diff options
Diffstat (limited to 'FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.cpp')
| -rw-r--r-- | FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.cpp | 208 |
1 files changed, 208 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..4b79b892 --- /dev/null +++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.cpp @@ -0,0 +1,208 @@ +/* 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)
+{
+ ui.setupUi( this );
+
+ settings.load_ini();
+
+ // initialize ui values
+ ui.videowidget_check->setChecked(settings.video_widget);
+ ui.sleep_spin->setValue(settings.sleep_time);
+ ui.camindex_spin->setValue(settings.cam_index);
+ ui.f_dspin->setValue(settings.cam_f);
+ ui.threshold_slider->setValue(settings.threshold);
+ ui.mindiam_spin->setValue(settings.min_point_size);
+ ui.maxdiam_spin->setValue(settings.max_point_size);
+
+ ui.m1x_spin->setValue(settings.M01[0]);
+ ui.m1y_spin->setValue(settings.M01[1]);
+ ui.m1z_spin->setValue(settings.M01[2]);
+ ui.m2x_spin->setValue(settings.M02[0]);
+ ui.m2y_spin->setValue(settings.M02[1]);
+ ui.m2z_spin->setValue(settings.M02[2]);
+ ui.tx_spin->setValue(settings.t_MH[0]);
+ ui.ty_spin->setValue(settings.t_MH[1]);
+ ui.tz_spin->setValue(settings.t_MH[2]);
+
+ ui.tcalib_button->setEnabled(false);
+
+ // connect Qt signals and slots
+ connect( ui.videowidget_check,SIGNAL(toggled(bool)), this,SLOT(set_video_widget(bool)) );
+ connect( ui.sleep_spin,SIGNAL(valueChanged(int)), this,SLOT(set_sleep_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.threshold_slider,SIGNAL(sliderMoved(int)), this,SLOT(set_threshold(int)) );
+ 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.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.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);
+}
+
+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::set_cam_index(int val)
+{
+ settings.cam_index = val;
+ settings_dirty = true;
+ if (tracker)
+ tracker->apply(settings);
+}
+
+void TrackerDialog::settings_changed()
+{
+ settings_dirty = true;
+ if (tracker)
+ tracker->apply_without_camindex(settings);
+}
+
+void TrackerDialog::doOK()
+{
+ 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();
+ 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)
+ {
+ CamInfo info;
+ tracker->get_cam_info(&info);
+ ui.caminfo_label->setText(QString::number(info.res_x)+"x"+QString::number(info.res_y)+" @ "+QString::number(info.fps)+" FPS");
+
+ int n_points = tracker->get_n_points();
+ QString to_print = QString::number(n_points);
+ if (n_points == 3)
+ to_print += " OK!";
+ else
+ to_print += " BAD!";
+ ui.pointinfo_label->setText(to_print);
+
+ if (trans_calib_running) trans_calib_step();
+ }
+ else
+ {
+ ui.caminfo_label->setText("Tracker offline");
+ ui.pointinfo_label->setText("Tracker offline");
+ }
+}
+
+
+//-----------------------------------------------------------------------------
+// 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()<<"tracker registerd";
+ tracker = static_cast<Tracker*>(t);
+ if (isVisible() && settings_dirty)
+ tracker->apply(settings);
+ ui.tcalib_button->setEnabled(true);
+}
+
+void TrackerDialog::unRegisterTracker()
+{
+ qDebug()<<"tracker un-registerd";
+ tracker = NULL;
+ ui.tcalib_button->setEnabled(true);
+}
+
+//-----------------------------------------------------------------------------
+#pragma comment(linker, "/export:GetTrackerDialog=_GetTrackerDialog@0")
+
+FTNOIR_TRACKER_BASE_EXPORT TRACKERDIALOGHANDLE __stdcall GetTrackerDialog( )
+{
+ return new TrackerDialog;
+}
\ No newline at end of file |