dos2unix only

1 files changed, 314 insertions, 314 deletions

diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp
index ae84ce8c..e037a099 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp
@@ -1,314 +1,314 @@
-/* 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>

-#ifndef OPENTRACK_API

-#   include <boost/shared_ptr.hpp>

-#else

-#   include <memory>

-#endif

-#include <vector>

-

-using namespace std;

-

-//-----------------------------------------------------------------------------

-TrackerDialog::TrackerDialog()

-    : tracker(NULL),

-	  video_widget_dialog(NULL),

-	  timer(this), 

-	  trans_calib_running(false)

-{

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

-	setAttribute(Qt::WA_DeleteOnClose, 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());

-	}

-

-    ui.camroll_combo->addItem("-90");

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

-    ui.camroll_combo->addItem("90");

-

-    tie_setting(s.dyn_pose_res, ui.dynpose_check);

-    tie_setting(s.reset_time, ui.reset_spin);

-

-    tie_setting(s.cam_index, ui.camdevice_combo);

-    tie_setting(s.cam_f, ui.f_dspin);

-    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.cam_roll, ui.camroll_combo);

-    tie_setting(s.cam_pitch, ui.campitch_spin);

-    tie_setting(s.cam_yaw, ui.camyaw_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);

-

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

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

-

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

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

-    connect(ui.btnApply, SIGNAL(clicked()), this, SLOT(doApply()));

-

-    ui.model_tabs->setCurrentIndex(s.active_model_panel);

-

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

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

-	timer.start(100);

-

-    connect(s.b.get(), SIGNAL(bundleChanged()), this, SLOT(do_apply_without_saving()));

-}

-

-void TrackerDialog::set_model_clip()

-{

-    s.m01_x =  0;

-    s.m01_y =  static_cast<double>(s.clip_ty);

-    s.m01_z = -static_cast<double>(s.clip_tz);

-    s.m02_x =  0;

-    s.m02_y = -static_cast<double>(s.clip_by);

-    s.m02_z = -static_cast<double>(s.clip_bz);

-

-	settings_changed();

-}

-

-void TrackerDialog::set_model_cap()

-{

-    s.m01_x = -static_cast<double>(s.cap_x);

-    s.m01_y = -static_cast<double>(s.cap_y);

-    s.m01_z = -static_cast<double>(s.cap_z);

-    s.m02_x =  static_cast<double>(s.cap_x);

-    s.m02_y = -static_cast<double>(s.cap_y);

-    s.m02_z = -static_cast<double>(s.cap_z);

-

-	settings_changed();

-}

-

-void TrackerDialog::set_model_custom()

-{

-	settings_changed();

-}

-

-void TrackerDialog::set_model(int val)

-{

-    s.active_model_panel = val;

-}

-

-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;

-        {

-            auto tmp = trans_calib.get_estimate();

-            s.t_MH_x = tmp[0];

-            s.t_MH_y = tmp[1];

-            s.t_MH_z = tmp[2];

-        }

-		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();

-        s.t_MH_x = t_MH[0];

-        s.t_MH_y = t_MH[1];

-        s.t_MH_z = t_MH[2];

-	}

-}

-

-void TrackerDialog::settings_changed()

-{

-    if (tracker) tracker->apply(s);

-}

-

-void TrackerDialog::doCenter()

-{

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

-}

-

-void TrackerDialog::doReset()

-{

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

-}

-

-void TrackerDialog::save()

-{

-    do_apply_without_saving();

-    s.b->save();

-}

-

-void TrackerDialog::doOK()

-{

-    save();

-	close();

-}

-

-void TrackerDialog::do_apply_without_saving()

-{

-    switch (s.active_model_panel) {

-    default:

-    case 0:

-        set_model_clip();

-        break;

-    case 1:

-        set_model_cap();

-        break;

-    case 2:

-        set_model_custom();

-        break;

-    }

-    if (tracker) tracker->apply(s);

-}

-

-void TrackerDialog::doApply()

-{

-    save();

-}

-

-void TrackerDialog::doCancel()

-{

-    s.b->revert();

-    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();

-}

-

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

-{

-	if (video_widget_dialog) {

-		if (do_delete) delete video_widget_dialog;

-		video_widget_dialog = NULL;

-	}

-}

-

-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);

-	}

-}

-

-void TrackerDialog::registerTracker(ITracker *t)

-{

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

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

-    if (isVisible() & s.b->modifiedp())

-        tracker->apply(s);

-	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.tcalib_button->setEnabled(false); 

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

-	ui.reset_button->setEnabled(false);

-}

-

-extern "C" OPENTRACK_EXPORT ITrackerDialog* CALLING_CONVENTION GetDialog( )

-{

-	return new TrackerDialog;

-}

+/* 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>
+#ifndef OPENTRACK_API
+#   include <boost/shared_ptr.hpp>
+#else
+#   include <memory>
+#endif
+#include <vector>
+
+using namespace std;
+
+//-----------------------------------------------------------------------------
+TrackerDialog::TrackerDialog()
+    : tracker(NULL),
+	  video_widget_dialog(NULL),
+	  timer(this), 
+	  trans_calib_running(false)
+{
+	qDebug()<<"TrackerDialog::TrackerDialog";
+	setAttribute(Qt::WA_DeleteOnClose, 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());
+	}
+
+    ui.camroll_combo->addItem("-90");
+    ui.camroll_combo->addItem("0");
+    ui.camroll_combo->addItem("90");
+
+    tie_setting(s.dyn_pose_res, ui.dynpose_check);
+    tie_setting(s.reset_time, ui.reset_spin);
+
+    tie_setting(s.cam_index, ui.camdevice_combo);
+    tie_setting(s.cam_f, ui.f_dspin);
+    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.cam_roll, ui.camroll_combo);
+    tie_setting(s.cam_pitch, ui.campitch_spin);
+    tie_setting(s.cam_yaw, ui.camyaw_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);
+
+    connect( ui.tcalib_button,SIGNAL(toggled(bool)), this,SLOT(startstop_trans_calib(bool)) );
+    connect(ui.reset_button, SIGNAL(clicked()),  this, SLOT(doReset()));
+
+    connect(ui.ok_button, SIGNAL(clicked()),     this, SLOT(doOK()));
+    connect(ui.cancel_button, SIGNAL(clicked()), this, SLOT(doCancel()));
+    connect(ui.btnApply, SIGNAL(clicked()), this, SLOT(doApply()));
+
+    ui.model_tabs->setCurrentIndex(s.active_model_panel);
+
+    connect(ui.model_tabs, SIGNAL(currentChanged(int)), this, SLOT(set_model(int)));
+    connect(&timer,SIGNAL(timeout()), this,SLOT(poll_tracker_info()));
+	timer.start(100);
+
+    connect(s.b.get(), SIGNAL(bundleChanged()), this, SLOT(do_apply_without_saving()));
+}
+
+void TrackerDialog::set_model_clip()
+{
+    s.m01_x =  0;
+    s.m01_y =  static_cast<double>(s.clip_ty);
+    s.m01_z = -static_cast<double>(s.clip_tz);
+    s.m02_x =  0;
+    s.m02_y = -static_cast<double>(s.clip_by);
+    s.m02_z = -static_cast<double>(s.clip_bz);
+
+	settings_changed();
+}
+
+void TrackerDialog::set_model_cap()
+{
+    s.m01_x = -static_cast<double>(s.cap_x);
+    s.m01_y = -static_cast<double>(s.cap_y);
+    s.m01_z = -static_cast<double>(s.cap_z);
+    s.m02_x =  static_cast<double>(s.cap_x);
+    s.m02_y = -static_cast<double>(s.cap_y);
+    s.m02_z = -static_cast<double>(s.cap_z);
+
+	settings_changed();
+}
+
+void TrackerDialog::set_model_custom()
+{
+	settings_changed();
+}
+
+void TrackerDialog::set_model(int val)
+{
+    s.active_model_panel = val;
+}
+
+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;
+        {
+            auto tmp = trans_calib.get_estimate();
+            s.t_MH_x = tmp[0];
+            s.t_MH_y = tmp[1];
+            s.t_MH_z = tmp[2];
+        }
+		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();
+        s.t_MH_x = t_MH[0];
+        s.t_MH_y = t_MH[1];
+        s.t_MH_z = t_MH[2];
+	}
+}
+
+void TrackerDialog::settings_changed()
+{
+    if (tracker) tracker->apply(s);
+}
+
+void TrackerDialog::doCenter()
+{
+	if (tracker) tracker->center();
+}
+
+void TrackerDialog::doReset()
+{
+	if (tracker) tracker->reset();
+}
+
+void TrackerDialog::save()
+{
+    do_apply_without_saving();
+    s.b->save();
+}
+
+void TrackerDialog::doOK()
+{
+    save();
+	close();
+}
+
+void TrackerDialog::do_apply_without_saving()
+{
+    switch (s.active_model_panel) {
+    default:
+    case 0:
+        set_model_clip();
+        break;
+    case 1:
+        set_model_cap();
+        break;
+    case 2:
+        set_model_custom();
+        break;
+    }
+    if (tracker) tracker->apply(s);
+}
+
+void TrackerDialog::doApply()
+{
+    save();
+}
+
+void TrackerDialog::doCancel()
+{
+    s.b->revert();
+    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();
+}
+
+void TrackerDialog::destroy_video_widget(bool do_delete /*= true*/)
+{
+	if (video_widget_dialog) {
+		if (do_delete) delete video_widget_dialog;
+		video_widget_dialog = NULL;
+	}
+}
+
+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);
+	}
+}
+
+void TrackerDialog::registerTracker(ITracker *t)
+{
+	qDebug()<<"TrackerDialog:: Tracker registered";
+	tracker = static_cast<Tracker*>(t);
+    if (isVisible() & s.b->modifiedp())
+        tracker->apply(s);
+	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.tcalib_button->setEnabled(false); 
+	//ui.center_button->setEnabled(false);
+	ui.reset_button->setEnabled(false);
+}
+
+extern "C" OPENTRACK_EXPORT ITrackerDialog* CALLING_CONVENTION GetDialog( )
+{
+	return new TrackerDialog;
+}