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MRPT · Jul 8, 2021 · f37af1e · f37af1e
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diff --git a/doc/source/app_camera-calib.rst b/doc/source/app_camera-calib.rst
@@ -0,0 +1,69 @@
+.. _app_camera-calib:
+
+
+====================================================
+Application: camera-calib
+====================================================
+
+1. Description
+----------------
+This GUI program allows users to perform **intrinsic camera parameters calibration**
+by capturing several images of a **checkerboard**.
+The program allows live grabbing of images as well as selection
+of pre-recorded image files.
+It also shows the reprojected points, undistorted images and a 3D
+view of the reconstructed camera poses.
+
+Supported image sources:
+
+ - All cameras supported by OpenCV (webcams, firewire,…)
+ - All cameras supported by FFmpeg (IP cameras,…)
+ - Video files (in any format)
+ - :ref:`Rawlog files<rawlog_format>`.
+ - The stereo Bumblebee camera, for calibration of the individual cameras one at a time.
+ - The RGB intensity and IR channels of Microsoft Kinect.
+
+Precompiled binaries of this application can be found [here](download-mrpt.html) for Windows and Linux.
+
+.. note::
+    You need to print a checker-board for the calibration, for example `from this web <https://calib.io/pages/camera-calibration-pattern-generator>`_
+    (remember to select `checkerboard` type).
+
+
+2. Video tutorial
+--------------------
+
+This (old!) video tutorial explains how to use ``camera-calib`` to calibrate
+a camera with a checkerboard. The program captures the images of the pattern
+on the fly and finally computes the camera matrix and the distortion parameters,
+which can be saved to plain text files (or to a YAML file):
+
+.. raw:: html
+
+    <div style="position: relative; padding-bottom: 56.25%; height: 0; overflow: hidden; max-width: 100%; height: auto;">
+        <iframe src="https://www.youtube.com/embed/BkZkq6zPwQM" frameborder="0" allowfullscreen style="position: absolute; top: 0; left: 0; width: 100%; height: 100%;"></iframe>
+    </div>
+
+3. Screenshots
+-------------------
+
+.. image:: images/Cam_calib_gui_1.jpg
+   :alt: The detected checkerboard.
+
+The detected checkerboard.
+
+.. image:: images/Cam_calib_gui_2.jpg
+   :alt: The undistorted images
+
+The undistorted images
+
+.. image:: images/camera-calibration_kinect_ir_channel-1024x558.jpg
+   :alt: Calibrating the infrarred (IR) channel camera of a Kinect.
+
+Calibrating the infrarred (IR) channel camera of a Kinect.
+
+
+.. image:: images/Screenshot_camera_calib_3Dview.jpg
+   :alt: The final 3D reconstruction of the camera locations around the checkerboard
+
+The final 3D reconstruction of the camera locations around the checkerboard.
diff --git a/doc/source/applications.rst b/doc/source/applications.rst
@@ -11,7 +11,7 @@ also provides many ready-to-use applications:
   :maxdepth: 1
 
   page_app_2d-slam-demo.rst
-  page_app_camera-calib.rst
+  app_camera-calib.rst
   page_app_carmen2rawlog.rst
   page_app_carmen2rawlog.rst
   page_app_carmen2simplemap.rst

diff --git a/doc/source/doxygen-docs/app_camera-calib.md b/doc/source/doxygen-docs/app_camera-calib.md
diff --git a/doc/source/images/Cam_calib_gui_1.jpg b/doc/source/images/Cam_calib_gui_1.jpg
diff --git a/doc/source/images/Cam_calib_gui_2.jpg b/doc/source/images/Cam_calib_gui_2.jpg
diff --git a/doc/source/images/Screenshot_camera_calib_3Dview.jpg b/doc/source/images/Screenshot_camera_calib_3Dview.jpg
diff --git a/doc/source/images/camera-calibration_kinect_ir_channel-1024x558.jpg b/doc/source/images/camera-calibration_kinect_ir_channel-1024x558.jpg
diff --git a/doc/source/modules.rst b/doc/source/modules.rst
@@ -20,7 +20,6 @@ Each MRPT library source code can be found under ``${MRPT_ROOT}/libs``.
   group_mrpt_comms_grp.rst
   group_mrpt_config_grp.rst
   group_mrpt_containers_grp.rst
-  group_mrpt_core_grp.rst
   group_mrpt_detectors_grp.rst
   group_mrpt_expr_grp.rst
   group_mrpt_graphs_grp.rst

diff --git a/doc/source/range_only_localization_mapping.rst b/doc/source/range_only_localization_mapping.rst
@@ -1,4 +1,4 @@
-.. ro_slam_solutions:
+.. _ro_slam_solutions:
 
 =================================================
 Range-only Localization and Mapping Solutions

diff --git a/doc/source/rawlog_format.rst b/doc/source/rawlog_format.rst
@@ -0,0 +1,8 @@
+.. _rawlog_format:
+
+======================================
+Rawlog format for robotics datasets
+======================================
+
+Write me!
+https://www.mrpt.org/Rawlog_Format
diff --git a/doc/source/robotics_file_formats.rst b/doc/source/robotics_file_formats.rst
@@ -10,15 +10,23 @@ different programs and C++ classes.
 
 .. contents:: :local:
 
+.. toctree::
+  :maxdepth: 1
+  :caption: For more details:
+
+  rawlog_format.rst
+
+
+
 1. Datasets
 ------------
 
 **Typical extension**: ``.rawlog``
 
-Description:MRPT defines a binary format for robotic datasets, or rawlogs,
+Description: MRPT defines a binary format for robotic datasets, or rawlogs,
 which can store the raw observations gathered by an arbitrary mix of sensors
 for its posterior processing. The format is described in detail in the
-Rawlog format page, among associated software tools and converters.
+:ref:`Rawlog format page<rawlog_format>`.
 
 Related applications:
 

diff --git a/doc/source/tutorial-icp-rawlogviewer.rst b/doc/source/tutorial-icp-rawlogviewer.rst
@@ -1,4 +1,4 @@
-.. tutorial-icp-rawlogviewer:
+.. _tutorial-icp-rawlogviewer:
 
 ===================================================================
 Using the ScanMatching (ICP) module in RawLogViewer

diff --git a/doc/source/tutorial-slam-for-beginners-the-basics.rst b/doc/source/tutorial-slam-for-beginners-the-basics.rst
@@ -1,4 +1,4 @@
-.. tutorial-slam-for-beginners-the-basics:
+.. _tutorial-slam-for-beginners-the-basics:
 
 ===========================================================================
 Simultaneous Localization and Mapping (SLAM) for beginners: the basics
@@ -45,7 +45,7 @@ recommend the following online resources:
 
     <div style="position: relative; padding-bottom: 56.25%; height: 0; overflow: hidden; max-width: 100%; height: auto;">
         <iframe src="https://www.youtube.com/embed/rqvNn1ntn-A" frameborder="0" allowfullscreen style="position: absolute; top: 0; left: 0; width: 100%; height: 100%;"></iframe>
-    </div> <br/> 
+    </div> <br/>
 
 
 Papers and books