Initial PT 1.1 import

Codebase broken at this stage

1 files changed, 406 insertions, 0 deletions

diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.cpp b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.cpp
new file mode 100644
index 00000000..c99f4d67
--- /dev/null
+++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.cpp
@@ -0,0 +1,406 @@
+/* Copyright (c) 2012 Patrick Ruoff

+ *

+ * Permission to use, copy, modify, and/or distribute this software for any

+ * purpose with or without fee is hereby granted, provided that the above

+ * copyright notice and this permission notice appear in all copies.

+ */

+

+#include "ftnoir_tracker_pt_dialog.h"

+

+#include <QMessageBox>

+#include <QDebug>

+#include <opencv2/opencv.hpp>

+#include <boost/shared_ptr.hpp>

+#include <vector>

+

+using namespace std;

+

+//-----------------------------------------------------------------------------

+TrackerDialog::TrackerDialog()

+	: settings_dirty(false), 

+	  tracker(NULL), 

+	  video_widget_dialog(NULL),

+	  timer(this), 

+	  trans_calib_running(false)

+{

+	qDebug()<<"TrackerDialog::TrackerDialog";

+	setAttribute(Qt::WA_DeleteOnClose, false);

+

+	ui.setupUi( this );

+

+	settings.load_ini();

+	dialog_settings.load_ini();

+

+	// initialize ui values

+	ui.videowidget_check->setChecked(settings.video_widget);

+	ui.dynpose_check->setChecked(settings.dyn_pose_res);

+	ui.sleep_spin->setValue(settings.sleep_time);

+	ui.reset_spin->setValue(settings.reset_time);

+

+	vector<string> device_names;

+	get_camera_device_names(device_names);

+	for (auto iter = device_names.begin(); iter != device_names.end(); ++iter)

+	{

+		ui.camdevice_combo->addItem(iter->c_str());

+	}

+	ui.camdevice_combo->setCurrentIndex(settings.cam_index);

+

+	ui.f_dspin->setValue(settings.cam_f);

+	ui.res_x_spin->setValue(settings.cam_res_x);

+	ui.res_y_spin->setValue(settings.cam_res_y);

+	ui.fps_spin->setValue(settings.cam_fps);

+

+	ui.camroll_combo->addItem("-90", -1);

+	ui.camroll_combo->addItem("0"  ,  0);

+	ui.camroll_combo->addItem("90" ,  1);

+	int i = ui.camroll_combo->findData(settings.cam_roll);

+	ui.camroll_combo->setCurrentIndex(i>=0 ? i : 0);	

+

+	ui.campitch_spin->setValue(settings.cam_pitch);

+	ui.camyaw_spin->setValue(settings.cam_yaw);

+	ui.threshold_slider->setValue(settings.threshold);

+

+	ui.chkEnableRoll->setChecked(settings.bEnableRoll);

+	ui.chkEnablePitch->setChecked(settings.bEnablePitch);

+	ui.chkEnableYaw->setChecked(settings.bEnableYaw);

+	ui.chkEnableX->setChecked(settings.bEnableX);

+	ui.chkEnableY->setChecked(settings.bEnableY);

+	ui.chkEnableZ->setChecked(settings.bEnableZ);

+

+	ui.mindiam_spin->setValue(settings.min_point_size);

+	ui.maxdiam_spin->setValue(settings.max_point_size);

+	ui.model_tabs->setCurrentIndex(dialog_settings.active_model_panel);

+	ui.clip_bheight_spin->setValue(dialog_settings.clip_by);

+	ui.clip_blength_spin->setValue(dialog_settings.clip_bz);

+	ui.clip_theight_spin->setValue(dialog_settings.clip_ty);

+	ui.clip_tlength_spin->setValue(dialog_settings.clip_tz);

+	ui.cap_width_spin->setValue(dialog_settings.cap_x);

+	ui.cap_height_spin->setValue(dialog_settings.cap_y);

+	ui.cap_length_spin->setValue(dialog_settings.cap_z);

+	ui.m1x_spin->setValue(dialog_settings.M01x);

+	ui.m1y_spin->setValue(dialog_settings.M01y);

+	ui.m1z_spin->setValue(dialog_settings.M01z);

+	ui.m2x_spin->setValue(dialog_settings.M02x);

+	ui.m2y_spin->setValue(dialog_settings.M02y);

+	ui.m2z_spin->setValue(dialog_settings.M02z);

+	ui.tx_spin->setValue(settings.t_MH[0]);

+	ui.ty_spin->setValue(settings.t_MH[1]);

+	ui.tz_spin->setValue(settings.t_MH[2]);

+

+	// connect Qt signals and slots

+	connect( ui.videowidget_check,SIGNAL(toggled(bool)),          this,SLOT(set_video_widget(bool)) );

+	connect( ui.dynpose_check,SIGNAL(toggled(bool)),              this,SLOT(set_dyn_pose_res(bool)) );

+	connect( ui.sleep_spin,SIGNAL(valueChanged(int)),             this,SLOT(set_sleep_time(int)) );

+	connect( ui.reset_spin,SIGNAL(valueChanged(int)),             this,SLOT(set_reset_time(int)) );

+	connect( ui.camdevice_combo,SIGNAL(currentIndexChanged(int)), this,SLOT(set_cam_index(int)) );	

+	connect( ui.f_dspin,SIGNAL(valueChanged(double)),             this,SLOT(set_cam_f(double)) );

+	connect( ui.res_x_spin,SIGNAL(valueChanged(int)),             this,SLOT(set_cam_res_x(int)) );

+	connect( ui.res_y_spin,SIGNAL(valueChanged(int)),             this,SLOT(set_cam_res_y(int)) );

+	connect( ui.fps_spin,SIGNAL(valueChanged(int)),               this,SLOT(set_cam_fps(int)) );	

+	connect( ui.camroll_combo,SIGNAL(currentIndexChanged(int)),   this,SLOT(set_cam_roll(int)) );

+	connect( ui.campitch_spin,SIGNAL(valueChanged(int)),          this,SLOT(set_cam_pitch(int)) );

+	connect( ui.camyaw_spin,SIGNAL(valueChanged(int)),            this,SLOT(set_cam_yaw(int)) );

+	connect( ui.threshold_slider,SIGNAL(sliderMoved(int)),        this,SLOT(set_threshold(int)) );

+															      

+	connect( ui.chkEnableRoll,SIGNAL(toggled(bool)),		      this,SLOT(set_ena_roll(bool)) );

+	connect( ui.chkEnablePitch,SIGNAL(toggled(bool)),		      this,SLOT(set_ena_pitch(bool)) );

+	connect( ui.chkEnableYaw,SIGNAL(toggled(bool)),			      this,SLOT(set_ena_yaw(bool)) );

+	connect( ui.chkEnableX,SIGNAL(toggled(bool)),			      this,SLOT(set_ena_x(bool)) );

+	connect( ui.chkEnableY,SIGNAL(toggled(bool)),			      this,SLOT(set_ena_y(bool)) );

+	connect( ui.chkEnableZ,SIGNAL(toggled(bool)),			      this,SLOT(set_ena_z(bool)) );

+															      

+	connect( ui.mindiam_spin,SIGNAL(valueChanged(int)),           this,SLOT(set_min_point_size(int)) );

+	connect( ui.maxdiam_spin,SIGNAL(valueChanged(int)),           this,SLOT(set_max_point_size(int)) );

+	connect( ui.model_tabs,SIGNAL(currentChanged(int)),           this,SLOT(set_model(int)) );

+	connect( ui.clip_theight_spin,SIGNAL(valueChanged(int)),      this,SLOT(set_clip_t_height(int)) );

+	connect( ui.clip_tlength_spin,SIGNAL(valueChanged(int)),      this,SLOT(set_clip_t_length(int)) );

+	connect( ui.clip_bheight_spin,SIGNAL(valueChanged(int)),      this,SLOT(set_clip_b_height(int)) );

+	connect( ui.clip_blength_spin,SIGNAL(valueChanged(int)),      this,SLOT(set_clip_b_length(int)) );

+	connect( ui.cap_width_spin,SIGNAL(valueChanged(int)),         this,SLOT(set_cap_width(int)) );

+	connect( ui.cap_height_spin,SIGNAL(valueChanged(int)),        this,SLOT(set_cap_height(int)) );	

+	connect( ui.cap_length_spin,SIGNAL(valueChanged(int)),        this,SLOT(set_cap_length(int)) );

+	connect( ui.m1x_spin,SIGNAL(valueChanged(int)),               this,SLOT(set_m1x(int)) );

+	connect( ui.m1y_spin,SIGNAL(valueChanged(int)),               this,SLOT(set_m1y(int)) );

+	connect( ui.m1z_spin,SIGNAL(valueChanged(int)),               this,SLOT(set_m1z(int)) );

+	connect( ui.m2x_spin,SIGNAL(valueChanged(int)),               this,SLOT(set_m2x(int)) );

+	connect( ui.m2y_spin,SIGNAL(valueChanged(int)),               this,SLOT(set_m2y(int)) );

+	connect( ui.m2z_spin,SIGNAL(valueChanged(int)),               this,SLOT(set_m2z(int)) );

+	connect( ui.tx_spin,SIGNAL(valueChanged(int)),                this,SLOT(set_tx(int)) );

+	connect( ui.ty_spin,SIGNAL(valueChanged(int)),                this,SLOT(set_ty(int)) );

+	connect( ui.tz_spin,SIGNAL(valueChanged(int)),                this,SLOT(set_tz(int)) );

+																  

+	connect( ui.tcalib_button,SIGNAL(toggled(bool)), this,SLOT(startstop_trans_calib(bool)) );

+

+	connect( ui.videowidget_button,SIGNAL(clicked()), this,SLOT(create_video_widget()) );

+

+	connect(ui.reset_button, SIGNAL(clicked()),  this, SLOT(doReset()));

+	//connect(ui.center_button, SIGNAL(clicked()), this, SLOT(doCenter()));

+

+	connect(ui.ok_button, SIGNAL(clicked()),     this, SLOT(doOK()));

+	connect(ui.cancel_button, SIGNAL(clicked()), this, SLOT(doCancel()));

+

+	connect(&timer,SIGNAL(timeout()), this,SLOT(poll_tracker_info()));

+	timer.start(100);

+}

+

+TrackerDialog::~TrackerDialog()

+{

+	qDebug()<<"TrackerDialog::~TrackerDialog";

+}

+

+void TrackerDialog::set_cam_roll(int idx)

+{

+	settings.cam_roll = ui.camroll_combo->itemData(idx).toInt();

+	settings_changed(); 

+}

+

+void TrackerDialog::set_model_clip()

+{

+	settings.M01[0] =  0;

+	settings.M01[1] =  dialog_settings.clip_ty;

+	settings.M01[2] = -dialog_settings.clip_tz;

+	settings.M02[0] =  0;

+	settings.M02[1] = -dialog_settings.clip_by;

+	settings.M02[2] = -dialog_settings.clip_bz;

+

+	settings_changed();

+}

+

+void TrackerDialog::set_model_cap()

+{

+	settings.M01[0] = -dialog_settings.cap_x;

+	settings.M01[1] = -dialog_settings.cap_y;

+	settings.M01[2] = -dialog_settings.cap_z;

+	settings.M02[0] =  dialog_settings.cap_x;

+	settings.M02[1] = -dialog_settings.cap_y;

+	settings.M02[2] = -dialog_settings.cap_z;

+

+	settings_changed();

+}

+

+void TrackerDialog::set_model_custom()

+{

+	settings.M01[0] = dialog_settings.M01x;

+	settings.M01[1] = dialog_settings.M01y;

+	settings.M01[2] = dialog_settings.M01z;

+	settings.M02[0] = dialog_settings.M02x;

+	settings.M02[1] = dialog_settings.M02y;

+	settings.M02[2] = dialog_settings.M02z;

+

+	settings_changed();

+}

+

+void TrackerDialog::set_model(int val)

+{

+	dialog_settings.active_model_panel = val;

+

+	switch (val) {

+

+	case TrackerDialogSettings::MODEL_CLIP:

+		set_model_clip();

+		break;

+

+	case TrackerDialogSettings::MODEL_CAP:

+		set_model_cap();

+		break;

+

+	case TrackerDialogSettings::MODEL_CUSTOM:

+		set_model_custom();

+		break;

+

+	default:

+		break;

+	}

+}

+

+void TrackerDialog::startstop_trans_calib(bool start)

+{

+	if (start)

+	{

+		qDebug()<<"TrackerDialog:: Starting translation calibration";

+		trans_calib.reset();

+		trans_calib_running = true;

+	}

+	else

+	{

+		qDebug()<<"TrackerDialog:: Stoppping translation calibration";

+		trans_calib_running = false;

+		settings.t_MH = trans_calib.get_estimate();

+		settings_changed();

+	}

+}

+

+void TrackerDialog::trans_calib_step()

+{

+	if (tracker)

+	{

+		FrameTrafo X_CM;

+		tracker->get_pose(&X_CM);

+		trans_calib.update(X_CM.R, X_CM.t);

+		cv::Vec3f t_MH = trans_calib.get_estimate();

+		//qDebug()<<"TrackerDialog:: Current translation estimate: "<<t_MH[0]<<t_MH[1]<<t_MH[2];

+		ui.tx_spin->setValue(t_MH[0]);

+		ui.ty_spin->setValue(t_MH[1]);

+		ui.tz_spin->setValue(t_MH[2]);

+	}

+}

+

+void TrackerDialog::settings_changed()

+{

+	settings_dirty = true;

+	if (tracker) tracker->apply(settings);

+}

+

+void TrackerDialog::doCenter()

+{

+	if (tracker) tracker->center();

+}

+

+void TrackerDialog::doReset()

+{

+	if (tracker) tracker->reset();

+}

+

+void TrackerDialog::doOK()

+{

+	settings.save_ini();

+	dialog_settings.save_ini();

+	close();

+}

+

+void TrackerDialog::doCancel()

+{

+	if (settings_dirty) {

+		int ret = QMessageBox::question ( this, "Settings have changed", "Do you want to save the settings?", 

+										  QMessageBox::Save | QMessageBox::Discard | QMessageBox::Cancel, QMessageBox::Discard );

+		switch (ret) {

+			case QMessageBox::Save:

+				settings.save_ini();

+				dialog_settings.save_ini();

+				close();

+				break;

+			case QMessageBox::Discard:

+				close();

+				break;

+			case QMessageBox::Cancel:

+				// Cancel was clicked

+				break;

+			default:

+				// should never be reached

+			break;

+		}

+	}

+	else {

+		close();

+	}

+}

+

+void TrackerDialog::widget_destroyed(QObject* obj)

+{

+	if (obj == video_widget_dialog) {

+		// widget was / will be already deleted by Qt

+		destroy_video_widget(false);

+	}

+}

+

+void TrackerDialog::create_video_widget()

+{

+	// this should not happen but better be sure

+	if (video_widget_dialog) destroy_video_widget(); 

+	if (!tracker) return;

+

+	video_widget_dialog = new VideoWidgetDialog(this, tracker);

+	video_widget_dialog->setAttribute( Qt::WA_DeleteOnClose );

+	connect( video_widget_dialog, SIGNAL(destroyed(QObject*)),  this, SLOT(widget_destroyed(QObject*)) );

+	video_widget_dialog->show();

+

+	ui.videowidget_button->setEnabled(false);

+}

+

+void TrackerDialog::destroy_video_widget(bool do_delete /*= true*/)

+{

+	if (video_widget_dialog) {

+		if (do_delete) delete video_widget_dialog;

+		video_widget_dialog = NULL;

+	}

+	if (tracker) ui.videowidget_button->setEnabled(true);

+}

+

+void TrackerDialog::poll_tracker_info()

+{

+	if (tracker)

+	{	

+		QString to_print;

+

+		// display caminfo

+		CamInfo info;

+		tracker->get_cam_info(&info);

+		to_print = QString::number(info.res_x)+"x"+QString::number(info.res_y)+" @ "+QString::number(info.fps)+" FPS";

+		ui.caminfo_label->setText(to_print);

+

+		// display pointinfo

+		int n_points = tracker->get_n_points();

+		to_print = QString::number(n_points);

+		if (n_points == 3)

+			to_print += " OK!";

+		else

+			to_print += " BAD!";

+		ui.pointinfo_label->setText(to_print);

+

+		// update calibration

+		if (trans_calib_running) trans_calib_step();

+

+		// update videowidget

+		if (video_widget_dialog) {

+			video_widget_dialog->get_video_widget()->update_frame_and_points();

+		}

+	}

+	else

+	{

+		QString to_print = "Tracker offline";

+		ui.caminfo_label->setText(to_print);

+		ui.pointinfo_label->setText(to_print);

+	}

+}

+

+

+//-----------------------------------------------------------------------------

+// ITrackerDialog interface

+void TrackerDialog::Initialize(QWidget *parent)

+{

+	QPoint offsetpos(200, 200);

+	if (parent) {

+		this->move(parent->pos() + offsetpos);

+	}

+	show();

+}

+

+void TrackerDialog::registerTracker(ITracker *t)

+{

+	qDebug()<<"TrackerDialog:: Tracker registered";

+	tracker = static_cast<Tracker*>(t);

+	if (isVisible() && settings_dirty) tracker->apply(settings);

+	ui.videowidget_button->setEnabled(true);

+	ui.tcalib_button->setEnabled(true);

+	//ui.center_button->setEnabled(true);

+	ui.reset_button->setEnabled(true);

+}

+

+void TrackerDialog::unRegisterTracker()

+{

+	qDebug()<<"TrackerDialog:: Tracker un-registered";

+	tracker = NULL;

+	destroy_video_widget();

+	ui.videowidget_button->setEnabled(false);

+	ui.tcalib_button->setEnabled(false); 

+	//ui.center_button->setEnabled(false);

+	ui.reset_button->setEnabled(false);

+}

+

+//-----------------------------------------------------------------------------

+#pragma comment(linker, "/export:GetTrackerDialog=_GetTrackerDialog@0")

+

+FTNOIR_TRACKER_BASE_EXPORT ITrackerDialogPtr __stdcall GetTrackerDialog( )

+{

+	return new TrackerDialog;

+}
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