diff options
Diffstat (limited to 'FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.cpp')
| -rw-r--r-- | FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.cpp | 336 |
1 files changed, 0 insertions, 336 deletions
diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.cpp b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.cpp deleted file mode 100644 index a1531dd7..00000000 --- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.cpp +++ /dev/null @@ -1,336 +0,0 @@ -/* 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)
-{
- qDebug()<<"TrackerDialog::TrackerDialog";
- setAttribute(Qt::WA_DeleteOnClose, false);
-
- ui.setupUi( this );
-
- settings.load_ini();
- dialog_settings.load_ini();
-
- // initialize ui values
- ui.videowidget_check->setChecked(settings.video_widget);
- ui.dynpose_check->setChecked(settings.dyn_pose_res);
- ui.sleep_spin->setValue(settings.sleep_time);
- ui.reset_spin->setValue(settings.reset_time);
- ui.camindex_spin->setValue(settings.cam_index);
- ui.f_dspin->setValue(settings.cam_f);
- ui.res_x_spin->setValue(settings.cam_res_x);
- ui.res_y_spin->setValue(settings.cam_res_y);
- ui.fps_spin->setValue(settings.cam_fps);
- ui.campitch_spin->setValue(settings.cam_pitch);
- ui.threshold_slider->setValue(settings.threshold);
-
- ui.chkEnableRoll->setChecked(settings.bEnableRoll);
- ui.chkEnablePitch->setChecked(settings.bEnablePitch);
- ui.chkEnableYaw->setChecked(settings.bEnableYaw);
- ui.chkEnableX->setChecked(settings.bEnableX);
- ui.chkEnableY->setChecked(settings.bEnableY);
- ui.chkEnableZ->setChecked(settings.bEnableZ);
-
- ui.mindiam_spin->setValue(settings.min_point_size);
- ui.maxdiam_spin->setValue(settings.max_point_size);
- ui.model_tabs->setCurrentIndex(dialog_settings.active_model_panel);
- ui.clip_bheight_spin->setValue(dialog_settings.clip_by);
- ui.clip_blength_spin->setValue(dialog_settings.clip_bz);
- ui.clip_theight_spin->setValue(dialog_settings.clip_ty);
- ui.clip_tlength_spin->setValue(dialog_settings.clip_tz);
- ui.cap_width_spin->setValue(dialog_settings.cap_x);
- ui.cap_height_spin->setValue(dialog_settings.cap_y);
- ui.cap_length_spin->setValue(dialog_settings.cap_z);
- ui.m1x_spin->setValue(dialog_settings.M01x);
- ui.m1y_spin->setValue(dialog_settings.M01y);
- ui.m1z_spin->setValue(dialog_settings.M01z);
- ui.m2x_spin->setValue(dialog_settings.M02x);
- ui.m2y_spin->setValue(dialog_settings.M02y);
- ui.m2z_spin->setValue(dialog_settings.M02z);
- ui.tx_spin->setValue(settings.t_MH[0]);
- ui.ty_spin->setValue(settings.t_MH[1]);
- ui.tz_spin->setValue(settings.t_MH[2]);
-
- // connect Qt signals and slots
- connect( ui.videowidget_check,SIGNAL(toggled(bool)), this,SLOT(set_video_widget(bool)) );
- connect( ui.dynpose_check,SIGNAL(toggled(bool)), this,SLOT(set_dyn_pose_res(bool)) );
- connect( ui.sleep_spin,SIGNAL(valueChanged(int)), this,SLOT(set_sleep_time(int)) );
- connect( ui.reset_spin,SIGNAL(valueChanged(int)), this,SLOT(set_reset_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.res_x_spin,SIGNAL(valueChanged(int)), this,SLOT(set_cam_res_x(int)) );
- connect( ui.res_y_spin,SIGNAL(valueChanged(int)), this,SLOT(set_cam_res_y(int)) );
- connect( ui.fps_spin,SIGNAL(valueChanged(int)), this,SLOT(set_cam_fps(int)) );
- connect( ui.campitch_spin,SIGNAL(valueChanged(int)), this,SLOT(set_cam_pitch(int)) );
- connect( ui.threshold_slider,SIGNAL(sliderMoved(int)), this,SLOT(set_threshold(int)) );
-
- connect( ui.chkEnableRoll,SIGNAL(toggled(bool)), this,SLOT(set_ena_roll(bool)) );
- connect( ui.chkEnablePitch,SIGNAL(toggled(bool)), this,SLOT(set_ena_pitch(bool)) );
- connect( ui.chkEnableYaw,SIGNAL(toggled(bool)), this,SLOT(set_ena_yaw(bool)) );
- connect( ui.chkEnableX,SIGNAL(toggled(bool)), this,SLOT(set_ena_x(bool)) );
- connect( ui.chkEnableY,SIGNAL(toggled(bool)), this,SLOT(set_ena_y(bool)) );
- connect( ui.chkEnableZ,SIGNAL(toggled(bool)), this,SLOT(set_ena_z(bool)) );
-
- 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.model_tabs,SIGNAL(currentChanged(int)), this,SLOT(set_model(int)) );
- connect( ui.clip_theight_spin,SIGNAL(valueChanged(int)), this,SLOT(set_clip_t_height(int)) );
- connect( ui.clip_tlength_spin,SIGNAL(valueChanged(int)), this,SLOT(set_clip_t_length(int)) );
- connect( ui.clip_bheight_spin,SIGNAL(valueChanged(int)), this,SLOT(set_clip_b_height(int)) );
- connect( ui.clip_blength_spin,SIGNAL(valueChanged(int)), this,SLOT(set_clip_b_length(int)) );
- connect( ui.cap_width_spin,SIGNAL(valueChanged(int)), this,SLOT(set_cap_width(int)) );
- connect( ui.cap_height_spin,SIGNAL(valueChanged(int)), this,SLOT(set_cap_height(int)) );
- connect( ui.cap_length_spin,SIGNAL(valueChanged(int)), this,SLOT(set_cap_length(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.reset_button, SIGNAL(clicked()), this, SLOT(doReset()));
- //connect(ui.center_button, SIGNAL(clicked()), this, SLOT(doCenter()));
-
- 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);
-}
-
-TrackerDialog::~TrackerDialog()
-{
- qDebug()<<"TrackerDialog::~TrackerDialog";
-}
-
-void TrackerDialog::set_clip()
-{
- settings.M01[0] = 0;
- settings.M01[1] = dialog_settings.clip_ty;
- settings.M01[2] = -dialog_settings.clip_tz;
- settings.M02[0] = 0;
- settings.M02[1] = -dialog_settings.clip_by;
- settings.M02[2] = -dialog_settings.clip_bz;
-
- settings_changed();
-}
-
-void TrackerDialog::set_cap()
-{
- settings.M01[0] = -dialog_settings.cap_x;
- settings.M01[1] = -dialog_settings.cap_y;
- settings.M01[2] = -dialog_settings.cap_z;
- settings.M02[0] = dialog_settings.cap_x;
- settings.M02[1] = -dialog_settings.cap_y;
- settings.M02[2] = -dialog_settings.cap_z;
-
- settings_changed();
-}
-
-void TrackerDialog::set_custom()
-{
- settings.M01[0] = dialog_settings.M01x;
- settings.M01[1] = dialog_settings.M01y;
- settings.M01[2] = dialog_settings.M01z;
- settings.M02[0] = dialog_settings.M02x;
- settings.M02[1] = dialog_settings.M02y;
- settings.M02[2] = dialog_settings.M02z;
-
- settings_changed();
-}
-
-void TrackerDialog::set_model(int val)
-{
- dialog_settings.active_model_panel = val;
-
- switch (val) {
-
- case TrackerDialogSettings::MODEL_CLIP:
- set_clip();
- break;
-
- case TrackerDialogSettings::MODEL_CAP:
- set_cap();
- break;
-
- case TrackerDialogSettings::MODEL_CUSTOM:
- set_custom();
- break;
-
- default:
- break;
- }
-}
-
-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::settings_changed()
-{
- settings_dirty = true;
- if (tracker) tracker->apply(settings);
-}
-
-void TrackerDialog::doCenter()
-{
- if (tracker) tracker->center();
-}
-
-void TrackerDialog::doReset()
-{
- if (tracker) tracker->reset();
-}
-
-void TrackerDialog::doOK()
-{
- settings.save_ini();
- dialog_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();
- dialog_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)
- {
- 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);
- ui.caminfo_label_2->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);
- ui.pointinfo_label_2->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.caminfo_label_2->setText(to_print);
- ui.pointinfo_label->setText(to_print);
- ui.pointinfo_label_2->setText(to_print);
- }
-}
-
-
-//-----------------------------------------------------------------------------
-// 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()<<"TrackerDialog:: Tracker registered";
- tracker = static_cast<Tracker*>(t);
- if (isVisible() && settings_dirty) tracker->apply(settings);
- 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;
- ui.tcalib_button->setEnabled(false);
- //ui.center_button->setEnabled(false);
- ui.reset_button->setEnabled(false);
-}
-
-//-----------------------------------------------------------------------------
-#pragma comment(linker, "/export:GetTrackerDialog=_GetTrackerDialog@0")
-
-FTNOIR_TRACKER_BASE_EXPORT ITrackerDialogPtr __stdcall GetTrackerDialog( )
-{
- return new TrackerDialog;
-}
\ No newline at end of file |