diff options
Diffstat (limited to 'ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp')
| -rw-r--r-- | ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp | 336 |
1 files changed, 336 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..a1531dd7 --- /dev/null +++ b/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp @@ -0,0 +1,336 @@ +/* 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>
+
+//-----------------------------------------------------------------------------
+TrackerDialog::TrackerDialog()
+ : settings_dirty(false), tracker(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);
+ ui.camindex_spin->setValue(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.campitch_spin->setValue(settings.cam_pitch);
+ 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.camindex_spin,SIGNAL(valueChanged(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.campitch_spin,SIGNAL(valueChanged(int)), this,SLOT(set_cam_pitch(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.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_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_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_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_clip();
+ break;
+
+ case TrackerDialogSettings::MODEL_CAP:
+ set_cap();
+ break;
+
+ case TrackerDialogSettings::MODEL_CUSTOM:
+ set_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::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);
+ ui.caminfo_label_2->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);
+ ui.pointinfo_label_2->setText(to_print);
+
+ // update calibration
+ if (trans_calib_running) trans_calib_step();
+ }
+ else
+ {
+ QString to_print = "Tracker offline";
+ ui.caminfo_label->setText(to_print);
+ ui.caminfo_label_2->setText(to_print);
+ ui.pointinfo_label->setText(to_print);
+ ui.pointinfo_label_2->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.tcalib_button->setEnabled(true);
+ //ui.center_button->setEnabled(true);
+ ui.reset_button->setEnabled(true);
+}
+
+void TrackerDialog::unRegisterTracker()
+{
+ qDebug()<<"TrackerDialog:: Tracker un-registered";
+ tracker = NULL;
+ 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;
+}
\ No newline at end of file |