rename case

1 files changed, 321 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..c103b78c
--- /dev/null
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp
@@ -0,0 +1,321 @@
+/* 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 "FTNoIR_Tracker_PT/boost-compat.h"

+#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.bEnableYaw, ui.chkEnableYaw);

+    tie_setting(s.bEnablePitch, ui.chkEnablePitch);

+    tie_setting(s.bEnableRoll, ui.chkEnableRoll);

+    tie_setting(s.bEnableX, ui.chkEnableX);

+    tie_setting(s.bEnableY, ui.chkEnableY);

+    tie_setting(s.bEnableZ, ui.chkEnableZ);

+

+    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" FTNOIR_TRACKER_BASE_EXPORT ITrackerDialog* CALLING_CONVENTION GetDialog( )

+{

+	return new TrackerDialog;

+}