1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
|
/* 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/core/core.hpp>
#ifndef OPENTRACK_API
# include <boost/shared_ptr.hpp>
#else
# include <memory>
#endif
#include <vector>
using namespace std;
//-----------------------------------------------------------------------------
TrackerDialog::TrackerDialog()
: tracker(NULL),
timer(this),
trans_calib_running(false)
{
ui.setupUi( this );
vector<string> device_names;
get_camera_device_names(device_names);
for (vector<string>::iterator iter = device_names.begin(); iter != device_names.end(); ++iter)
{
ui.camdevice_combo->addItem(iter->c_str());
}
tie_setting(s.cam_index, ui.camdevice_combo);
tie_setting(s.cam_res_x, ui.res_x_spin);
tie_setting(s.cam_res_y, ui.res_y_spin);
tie_setting(s.cam_fps, ui.fps_spin);
tie_setting(s.threshold_secondary, ui.threshold_secondary_slider);
tie_setting(s.threshold, ui.threshold_slider);
tie_setting(s.min_point_size, ui.mindiam_spin);
tie_setting(s.max_point_size, ui.maxdiam_spin);
tie_setting(s.clip_by, ui.clip_bheight_spin);
tie_setting(s.clip_bz, ui.clip_blength_spin);
tie_setting(s.clip_ty, ui.clip_theight_spin);
tie_setting(s.clip_tz, ui.clip_tlength_spin);
tie_setting(s.cap_x, ui.cap_width_spin);
tie_setting(s.cap_y, ui.cap_height_spin);
tie_setting(s.cap_z, ui.cap_length_spin);
tie_setting(s.m01_x, ui.m1x_spin);
tie_setting(s.m01_y, ui.m1y_spin);
tie_setting(s.m01_z, ui.m1z_spin);
tie_setting(s.m02_x, ui.m2x_spin);
tie_setting(s.m02_y, ui.m2y_spin);
tie_setting(s.m02_z, ui.m2z_spin);
tie_setting(s.t_MH_x, ui.tx_spin);
tie_setting(s.t_MH_y, ui.ty_spin);
tie_setting(s.t_MH_z, ui.tz_spin);
tie_setting(s.fov, ui.fov);
tie_setting(s.active_model_panel, ui.model_tabs);
connect( ui.tcalib_button,SIGNAL(toggled(bool)), this,SLOT(startstop_trans_calib(bool)) );
connect(ui.buttonBox, SIGNAL(accepted()), this, SLOT(doOK()));
connect(ui.buttonBox, SIGNAL(rejected()), this, SLOT(doCancel()));
connect(&timer,SIGNAL(timeout()), this,SLOT(poll_tracker_info()));
timer.start(100);
}
void TrackerDialog::startstop_trans_calib(bool start)
{
if (start)
{
qDebug()<<"TrackerDialog:: Starting translation calibration";
trans_calib.reset();
trans_calib_running = true;
}
else
{
qDebug()<<"TrackerDialog:: Stopping translation calibration";
trans_calib_running = false;
{
auto tmp = trans_calib.get_estimate();
s.t_MH_x = tmp[0];
s.t_MH_y = -tmp[1];
s.t_MH_z = tmp[2];
}
}
}
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();
}
else
{
QString to_print = "Tracker offline";
ui.caminfo_label->setText(to_print);
ui.pointinfo_label->setText(to_print);
}
}
void TrackerDialog::trans_calib_step()
{
if (tracker)
{
Affine X_CM;
tracker->pose(&X_CM);
trans_calib.update(X_CM.R, X_CM.t);
}
}
void TrackerDialog::save()
{
s.b->save();
}
void TrackerDialog::doOK()
{
save();
close();
}
void TrackerDialog::doCancel()
{
s.b->reload();
close();
}
void TrackerDialog::register_tracker(ITracker *t)
{
qDebug()<<"TrackerDialog:: Tracker registered";
tracker = static_cast<Tracker*>(t);
ui.tcalib_button->setEnabled(true);
//ui.center_button->setEnabled(true);
}
void TrackerDialog::unregister_tracker()
{
qDebug()<<"TrackerDialog:: Tracker un-registered";
tracker = NULL;
ui.tcalib_button->setEnabled(false);
//ui.center_button->setEnabled(false);
}
extern "C" OPENTRACK_EXPORT ITrackerDialog* GetDialog( )
{
return new TrackerDialog;
}
|
