child>
-                                  <widget class="GtkVScale" id="foa_z">
-                                    <property name="width_request">50</property>
-                                    <property name="visible">True</property>
-                                    <property name="can_focus">True</property>
-                                    <property name="adjustment">0 -10000 10000 0 0 0</property>
-                                    <property name="inverted">True</property>
-                                    <property name="digits">0</property>
-                                    <property name="value_pos">GTK_POS_BOTTOM</property>
-                                  </widget>
-                                  <packing>
-                                    <property name="left_attach">2</property>
-                                    <property name="right_attach">3</property>
-                                    <property name="top_attach">1</property>
-                                    <property name="bottom_attach">2</property>
-                                  </packing>
-                                </child>
-                              </widget>
-                            </child>
-                          </widget>
-                        </child>
-                        <child>
-                          <widget class="GtkLabel" id="label10">
-                            <property name="visible">True</property>
-                            <property name="label" translatable="yes">&lt;b&gt;Foa&lt;/b&gt;</property>
-                            <property name="use_markup">True</property>
-                          </widget>
-                          <packing>
-                            <property name="type">label_item</property>
-                          </packing>
-                        </child>
-                      </widget>
-                      <packing>
-                        <property name="left_attach">1</property>
-                        <property name="right_attach">2</property>
-                      </packing>
-                    </child>
-                    <child>
-                      <widget class="GtkFrame" id="Intrinsics">
-                        <property name="visible">True</property>
-                        <property name="label_xalign">0</property>
-                        <property name="shadow_type">GTK_SHADOW_IN</property>
-                        <child>
-                          <widget class="GtkAlignment" id="alignment3">
-                            <property name="visible">True</property>
-                            <property name="left_padding">12</property>
-                            <child>
-                              <widget class="GtkTable" id="table8">
-                                <property name="visible">True</property>
-                                <property name="n_rows">2</property>
-                                <property name="n_columns">5</property>
-                                <child>
-                                  <widget class="GtkLabel" id="label4">
-                                    <property name="visible">True</property>
-                                    <property name="label" translatable="yes">Fx</property>
-                                  </widget>
-                                </child>
-                                <child>
-                                  <widget class="GtkLabel" id="label5">
-                                    <property name="visible">True</property>
-                                    <property name="label" translatable="yes">Fy</property>
-                                  </widget>
-                                  <packing>
-                                    <property name="left_attach">1</property>
-                                    <property name="right_attach">2</property>
-                                  </packing>
-                                </child>
-                                <child>
-                                  <widget class="GtkLabel" id="label6">
-                                    <property name="visible">True</property>
-                                    <property name="label" translatable="yes">u0</property>
-                                  </widget>
-                                  <packing>
-                                    <property name="left_attach">2</property>
-                                    <property name="right_attach">3</property>
-                                  </packing>
-                                </child>
-                                <child>
-                                  <widget class="GtkLabel" id="label7">
-                                    <property name="visible">True</property>
-                                    <property name="label" translatable="yes">v0</property>
-                                  </widget>
-                                  <packing>
-                                    <property name="left_attach">3</property>
-                                    <property name="right_attach">4</property>
-                                  </packing>
-                                </child>
-                                <child>
-                                  <widget class="GtkLabel" id="label8">
-                                    <property name="visible">True</property>
-                                    <property name="label" translatable="yes">Roll</property>
-                                  </widget>
-                                  <packing>
-                                    <property name="left_attach">4</property>
-                                    <property name="right_attach">5</property>
-                                  </packing>
-                                </child>
-                                <child>
-                                  <widget class="GtkVScale" id="fx">
-                                    <property name="width_request">50</property>
-                                    <property name="height_request">400</property>
-                                    <property name="visible">True</property>
-                                    <property name="can_focus">True</property>
-                                    <property name="adjustment">300 0 600 0 0 0</property>
-                                    <property name="inverted">True</property>
-                                    <property name="value_pos">GTK_POS_BOTTOM</property>
-                                  </widget>
-                                  <packing>
-                                    <property name="top_attach">1</property>
-                                    <property name="bottom_attach">2</property>
-                                  </packing>
-                                </child>
-                                <child>
-                                  <widget class="GtkVScale" id="fy">
-                                    <property name="width_request">50</property>
-                                    <property name="visible">True</property>
-                                    <property name="can_focus">True</property>
-                                    <property name="adjustment">300 0 600 0 0 0</property>
-                                    <property name="inverted">True</property>
-                                    <property name="value_pos">GTK_POS_BOTTOM</property>
-                                  </widget>
-                                  <packing>
-                                    <property name="left_attach">1</property>
-                                    <property name="right_attach">2</property>
-                                    <property name="top_attach">1</property>
-                                    <property name="bottom_attach">2</property>
-                                  </packing>
-                                </child>
-                                <child>
-                                  <widget class="GtkVScale" id="u0">
-                                    <property name="width_request">50</property>
-                                    <property name="visible">True</property>
-                                    <property name="can_focus">True</property>
-                                    <property name="adjustment">320 0 640 0 0 0</property>
-                                    <property name="inverted">True</property>
-                                    <property name="digits">0</property>
-                                    <property name="value_pos">GTK_POS_BOTTOM</property>
-                                  </widget>
-                                  <packing>
-                                    <property name="left_attach">2</property>
-                                    <property name="right_attach">3</property>
-                                    <property name="top_attach">1</property>
-                                    <property name="bottom_attach">2</property>
-                                  </packing>
-                                </child>
-                                <child>
-                                  <widget class="GtkVScale" id="v0">
-                                    <property name="width_request">50</property>
-                                    <property name="visible">True</property>
-                                    <property name="can_focus">True</property>
-                                    <property name="adjustment">320 0 640 0 0 0</property>
-                                    <property name="inverted">True</property>
-                                    <property name="digits">0</property>
-                                    <property name="value_pos">GTK_POS_BOTTOM</property>
-                                  </widget>
-                                  <packing>
-                                    <property name="left_attach">3</property>
-                                    <property name="right_attach">4</property>
-                                    <property name="top_attach">1</property>
-                                    <property name="bottom_attach">2</property>
-                                  </packing>
-                                </child>
-                                <child>
-                                  <widget class="GtkVScale" id="roll">
-                                    <property name="width_request">50</property>
-                                    <property name="visible">True</property>
-                                    <property name="can_focus">True</property>
-                                    <property name="adjustment">0 -180 180 0 0 0</property>
-                                    <property name="inverted">True</property>
-                                    <property name="digits">2</property>
-                                    <property name="value_pos">GTK_POS_BOTTOM</property>
-                                  </widget>
-                                  <packing>
-                                    <property name="left_attach">4</property>
-                                    <property name="right_attach">5</property>
-                                    <property name="top_attach">1</property>
-                                    <property name="bottom_attach">2</property>
-                                  </packing>
-                                </child>
-                              </widget>
-                            </child>
-                          </widget>
-                        </child>
-                        <child>
-                          <widget class="GtkLabel" id="label11">
-                            <property name="visible">True</property>
-                            <property name="label" translatable="yes">&lt;b&gt;Intrinsics&lt;/b&gt;</property>
-                            <property name="use_markup">True</property>
-                          </widget>
-                          <packing>
-                            <property name="type">label_item</property>
-                          </packing>
-                        </child>
-                      </widget>
-                      <packing>
-                        <property name="left_attach">2</property>
-                        <property name="right_attach">3</property>
-                      </packing>
-                    </child>
-                  </widget>
-                  <packing>
-                    <property name="left_attach">1</property>
-                    <property name="right_attach">2</property>
-                  </packing>
-                </child>
-                <child>
-                  <widget class="GtkVBox" id="vbox3">
-                    <property name="visible">True</property>
-                    <property name="orientation">GTK_ORIENTATION_VERTICAL</property>
-                    <property name="orientation">GTK_ORIENTATION_VERTICAL</property>
-                    <child>
-                      <widget class="GtkImage" id="image">
-                        <property name="visible">True</property>
-                        <property name="stock">gtk-missing-image</property>
-                      </widget>
-                    </child>
-                    <child>
-                      <widget class="GtkToggleButton" id="button_center">
-                        <property name="visible">True</property>
-                        <property name="can_focus">True</property>
-                        <property name="receives_default">True</property>
-                        <property name="label" translatable="yes">Show center</property>
-                        <property name="response_id">0</property>
-                      </widget>
-                      <packing>
-                        <property name="expand">False</property>
-                        <property name="fill">False</property>
-                        <property name="position">1</property>
-                      </packing>
-                    </child>
-                    <child>
-                      <widget class="GtkVBox" id="vbox4">
-                        <property name="visible">True</property>
-                        <property name="orientation">GTK_ORIENTATION_VERTICAL</property>
-                        <property name="orientation">GTK_ORIENTATION_VERTICAL</property>
-                        <child>
-                          <widget class="GtkToggleButton" id="tg_depth">
-                            <property name="visible">True</property>
-                            <property name="can_focus">True</property>
-                            <property name="receives_default">True</property>
-                            <property name="label" translatable="yes">DEPTH camera</property>
-                            <property name="response_id">0</property>
-                          </widget>
-                        </child>
-                        <child>
-                          <widget class="GtkHSeparator" id="hseparator1">
-                            <property name="visible">True</property>
-                          </widget>
-                          <packing>
-                            <property name="expand">False</property>
-                            <property name="position">1</property>
-                          </packing>
-                        </child>
-                      </widget>
-                      <packing>
-                        <property name="position">2</property>
-                      </packing>
-                    </child>
-                    <child>
-                      <widget class="GtkVBox" id="vbox5">
-                        <property name="visible">True</property>
-                        <property name="orientation">GTK_ORIENTATION_VERTICAL</property>
-                        <property name="orientation">GTK_ORIENTATION_VERTICAL</property>
-                        <child>
-                          <widget class="GtkComboBox" id="combobox_cams">
-                            <property name="visible">True</property>
-                          </widget>
-                        </child>
-                        <child>
-                          <widget class="GtkHSeparator" id="hseparator3">
-                            <property name="visible">True</property>
-                          </widget>
-                          <packing>
-                            <property name="expand">False</property>
-                            <property name="position">1</property>
-                          </packing>
-                        </child>
-                        <child>
-                          <widget class="GtkToggleButton" id="toggle_fix">
-                            <property name="visible">True</property>
-                            <property name="can_focus">True</property>
-                            <property name="receives_default">True</property>
-                            <property name="label" translatable="yes">Real Colour</property>
-                            <property name="response_id">0</property>
-                          </widget>
-                          <packing>
-                            <property name="position">2</property>
-                          </packing>
-                        </child>
-                        <child>
-                          <widget class="GtkHSeparator" id="hseparator4">
-                            <property name="visible">True</property>
-                          </widget>
-                          <packing>
-                            <property name="expand">False</property>
-                            <property name="position">3</property>
-                          </packing>
-                        </child>
-                        <child>
-                          <widget class="GtkToggleButton" id="toggle_colour">
-                            <property name="visible">True</property>
-                            <property name="can_focus">True</property>
-                            <property name="receives_default">True</property>
-                            <property name="label" translatable="yes">Fix Colour</property>
-                            <property name="response_id">0</property>
-                          </widget>
-                          <packing>
-                            <property name="position">4</property>
-                          </packing>
-                        </child>
-                        <child>
-                          <widget class="GtkHSeparator" id="hseparator5">
-                            <property name="visible">True</property>
-                          </widget>
-                          <packing>
-                            <property name="expand">False</property>
-                            <property name="position">5</property>
-                          </packing>
-                        </child>
-                        <child>
-                          <widget class="GtkButton" id="button_save">
-                            <property name="visible">True</property>
-                            <property name="can_focus">True</property>
-                            <property name="receives_default">True</property>
-                            <property name="label" translatable="yes">Save</property>
-                            <property name="response_id">0</property>
-                          </widget>
-                          <packing>
-                            <property name="position">6</property>
-                          </packing>
-                        </child>
-                      </widget>
-                      <packing>
-                        <property name="position">3</property>
-                      </packing>
-                    </child>
-                  </widget>
-                </child>
-              </widget>
-            </child>
-          </widget>
-        </child>
-        <child>
-          <widget class="GtkHSeparator" id="hseparator2">
-            <property name="visible">True</property>
-          </widget>
-          <packing>
-            <property name="expand">False</property>
-            <property name="position">1</property>
-          </packing>
-        </child>
-        <child>
-          <placeholder/>
-        </child>
-      </widget>
-    </child>
-  </widget>
-  <widget class="GtkWindow" id="window_gl">
-    <property name="width_request">640</property>
-    <property name="height_request">480</property>
-    <property name="title" translatable="yes">World reconstruction</property>
-    <child>
-      <widget class="GtkDrawingArea" id="gl_world">
-        <property name="visible">True</property>
-      </widget>
-    </child>
-  </widget>
-</glade-interface>

Deleted: trunk/src/stable/components/rgbdManualCalibrator/cam2-alicia.cfg
===================================================================
--- trunk/src/testing/components/calibratorKinect/cam2-alicia.cfg	2013-10-06 17:09:17 UTC (rev 1002)
+++ trunk/src/stable/components/rgbdManualCalibrator/cam2-alicia.cfg	2013-10-07 08:17:36 UTC (rev 1003)
@@ -1,53 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<calibration_camera>
-  <position>
-    <x>3890,000000</x>
-    <y>4945,000000</y>
-    <z>857,000000</z>
-  </position>
-  <foa>
-    <x>3592,000000</x>
-    <y>1690,000000</y>
-    <z>1012,000000</z>
-  </foa>
-  <k_matrix>
-    <k11>516,000000</k11>
-    <k12>0,000000</k12>
-    <k13>273,000000</k13>
-    <k14>0,000000</k14>
-    <k21>0,000000</k21>
-    <k22>546,000000</k22>
-    <k23>397,000000</k23>
-    <k24>0,000000</k24>
-    <k31>0,000000</k31>
-    <k32>0,000000</k32>
-    <k33>1,000000</k33>
-    <k34>0,000000</k34>
-  </k_matrix>
-  <rt_matrix>
-    <rt11>0,004319</rt11>
-    <rt12>0,047170</rt12>
-    <rt13>0,998878</rt13>
-    <rt14>-1106,093750</rt14>
-    <rt21>-0,995835</rt21>
-    <rt22>0,091170</rt22>
-    <rt23>0,000000</rt23>
-    <rt24>3422,962891</rt24>
-    <rt31>-0,091068</rt31>
-    <rt32>-0,994718</rt32>
-    <rt33>0,047368</rt33>
-    <rt34>5232,538086</rt34>
-    <rt31>-0,091068</rt31>
-    <rt32>-0,994718</rt32>
-    <rt33>0,047368</rt33>
-    <rt34>5232,538086</rt34>
-  </rt_matrix>
-  <roll>0,000000</roll>
-  <fdistx>516,000000</fdistx>
-  <fdisty>546,000000</fdisty>
-  <u0>273,000000</u0>
-  <v0>397,000000</v0>
-  <skew>0,000000</skew>
-  <rows>480</rows>
-  <columns>640</columns>
-</calibration_camera>

Modified: trunk/src/stable/components/rgbdManualCalibrator/common.h
===================================================================
--- trunk/src/testing/components/calibratorKinect/common.h	2013-10-06 17:09:17 UTC (rev 1002)
+++ trunk/src/stable/components/rgbdManualCalibrator/common.h	2013-10-07 08:17:36 UTC (rev 1003)
@@ -23,7 +23,7 @@
 
 #ifndef calibrator_COMMON_H
 #define calibrator_COMMON_H
-namespace CalibratorKinect {
+namespace rgbdManualCalibrator {
 
 struct kinectData{
 	jderobot::cameraClient* RGB;

Modified: trunk/src/stable/components/rgbdManualCalibrator/config-example/cam-in
===================================================================
--- trunk/src/testing/components/calibratorKinect/config-example/cam-in	2013-10-06 17:09:17 UTC (rev 1002)
+++ trunk/src/stable/components/rgbdManualCalibrator/config-example/cam-in	2013-10-07 08:17:36 UTC (rev 1003)
@@ -1,21 +1,53 @@
-#extrinsics, position
-positionX 1070
-positionY 900
-positionZ 2400
-positionH 1.000000
-
- #extrinsics, orientation
-FOApositionX 3094.925537
-FOApositionY 2855.875488
-FOApositionZ 1487.441528
-FOApositionH 1.000000
-roll -0.059950
-
- #intrinsics
-fx 405.399994
-fy 405.399994
-skew 0.000000
-u0 142.600006
-v0 150.399994
-columns 320
-rows 240
+<?xml version="1.0" encoding="UTF-8"?>
+<calibration_camera>
+  <position>
+    <x>3890,000000</x>
+    <y>4945,000000</y>
+    <z>857,000000</z>
+  </position>
+  <foa>
+    <x>3592,000000</x>
+    <y>1690,000000</y>
+    <z>1012,000000</z>
+  </foa>
+  <k_matrix>
+    <k11>516,000000</k11>
+    <k12>0,000000</k12>
+    <k13>273,000000</k13>
+    <k14>0,000000</k14>
+    <k21>0,000000</k21>
+    <k22>546,000000</k22>
+    <k23>397,000000</k23>
+    <k24>0,000000</k24>
+    <k31>0,000000</k31>
+    <k32>0,000000</k32>
+    <k33>1,000000</k33>
+    <k34>0,000000</k34>
+  </k_matrix>
+  <rt_matrix>
+    <rt11>0,004319</rt11>
+    <rt12>0,047170</rt12>
+    <rt13>0,998878</rt13>
+    <rt14>-1106,093750</rt14>
+    <rt21>-0,995835</rt21>
+    <rt22>0,091170</rt22>
+    <rt23>0,000000</rt23>
+    <rt24>3422,962891</rt24>
+    <rt31>-0,091068</rt31>
+    <rt32>-0,994718</rt32>
+    <rt33>0,047368</rt33>
+    <rt34>5232,538086</rt34>
+    <rt31>-0,091068</rt31>
+    <rt32>-0,994718</rt32>
+    <rt33>0,047368</rt33>
+    <rt34>5232,538086</rt34>
+  </rt_matrix>
+  <roll>0,000000</roll>
+  <fdistx>516,000000</fdistx>
+  <fdisty>546,000000</fdisty>
+  <u0>273,000000</u0>
+  <v0>397,000000</v0>
+  <skew>0,000000</skew>
+  <rows>480</rows>
+  <columns>640</columns>
+</calibration_camera>

Modified: trunk/src/stable/components/rgbdManualCalibrator/controller.cpp
===================================================================
--- trunk/src/testing/components/calibratorKinect/controller.cpp	2013-10-06 17:09:17 UTC (rev 1002)
+++ trunk/src/stable/components/rgbdManualCalibrator/controller.cpp	2013-10-07 08:17:36 UTC (rev 1003)
@@ -23,15 +23,15 @@
 
 #include "controller.h"
 
-namespace CalibratorKinect {
+namespace rgbdManualCalibrator {
 
   Controller::Controller(Ice::PropertiesPtr prop, int w, int h, int nCameras) {
 	cameras.resize(nCameras);
-    this->gladepath = std::string("./calibratorKinect.glade");
+    this->gladepath = std::string("./rgbdManualCalibrator.glade");
 
-    this->world = prop->getProperty("CalibratorKinect.World.File");
+    this->world = prop->getProperty("rgbdManualCalibrator.World.File");
     //cout << "world es " << this->world << endl;
-    this->camOut = prop->getProperty("CalibratorKinect.Camera.FileOut");
+    this->camOut = prop->getProperty("rgbdManualCalibrator.Camera.FileOut");
 	cWidth=w;
 	cHeight=h;
     this->drawCenter = false;
@@ -177,14 +177,14 @@
 		this->cameras[cam].skew = 0.0;
 
 		std::ostringstream strInd;
-		strInd << "CalibratorKinect.Camera." << cam << ".Calibration";
+		strInd << "rgbdManualCalibrator.Camera." << cam << ".Calibration";
 
 		std::string camera = prop->getProperty(strInd.str());
 		xmlReader(&(this->cameras[cam]), camera.c_str());
 
 
 		//old calibration
-	    /*Ice::PropertyDict pd = prop->getPropertiesForPrefix("CalibratorKinect.Config");
+	    /*Ice::PropertyDict pd = prop->getPropertiesForPrefix("rgbdManualCalibrator.Config");
     	this->load_camera_config(pd, cam);*/
 		//newOne
 
@@ -266,55 +266,55 @@
     for(Ice::PropertyDict::const_iterator it = pd.begin(); it != pd.end(); it++) {
 
 		std::istringstream sTemp;
-      if((*it).first.compare("CalibratorKinect.Config.Position.X")==0) {
+      if((*it).first.compare("rgbdManualCalibrator.Config.Position.X")==0) {
 	this->cameras[cam].position.X=(float)atof((*it).second.c_str());
 	this->lastx = this->cameras[cam].position.X;
       }
-      else if((*it).first.compare("CalibratorKinect.Config.Position.Y")==0) {
+      else if((*it).first.compare("rgbdManualCalibrator.Config.Position.Y")==0) {
 	this->cameras[cam].position.Y=(float)atof((*it).second.c_str());
 	this->lasty = this->cameras[cam].position.Y;
       }
-      else if((*it).first.compare("CalibratorKinect.Config.Position.Z")==0) {
+      else if((*it).first.compare("rgbdManualCalibrator.Config.Position.Z")==0) {
 	this->cameras[cam].position.Z=(float)atof((*it).second.c_str());
 	this->lastz = this->cameras[cam].position.Z;
       }
-      else if((*it).first.compare("CalibratorKinect.Config.Position.H")==0) {
+      else if((*it).first.compare("rgbdManualCalibrator.Config.Position.H")==0) {
 	this->cameras[cam].position.H=(float)atof((*it).second.c_str());
       } 
-      else if((*it).first.compare("CalibratorKinect.Config.FOAPosition.X")==0) {
+      else if((*it).first.compare("rgbdManualCalibrator.Config.FOAPosition.X")==0) {
 	this->cameras[cam].foa.X=(float)atof((*it).second.c_str());
       } 
-      else if((*it).first.compare("CalibratorKinect.Config.FOAPosition.Y")==0) {
+      else if((*it).first.compare("rgbdManualCalibrator.Config.FOAPosition.Y")==0) {
 	this->cameras[cam].foa.Y=(float)atof((*it).second.c_str());
       } 
-      else if((*it).first.compare("CalibratorKinect.Config.FOAPosition.Z")==0) {
+      else if((*it).first.compare("rgbdManualCalibrator.Config.FOAPosition.Z")==0) {
 	this->cameras[cam].foa.Z=(float)atof((*it).second.c_str());
       } 
-      else if((*it).first.compare("CalibratorKinect.Config.FOAPosition.H")==0) {
+      else if((*it).first.compare("rgbdManualCalibrator.Config.FOAPosition.H")==0) {
 	this->cameras[cam].foa.H=(float)atof((*it).second.c_str());
       } 
-      else if((*it).first.compare("CalibratorKinect.Config.Roll")==0) {
+      else if((*it).first.compare("rgbdManualCalibrator.Config.Roll")==0) {
 	this->cameras[cam].roll=(float)atof((*it).second.c_str());
       } 
-      else if((*it).first.compare("CalibratorKinect.Config.Fx")==0) {
+      else if((*it).first.compare("rgbdManualCalibrator.Config.Fx")==0) {
 	this->cameras[cam].fdistx=(float)atof((*it).second.c_str());
       } 
-      else if((*it).first.compare("CalibratorKinect.Config.Fy")==0) {
+      else if((*it).first.compare("rgbdManualCalibrator.Config.Fy")==0) {
 	this->cameras[cam].fdisty=(float)atof((*it).second.c_str());
       } 
-      else if((*it).first.compare("CalibratorKinect.Config.Skew")==0) {
+      else if((*it).first.compare("rgbdManualCalibrator.Config.Skew")==0) {
 	this->cameras[cam].skew=(float)atof((*it).second.c_str());
       } 
-      else if((*it).first.compare("CalibratorKinect.Config.U0")==0) {
+      else if((*it).first.compare("rgbdManualCalibrator.Config.U0")==0) {
 	this->cameras[cam].u0=(float)atof((*it).second.c_str());
       } 
-      else if((*it).first.compare("CalibratorKinect.Config.V0")==0) {
+      else if((*it).first.compare("rgbdManualCalibrator.Config.V0")==0) {
 	this->cameras[cam].v0=(float)atof((*it).second.c_str());
       } 
-      else if((*it).first.compare("CalibratorKinect.Config.Columns")==0) {
+      else if((*it).first.compare("rgbdManualCalibrator.Config.Columns")==0) {
 	this->cameras[cam].columns=(int)atof((*it).second.c_str());
       } 
-      else if((*it).first.compare("CalibratorKinect.Config.Rows")==0) {
+      else if((*it).first.compare("rgbdManualCalibrator.Config.Rows")==0) {
 	this->cameras[cam].rows=(int)atof((*it).second.c_str());
       } 
     }
@@ -382,7 +382,7 @@
   }
 
 
-	void Controller::add_depth_pointsImage(cv::Mat distances, cv::Mat imageRGB, CalibratorKinect::DrawArea* world, int cam, int scale, int colour){
+	void Controller::add_depth_pointsImage(cv::Mat distances, cv::Mat imageRGB, rgbdManualCalibrator::DrawArea* world, int cam, int scale, int colour){
 	float d;
 
 		for (int xIm=0; xIm< cWidth; xIm++){

Modified: trunk/src/stable/components/rgbdManualCalibrator/controller.h
===================================================================
--- trunk/src/testing/components/calibratorKinect/controller.h	2013-10-06 17:09:17 UTC (rev 1002)
+++ trunk/src/stable/components/rgbdManualCalibrator/controller.h	2013-10-07 08:17:36 UTC (rev 1003)
@@ -47,7 +47,7 @@
 
 using namespace std;
 
-namespace CalibratorKinect {
+namespace rgbdManualCalibrator {
   class Controller {
   public:
     Controller(Ice::PropertiesPtr prop, int w, int h, int nCameras);
@@ -77,7 +77,7 @@
 		void setV0(float value,int cam);	
 		void setRoll(float value,int cam);
 		void changeDrawCenter();
-		void add_depth_pointsImage(cv::Mat distances, cv::Mat imageRGB, CalibratorKinect::DrawArea* world,int cam, int scale, int colour);
+		void add_depth_pointsImage(cv::Mat distances, cv::Mat imageRGB, rgbdManualCalibrator::DrawArea* world,int cam, int scale, int colour);
 		void saveCameras(int nCameras);
 
   private:

Modified: trunk/src/stable/components/rgbdManualCalibrator/drawarea.cpp
===================================================================
--- trunk/src/testing/components/calibratorKinect/drawarea.cpp	2013-10-06 17:09:17 UTC (rev 1002)
+++ trunk/src/stable/components/rgbdManualCalibrator/drawarea.cpp	2013-10-07 08:17:36 UTC (rev 1003)
@@ -27,7 +27,7 @@
 #define eval2(N) (N*N)
 
 
-namespace CalibratorKinect {
+namespace rgbdManualCalibrator {
 	const float DrawArea::MAXWORLD = 50.;
 	const float DrawArea::PI = 3.141592654;
 

Modified: trunk/src/stable/components/rgbdManualCalibrator/drawarea.h
===================================================================
--- trunk/src/testing/components/calibratorKinect/drawarea.h	2013-10-06 17:09:17 UTC (rev 1002)
+++ trunk/src/stable/components/rgbdManualCalibrator/drawarea.h	2013-10-07 08:17:36 UTC (rev 1003)
@@ -62,7 +62,7 @@
   float roll;
 } SofReference;
 
-namespace CalibratorKinect {
+namespace rgbdManualCalibrator {
 	class DrawArea : public Gtk::DrawingArea, public Gtk::GL::Widget<DrawArea>
 	{
 	public:

Copied: trunk/src/stable/components/rgbdManualCalibrator/rgbdManualCalibrator.cfg (from rev 1002, trunk/src/testing/components/calibratorKinect/calibratorKinect.cfg)
===================================================================
--- trunk/src/stable/components/rgbdManualCalibrator/rgbdManualCalibrator.cfg	                        (rev 0)
+++ trunk/src/stable/components/rgbdManualCalibrator/rgbdManualCalibrator.cfg	2013-10-07 08:17:36 UTC (rev 1003)
@@ -0,0 +1,11 @@
+rgbdManualCalibrator.CameraRGB.0.Proxy=cameraA:tcp -h 127.0.0.1 -p 9998
+rgbdManualCalibrator.CameraDEPTH.0.Proxy=cameraB:tcp -h 127.0.0.1 -p 9998
+rgbdManualCalibrator.CameraRGB.1.Proxy=cameraA:tcp -h 127.0.0.1 -p 9997
+rgbdManualCalibrator.CameraDEPTH.1.Proxy=cameraB:tcp -h 127.0.0.1 -p 9997
+rgbdManualCalibrator.Camera.FileOut=./config-example/cam-out
+rgbdManualCalibrator.World.File=./config-example/lambecom
+
+rgbdManualCalibrator.nCameras=2
+
+rgbdManualCalibrator.Camera.0.Calibration=./config-example/cam-in
+rgbdManualCalibrator.Camera.1.Calibration=c./config-example/cam-in

Copied: trunk/src/stable/components/rgbdManualCalibrator/rgbdManualCalibrator.cpp (from rev 1002, trunk/src/testing/components/calibratorKinect/calibratorKinect.cpp)
===================================================================
--- trunk/src/stable/components/rgbdManualCalibrator/rgbdManualCalibrator.cpp	                        (rev 0)
+++ trunk/src/stable/components/rgbdManualCalibrator/rgbdManualCalibrator.cpp	2013-10-07 08:17:36 UTC (rev 1003)
@@ -0,0 +1,103 @@
+/*
+*
+*  Copyright (C) 1997-2013 JDERobot Developers Team
+*
+*  This program is free software: you can redistribute it and/or modify
+*  it under the terms of the GNU General Public License as published by
+*  the Free Software Foundation, either version 3 of the License, or
+*  (at your option) any later version.
+*
+*  This program is distributed in the hope that it will be useful,
+*  but WITHOUT ANY WARRANTY; without even the implied warranty of
+*  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+*  GNU General Public License for more details.
+*
+*  You should have received a copy of the GNU General Public License
+*  along with this program.  If not, see http://www.gnu.org/licenses/. 
+*
+*  Authors : Sara Marugán Alonso <smarugan en gsyc.es>,
+ *           Eduardo Perdices <eperdices en gsyc.es>
+ *           Francisco Miguel Rivas Montero <franciscomiguel.rivas en urjc.es>
+*
+*/
+
+#include <iostream>
+#include <Ice/Ice.h>
+#include <IceUtil/IceUtil.h>
+#include <jderobot/camera.h>
+#include <colorspaces/colorspacesmm.h>
+#include "view.h"
+#include "controller.h"
+#include "common.h"
+
+
+//namespace calibrator{
+
+std::vector<rgbdManualCalibrator::kinectData> sources;
+
+int main(int argc, char** argv){
+	int status;
+	Ice::CommunicatorPtr ic;
+	rgbdManualCalibrator::View * view;
+	rgbdManualCalibrator::Controller * controller;
+	int height, width, nCameras;
+
+	try{
+		ic = Ice::initialize(argc,argv);
+		
+
+		Ice::PropertiesPtr prop = ic->getProperties();
+		std::string worldconf = prop->getProperty("rgbdManualCalibrator.World.File");
+		std::string camOutconf = prop->getProperty("rgbdManualCalibrator.Camera.FileOut");
+		width=prop->getPropertyAsIntWithDefault("rgbdManualCalibrator.Config.Columns",0);
+		height=prop->getPropertyAsIntWithDefault("rgbdManualCalibrator.Config.Rows",0);
+		nCameras=prop->getPropertyAsIntWithDefault("rgbdManualCalibrator.nCameras",0);
+		std::cout << "w=" << width << ", h=" << height << std::endl;
+
+		sources.resize(nCameras);
+		for (int i=0; i< nCameras; i++){
+			std::ostringstream sTemp;
+			std::ostringstream sTemp2;
+			sTemp << "rgbdManualCalibrator.CameraRGB." << i << ".";
+			sources[i].RGB=new jderobot::cameraClient(ic, sTemp.str(),false);
+			sTemp2 << "rgbdManualCalibrator.CameraDEPTH." << i << ".";
+			sources[i].DEPTH=new jderobot::cameraClient(ic, sTemp2.str(),false);
+
+
+			if (sources[i].RGB==NULL)
+				throw "Could not create proxy to RGB camera";
+			else
+				sources[i].RGB->start();
+			if (sources[i].DEPTH==NULL)
+				throw "Could not create proxy to DEPTH camera";
+			else
+				sources[i].DEPTH->start();
+		}
+
+
+
+		/*Create Controller and View*/
+		controller = new rgbdManualCalibrator::Controller(prop, width, height, nCameras);
+
+		view = new rgbdManualCalibrator::View(controller, worldconf, nCameras);
+
+
+		while(view->isVisible()){
+			view->display(sources);
+
+			usleep(1000);
+		}
+
+	}catch (const Ice::Exception& ex) {
+		std::cerr << ex << std::endl;
+		status = 1;
+	} catch (const char* msg) {
+		std::cerr << msg << std::endl;
+		status = 1;
+	}
+
+	if (ic)
+		ic->destroy();
+	return status;
+}
+//}

Copied: trunk/src/stable/components/rgbdManualCalibrator/rgbdManualCalibrator.glade (from rev 1002, trunk/src/testing/components/calibratorKinect/calibratorKinect.glade)
===================================================================
--- trunk/src/stable/components/rgbdManualCalibrator/rgbdManualCalibrator.glade	                        (rev 0)
+++ trunk/src/stable/components/rgbdManualCalibrator/rgbdManualCalibrator.glade	2013-10-07 08:17:36 UTC (rev 1003)
@@ -0,0 +1,579 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<!DOCTYPE glade-interface SYSTEM "glade-2.0.dtd">
+<!--Generated with glade3 3.4.2 on Fri Nov  9 21:33:03 2012 -->
+<glade-interface>
+  <widget class="GtkWindow" id="mainwindow">
+    <property name="visible">True</property>
+    <property name="title" translatable="yes">Calibrator</property>
+    <child>
+      <widget class="GtkVBox" id="vbox1">
+        <property name="visible">True</property>
+        <property name="orientation">GTK_ORIENTATION_VERTICAL</property>
+        <property name="orientation">GTK_ORIENTATION_VERTICAL</property>
+        <child>
+          <widget class="GtkVBox" id="vbox2">
+            <property name="visible">True</property>
+            <child>
+              <widget class="GtkTable" id="table2">
+                <property name="visible">True</property>
+                <property name="n_columns">2</property>
+                <child>
+                  <widget class="GtkTable" id="tableValues">
+                    <property name="height_request">500</property>
+                    <property name="visible">True</property>
+                    <property name="n_columns">3</property>
+                    <child>
+                      <widget class="GtkFrame" id="Position">
+                        <property name="visible">True</property>
+                        <property name="label_xalign">0</property>
+                        <property name="shadow_type">GTK_SHADOW_IN</property>
+                        <child>
+                          <widget class="GtkAlignment" id="alignment1">
+                            <property name="visible">True</property>
+                            <property name="left_padding">12</property>
+                            <child>
+                              <widget class="GtkTable" id="table6">
+                                <property name="visible">True</property>
+                                <property name="n_rows">2</property>
+                                <property name="n_columns">3</property>
+                                <child>
+                                  <widget class="GtkLabel" id="labelX">
+                                    <property name="visible">True</property>
+                                    <property name="label" translatable="yes">X</property>
+                                  </widget>
+                                  <packing>
+                                    <property name="x_options">GTK_FILL</property>
+                                    <property name="y_options"/>
+                                  </packing>
+                                </child>
+                                <child>
+                                  <widget class="GtkVScale" id="pos_x">
+                                    <property name="width_request">50</property>
+                                    <property name="height_request">400</property>
+                                    <property name="visible">True</property>
+                                    <property name="can_focus">True</property>
+                                    <property name="adjustment">0 -10000 10000 0 0 0</property>
+                                    <property name="inverted">True</property>
+                                    <property name="digits">0</property>
+                                    <property name="value_pos">GTK_POS_BOTTOM</property>
+                                  </widget>
+                                  <packing>
+                                    <property name="top_attach">1</property>
+                                    <property name="bottom_attach">2</property>
+                                  </packing>
+                                </child>
+                                <child>
+                                  <widget class="GtkLabel" id="label26">
+                                    <property name="visible">True</property>
+                                    <property name="label" translatable="yes">Y</property>
+                                  </widget>
+                                  <packing>
+                                    <property name="left_attach">1</property>
+                                    <property name="right_attach">2</property>
+                                    <property name="x_options">GTK_FILL</property>
+                                    <property name="y_options"/>
+                                  </packing>
+                                </child>
+                                <child>
+                                  <widget class="GtkVScale" id="pos_y">
+                                    <property name="width_request">50</property>
+                                    <property name="visible">True</property>
+                                    <property name="can_focus">True</property>
+                                    <property name="adjustment">0 -10000 10000 0 0 0</property>
+                                    <property name="inverted">True</property>
+                                    <property name="digits">0</property>
+                                    <property name="value_pos">GTK_POS_BOTTOM</property>
+                                  </widget>
+                                  <packing>
+                                    <property name="left_attach">1</property>
+                                    <property name="right_attach">2</property>
+                                    <property name="top_attach">1</property>
+                                    <property name="bottom_attach">2</property>
+                                  </packing>
+                                </child>
+                                <child>
+                                  <widget class="GtkLabel" id="label27">
+                                    <property name="visible">True</property>
+                                    <property name="label" translatable="yes">Z</property>
+                                  </widget>
+                                  <packing>
+                                    <property name="left_attach">2</property>
+                                    <property name="right_attach">3</property>
+                                    <property name="x_options">GTK_FILL</property>
+                                    <property name="y_options"/>
+                                  </packing>
+                                </child>
+                                <child>
+                                  <widget class="GtkVScale" id="pos_z">
+                                    <property name="width_request">50</property>
+                                    <property name="visible">True</property>
+                                    <property name="can_focus">True</property>
+                                    <property name="adjustment">0 -10000 10000 0 0 0</property>
+                                    <property name="inverted">True</property>
+                                    <property name="digits">0</property>
+                                    <property name="value_pos">GTK_POS_BOTTOM</property>
+                                  </widget>
+                                  <packing>
+                                    <property name="left_attach">2</property>
+                                    <property name="right_attach">3</property>
+                                    <property name="top_attach">1</property>
+                                    <property name="bottom_attach">2</property>
+                                  </packing>
+                                </child>
+                              </widget>
+                            </child>
+                          </widget>
+                        </child>
+                        <child>
+                          <widget class="GtkLabel" id="label9">
+                            <property name="visible">True</property>
+                            <property name="label" translatable="yes">&lt;b&gt;Position&lt;/b&gt;</property>
+                            <property name="use_markup">True</property>
+                          </widget>
+                          <packing>
+                            <property name="type">label_item</property>
+                          </packing>
+                        </child>
+                      </widget>
+                    </child>
+                    <child>
+                      <widget class="GtkFrame" id="Foa">
+                        <property name="visible">True</property>
+                        <property name="label_xalign">0</property>
+                        <property name="shadow_type">GTK_SHADOW_IN</property>
+                        <child>
+                          <widget class="GtkAlignment" id="alignment2">
+                            <property name="visible">True</property>
+                            <property name="left_padding">12</property>
+                            <child>
+                              <widget class="GtkTable" id="table7">
+                                <property name="visible">True</property>
+                                <property name="n_rows">2</property>
+                                <property name="n_columns">3</property>
+                                <child>
+                                  <widget class="GtkLabel" id="label1">
+                                    <property name="visible">True</property>
+                                    <property name="label" translatable="yes">X</property>
+                                  </widget>
+                                </child>
+                                <child>
+                                  <widget class="GtkLabel" id="label2">
+                                    <property name="visible">True</property>
+                                    <property name="label" translatable="yes">Y</property>
+                                  </widget>
+                                  <packing>
+                                    <property name="left_attach">1</property>
+                                    <property name="right_attach">2</property>
+                                  </packing>
+                                </child>
+                                <child>
+                                  <widget class="GtkLabel" id="label3">
+                                    <property name="visible">True</property>
+                                    <property name="label" translatable="yes">Z</property>
+                                  </widget>
+                                  <packing>
+                                    <property name="left_attach">2</property>
+                                    <property name="right_attach">3</property>
+                                  </packing>
+                                </child>
+                                <child>
+                                  <widget class="GtkVScale" id="foa_x">
+                                    <property name="width_request">50</property>
+                                    <property name="height_request">400</property>
+                                    <property name="visible">True</property>
+                                    <property name="can_focus">True</property>
+                                    <property name="adjustment">0 -10000 10000 0 0 0</property>
+                                    <property name="inverted">True</property>
+                                    <property name="digits">0</property>
+                                    <property name="value_pos">GTK_POS_BOTTOM</property>
+                                  </widget>
+                                  <packing>
+                                    <property name="top_attach">1</property>
+                                    <property name="bottom_attach">2</property>
+                                  </packing>
+                                </child>
+                                <child>
+                                  <widget class="GtkVScale" id="foa_y">
+                                    <property name="width_request">50</property>
+                                    <property name="visible">True</property>
+                                    <property name="can_focus">True</property>
+                                    <property name="adjustment">0 -10000 10000 0 0 0</property>
+                                    <property name="inverted">True</property>
+                                    <property name="digits">0</property>
+                                    <property name="value_pos">GTK_POS_BOTTOM</property>
+                                  </widget>
+                                  <packing>
+                                    <property name="left_attach">1</property>
+                                    <property name="right_attach">2</property>
+                                    <property name="top_attach">1</property>
+                                    <property name="bottom_attach">2</property>
+                                  </packing>
+                                </child>
+                                <child>
+                                  <widget class="GtkVScale" id="foa_z">
+                                    <property name="width_request">50</property>
+                                    <property name="visible">True</property>
+                                    <property name="can_focus">True</property>
+                                    <property name="adjustment">0 -10000 10000 0 0 0</property>
+                                    <property name="inverted">True</property>
+                                    <property name="digits">0</property>
+                                    <property name="value_pos">GTK_POS_BOTTOM</property>
+                                  </widget>
+                                  <packing>
+                                    <property name="left_attach">2</property>
+                                    <property name="right_attach">3</property>
+                                    <property name="top_attach">1</property>
+                                    <property name="bottom_attach">2</property>
+                                  </packing>
+                                </child>
+                              </widget>
+                            </child>
+                          </widget>
+                        </child>
+                        <child>
+                          <widget class="GtkLabel" id="label10">
+                            <property name="visible">True</property>
+                            <property name="label" translatable="yes">&lt;b&gt;Foa&lt;/b&gt;</property>
+                            <property name="use_markup">True</property>
+                          </widget>
+                          <packing>
+                            <property name="type">label_item</property>
+                          </packing>
+                        </child>
+                      </widget>
+                      <packing>
+                        <property name="left_attach">1</property>
+                        <property name="right_attach">2</property>
+                      </packing>
+                    </child>
+                    <child>
+                      <widget class="GtkFrame" id="Intrinsics">
+                        <property name="visible">True</property>
+                        <property name="label_xalign">0</property>
+                        <property name="shadow_type">GTK_SHADOW_IN</property>
+                        <child>
+                          <widget class="GtkAlignment" id="alignment3">
+                            <property name="visible">True</property>
+                            <property name="left_padding">12</property>
+                            <child>
+                              <widget class="GtkTable" id="table8">
+                                <property name="visible">True</property>
+                                <property name="n_rows">2</property>
+                                <property name="n_columns">5</property>
+                                <child>
+                                  <widget class="GtkLabel" id="label4">
+                                    <property name="visible">True</property>
+                                    <property name="label" translatable="yes">Fx</property>
+                                  </widget>
+                                </child>
+                                <child>
+                                  <widget class="GtkLabel" id="label5">
+                                    <property name="visible">True</property>
+                                    <property name="label" translatable="yes">Fy</property>
+                                  </widget>
+                                  <packing>
+                                    <property name="left_attach">1</property>
+                                    <property name="right_attach">2</property>
+                                  </packing>
+                                </child>
+                                <child>
+                                  <widget class="GtkLabel" id="label6">
+                                    <property name="visible">True</property>
+                                    <property name="label" translatable="yes">u0</property>
+                                  </widget>
+                                  <packing>
+                                    <property name="left_attach">2</property>
+                                    <property name="right_attach">3</property>
+                                  </packing>
+                                </child>
+                                <child>
+                                  <widget class="GtkLabel" id="label7">
+                                    <property name="visible">True</property>
+                                    <property name="label" translatable="yes">v0</property>
+                                  </widget>
+                                  <packing>
+                                    <property name="left_attach">3</property>
+                                    <property name="right_attach">4</property>
+                                  </packing>
+                                </child>
+                                <child>
+                                  <widget class="GtkLabel" id="label8">
+                                    <property name="visible">True</property>
+                                    <property name="label" translatable="yes">Roll</property>
+                                  </widget>
+                                  <packing>
+                                    <property name="left_attach">4</property>
+                                    <property name="right_attach">5</property>
+                                  </packing>
+                                </child>
+                                <child>
+                                  <widget class="GtkVScale" id="fx">
+                                    <property name="width_request">50</property>
+                                    <property name="height_request">400</property>
+                                    <property name="visible">True</property>
+                                    <property name="can_focus">True</property>
+                                    <property name="adjustment">300 0 600 0 0 0</property>
+                                    <property name="inverted">True</property>
+                                    <property name="value_pos">GTK_POS_BOTTOM</property>
+                                  </widget>
+                                  <packing>
+                                    <property name="top_attach">1</property>
+                                    <property name="bottom_attach">2</property>
+                                  </packing>
+                                </child>
+                                <child>
+                                  <widget class="GtkVScale" id="fy">
+                                    <property name="width_request">50</property>
+                                    <property name="visible">True</property>
+                                    <property name="can_focus">True</property>
+                                    <property name="adjustment">300 0 600 0 0 0</property>
+                                    <property name="inverted">True</property>
+                                    <property name="value_pos">GTK_POS_BOTTOM</property>
+                                  </widget>
+                                  <packing>
+                                    <property name="left_attach">1</property>
+                                    <property name="right_attach">2</property>
+                                    <property name="top_attach">1</property>
+                                    <property name="bottom_attach">2</property>
+                                  </packing>
+                                </child>
+                                <child>
+                                  <widget class="GtkVScale" id="u0">
+                                    <property name="width_request">50</property>
+                                    <property name="visible">True</property>
+                                    <property name="can_focus">True</property>
+                                    <property name="adjustment">320 0 640 0 0 0</property>
+                                    <property name="inverted">True</property>
+                                    <property name="digits">0</property>
+                                    <property name="value_pos">GTK_POS_BOTTOM</property>
+                                  </widget>
+                                  <packing>
+                                    <property name="left_attach">2</property>
+                                    <property name="right_attach">3</property>
+                                    <property name="top_attach">1</property>
+                                    <property name="bottom_attach">2</property>
+                                  </packing>
+                                </child>
+                                <child>
+                                  <widget class="GtkVScale" id="v0">
+                                    <property name="width_request">50</property>
+                                    <property name="visible">True</property>
+                                    <property name="can_focus">True</property>
+                                    <property name="adjustment">320 0 640 0 0 0</property>
+                                    <property name="inverted">True</property>
+                                    <property name="digits">0</property>
+                                    <property name="value_pos">GTK_POS_BOTTOM</property>
+                                  </widget>
+                                  <packing>
+                                    <property name="left_attach">3</property>
+                                    <property name="right_attach">4</property>
+                                    <property name="top_attach">1</property>
+                                    <property name="bottom_attach">2</property>
+                                  </packing>
+                                </child>
+                                <child>
+                                  <widget class="GtkVScale" id="roll">
+                                    <property name="width_request">50</property>
+                                    <property name="visible">True</property>
+                                    <property name="can_focus">True</property>
+                                    <property name="adjustment">0 -180 180 0 0 0</property>
+                                    <property name="inverted">True</property>
+                                    <property name="digits">2</property>
+                                    <property name="value_pos">GTK_POS_BOTTOM</property>
+                                  </widget>
+                                  <packing>
+                                    <property name="left_attach">4</property>
+                                    <property name="right_attach">5</property>
+                                    <property name="top_attach">1</property>
+                                    <property name="bottom_attach">2</property>
+                                  </packing>
+                                </child>
+                              </widget>
+                            </child>
+                          </widget>
+                        </child>
+                        <child>
+                          <widget class="GtkLabel" id="label11">
+                            <property name="visible">True</property>
+                            <property name="label" translatable="yes">&lt;b&gt;Intrinsics&lt;/b&gt;</property>
+                            <property name="use_markup">True</property>
+                          </widget>
+                          <packing>
+                            <property name="type">label_item</property>
+                          </packing>
+                        </child>
+                      </widget>
+                      <packing>
+                        <property name="left_attach">2</property>
+                        <property name="right_attach">3</property>
+                      </packing>
+                    </child>
+                  </widget>
+                  <packing>
+                    <property name="left_attach">1</property>
+                    <property name="right_attach">2</property>
+                  </packing>
+                </child>
+                <child>
+                  <widget class="GtkVBox" id="vbox3">
+                    <property name="visible">True</property>
+                    <property name="orientation">GTK_ORIENTATION_VERTICAL</property>
+                    <property name="orientation">GTK_ORIENTATION_VERTICAL</property>
+                    <child>
+                      <widget class="GtkImage" id="image">
+                        <property name="visible">True</property>
+                        <property name="stock">gtk-missing-image</property>
+                      </widget>
+                    </child>
+                    <child>
+                      <widget class="GtkToggleButton" id="button_center">
+                        <property name="visible">True</property>
+                        <property name="can_focus">True</property>
+                        <property name="receives_default">True</property>
+                        <property name="label" translatable="yes">Show center</property>
+                        <property name="response_id">0</property>
+                      </widget>
+                      <packing>
+                        <property name="expand">False</property>
+                        <property name="fill">False</property>
+                        <property name="position">1</property>
+                      </packing>
+                    </child>
+                    <child>
+                      <widget class="GtkVBox" id="vbox4">
+                        <property name="visible">True</property>
+                        <property name="orientation">GTK_ORIENTATION_VERTICAL</property>
+                        <property name="orientation">GTK_ORIENTATION_VERTICAL</property>
+                        <child>
+                          <widget class="GtkToggleButton" id="tg_depth">
+                            <property name="visible">True</property>
+                            <property name="can_focus">True</property>
+                            <property name="receives_default">True</property>
+                            <property name="label" translatable="yes">DEPTH camera</property>
+                            <property name="response_id">0</property>
+                          </widget>
+                        </child>
+                        <child>
+                          <widget class="GtkHSeparator" id="hseparator1">
+                            <property name="visible">True</property>
+                          </widget>
+                          <packing>
+                            <property name="expand">False</property>
+                            <property name="position">1</property>
+                          </packing>
+                        </child>
+                      </widget>
+                      <packing>
+                        <property name="position">2</property>
+                      </packing>
+                    </child>
+                    <child>
+                      <widget class="GtkVBox" id="vbox5">
+                        <property name="visible">True</property>
+                        <property name="orientation">GTK_ORIENTATION_VERTICAL</property>
+                        <property name="orientation">GTK_ORIENTATION_VERTICAL</property>
+                        <child>
+                          <widget class="GtkComboBox" id="combobox_cams">
+                            <property name="visible">True</property>
+                          </widget>
+                        </child>
+                        <child>
+                          <widget class="GtkHSeparator" id="hseparator3">
+                            <property name="visible">True</property>
+                          </widget>
+                          <packing>
+                            <property name="expand">False</property>
+                            <property name="position">1</property>
+                          </packing>
+                        </child>
+                        <child>
+                          <widget class="GtkToggleButton" id="toggle_fix">
+                            <property name="visible">True</property>
+                            <property name="can_focus">True</property>
+                            <property name="receives_default">True</property>
+                            <property name="label" translatable="yes">Real Colour</property>
+                            <property name="response_id">0</property>
+                          </widget>
+                          <packing>
+                            <property name="position">2</property>
+                          </packing>
+                        </child>
+                        <child>
+                          <widget class="GtkHSeparator" id="hseparator4">
+                            <property name="visible">True</property>
+                          </widget>
+                          <packing>
+                            <property name="expand">False</property>
+                            <property name="position">3</property>
+                          </packing>
+                        </child>
+                        <child>
+                          <widget class="GtkToggleButton" id="toggle_colour">
+                            <property name="visible">True</property>
+                            <property name="can_focus">True</property>
+                            <property name="receives_default">True</property>
+                            <property name="label" translatable="yes">Fix Colour</property>
+                            <property name="response_id">0</property>
+                          </widget>
+                          <packing>
+                            <property name="position">4</property>
+                          </packing>
+                        </child>
+                        <child>
+                          <widget class="GtkHSeparator" id="hseparator5">
+                            <property name="visible">True</property>
+                          </widget>
+                          <packing>
+                            <property name="expand">False</property>
+                            <property name="position">5</property>
+                          </packing>
+                        </child>
+                        <child>
+                          <widget class="GtkButton" id="button_save">
+                            <property name="visible">True</property>
+                            <property name="can_focus">True</property>
+                            <property name="receives_default">True</property>
+                            <property name="label" translatable="yes">Save</property>
+                            <property name="response_id">0</property>
+                          </widget>
+                          <packing>
+                            <property name="position">6</property>
+                          </packing>
+                        </child>
+                      </widget>
+                      <packing>
+                        <property name="position">3</property>
+                      </packing>
+                    </child>
+                  </widget>
+                </child>
+              </widget>
+            </child>
+          </widget>
+        </child>
+        <child>
+          <widget class="GtkHSeparator" id="hseparator2">
+            <property name="visible">True</property>
+          </widget>
+          <packing>
+            <property name="expand">False</property>
+            <property name="position">1</property>
+          </packing>
+        </child>
+        <child>
+          <placeholder/>
+        </child>
+      </widget>
+    </child>
+  </widget>
+  <widget class="GtkWindow" id="window_gl">
+    <property name="width_request">640</property>
+    <property name="height_request">480</property>
+    <property name="title" translatable="yes">World reconstruction</property>
+    <child>
+      <widget class="GtkDrawingArea" id="gl_world">
+        <property name="visible">True</property>
+      </widget>
+    </child>
+  </widget>
+</glade-interface>

Modified: trunk/src/stable/components/rgbdManualCalibrator/view.cpp
===================================================================
--- trunk/src/testing/components/calibratorKinect/view.cpp	2013-10-06 17:09:17 UTC (rev 1002)
+++ trunk/src/stable/components/rgbdManualCalibrator/view.cpp	2013-10-07 08:17:36 UTC (rev 1003)
@@ -24,7 +24,7 @@
 #include <gtkmm/comboboxtext.h>
 #include <gtkmm/liststore.h>
 
-namespace CalibratorKinect {
+namespace rgbdManualCalibrator {
 
 
 
@@ -139,7 +139,7 @@
     return mainwindow->is_visible();
   }
 
-  void View::display(std::vector<CalibratorKinect::kinectData> sources)
+  void View::display(std::vector<rgbdManualCalibrator::kinectData> sources)
   {
 		/*Change button*/
 

Modified: trunk/src/stable/components/rgbdManualCalibrator/view.h
===================================================================
--- trunk/src/testing/components/calibratorKinect/view.h	2013-10-06 17:09:17 UTC (rev 1002)
+++ trunk/src/stable/components/rgbdManualCalibrator/view.h	2013-10-07 08:17:36 UTC (rev 1003)
@@ -37,7 +37,7 @@
 #include "glibmm/ustring.h"
 #include <sigc++-2.0/sigc++/functors/mem_fun.h>
 
-namespace CalibratorKinect {
+namespace rgbdManualCalibrator {
   class View {
   public:
 
@@ -48,7 +48,7 @@
     bool isVisible();
 
     /*Display window*/
-  void display(std::vector<CalibratorKinect::kinectData> sources);
+  void display(std::vector<rgbdManualCalibrator::kinectData> sources);
 		int getActiveCam();
 
   private:
@@ -103,7 +103,7 @@
 		Gtk::Button* button_center;
 		Gtk::ToggleButton *w_depth;
 		Gtk::ToggleButton *w_fix;
-		CalibratorKinect::DrawArea* world;
+		rgbdManualCalibrator::DrawArea* world;
 		Gtk::Window* w_window_gl;
 		Gtk::ComboBox *m_Combo;
 		Gtk::Button* w_save;



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