[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"><b>Position</b></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"><b>Foa</b></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"><b>Intrinsics</b></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"><b>Position</b></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"><b>Foa</b></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"><b>Intrinsics</b></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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