flush

It crashes after drawing a frame for now.

1 files changed, 122 insertions, 1 deletions

diff --git a/facetracknoir/options-dialog.cpp b/facetracknoir/options-dialog.cpp
index 9afeba7c..08c92ee8 100644
--- a/facetracknoir/options-dialog.cpp
+++ b/facetracknoir/options-dialog.cpp
@@ -1,6 +1,7 @@
 #include "options-dialog.hpp"
+#include "ftnoir_tracker_pt/camera.h"
 
-OptionsDialog::OptionsDialog()
+OptionsDialog::OptionsDialog(State& state) : state(state), trans_calib_running(false)
 {
     ui.setupUi( this );
 
@@ -67,6 +68,16 @@ OptionsDialog::OptionsDialog()
     tie_setting(pt.fov, ui.camera_fov);
     
     tie_setting(pt.is_cap, ui.model_cap);
+    
+    tie_setting(acc.rot_threshold, ui.rotation_slider);
+    tie_setting(acc.trans_threshold, ui.translation_slider);
+    tie_setting(acc.ewma, ui.ewma_slider);
+    tie_setting(acc.rot_deadzone, ui.rot_dz_slider);
+    tie_setting(acc.trans_deadzone, ui.trans_dz_slider);
+    
+    connect(&timer,SIGNAL(timeout()), this,SLOT(poll_tracker_info()));
+    connect( ui.tcalib_button,SIGNAL(toggled(bool)), this,SLOT(startstop_trans_calib(bool)) );
+    timer.start(100);
 }
 
 void OptionsDialog::doOK() {
@@ -85,3 +96,113 @@ void OptionsDialog::doCancel() {
     ui.game_detector->revert();
     close();
 }
+
+void OptionsDialog::startstop_trans_calib(bool start)
+{
+    auto tracker = get_pt();
+    if (!tracker)
+    {
+        ui.tcalib_button->setChecked(false);
+        return;
+    }
+        
+    if (start)
+    {
+        qDebug()<<"TrackerDialog:: Starting translation calibration";
+        trans_calib.reset();
+        trans_calib_running = true;
+        pt.t_MH_x = 0;
+        pt.t_MH_y = 0;
+        pt.t_MH_z = 0;
+    }
+    else
+    {
+        qDebug()<<"TrackerDialog:: Stopping translation calibration";
+        trans_calib_running = false;
+        {
+            auto tmp = trans_calib.get_estimate();
+            pt.t_MH_x = tmp[0];
+            pt.t_MH_y = tmp[1];
+            pt.t_MH_z = tmp[2];
+        }
+    }
+}
+
+void OptionsDialog::poll_tracker_info()
+{
+    auto tracker = get_pt();
+    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 OptionsDialog::trans_calib_step()
+{
+    auto tracker = get_pt();
+    if (tracker)
+    {
+        Affine X_CM = tracker->pose();
+        trans_calib.update(X_CM.R, X_CM.t);
+    }
+}
+
+Tracker_PT* OptionsDialog::get_pt()
+{
+    auto work = state.work.get();
+    if (!work)
+        return nullptr;
+    auto ptr = work->libs.pTracker;
+    if (ptr)
+        return static_cast<Tracker_PT*>(ptr.get());
+    return nullptr;
+}
+
+void OptionsDialog::update_rot_display(int value)
+{
+    ui.rot_gain->setText(QString::number((value + 1) * 10 / 100.) + "°");
+}
+
+void OptionsDialog::update_trans_display(int value)
+{
+    ui.trans_gain->setText(QString::number((value + 1) * 5 / 100.) + "mm");
+}
+
+void OptionsDialog::update_ewma_display(int value)
+{
+    ui.ewma_label->setText(QString::number(value * 2) + "ms");
+}
+
+void OptionsDialog::update_rot_dz_display(int value)
+{
+    ui.rot_dz->setText(QString::number(value * 2 / 100.) + "°");
+}
+
+void OptionsDialog::update_trans_dz_display(int value)
+{
+    ui.trans_dz->setText(QString::number(value * 1 / 100.) + "mm");
+}