diff options
Diffstat (limited to 'tracker-easy/ftnoir_tracker_pt_dialog.cpp')
| -rw-r--r-- | tracker-easy/ftnoir_tracker_pt_dialog.cpp | 275 |
1 files changed, 275 insertions, 0 deletions
diff --git a/tracker-easy/ftnoir_tracker_pt_dialog.cpp b/tracker-easy/ftnoir_tracker_pt_dialog.cpp new file mode 100644 index 00000000..f56d3014 --- /dev/null +++ b/tracker-easy/ftnoir_tracker_pt_dialog.cpp @@ -0,0 +1,275 @@ +/* Copyright (c) 2012 Patrick Ruoff + * Copyright (c) 2014-2015 Stanislaw Halik <sthalik@misaki.pl> + * + * 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 "compat/math.hpp" +#include "video/camera.hpp" + +#include <opencv2/core.hpp> + +#include <QString> +#include <QtGlobal> +#include <QDebug> + +using namespace options; + +static void init_resources() { Q_INIT_RESOURCE(tracker_pt_base); } + +namespace pt_impl { + +EasyTrackerDialog::EasyTrackerDialog(const QString& module_name) : + s(module_name), + tracker(nullptr), + timer(this), + trans_calib(1, 2) +{ + init_resources(); + + ui.setupUi(this); + + for (const QString& str : video::camera_names()) + ui.camdevice_combo->addItem(str); + + tie_setting(s.camera_name, ui.camdevice_combo); + 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.threshold_slider, 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); + + tie_setting(s.fov, ui.fov); + + tie_setting(s.active_model_panel, ui.model_tabs); + + tie_setting(s.dynamic_pose, ui.dynamic_pose); + tie_setting(s.init_phase_timeout, ui.init_phase_timeout); + + tie_setting(s.auto_threshold, ui.auto_threshold); + + connect(ui.tcalib_button,SIGNAL(toggled(bool)), this, SLOT(startstop_trans_calib(bool))); + + connect(ui.buttonBox, SIGNAL(accepted()), this, SLOT(doOK())); + connect(ui.buttonBox, SIGNAL(rejected()), this, SLOT(doCancel())); + + connect(ui.camdevice_combo, &QComboBox::currentTextChanged, this, &EasyTrackerDialog::set_camera_settings_available); + set_camera_settings_available(ui.camdevice_combo->currentText()); + connect(ui.camera_settings, &QPushButton::clicked, this, &EasyTrackerDialog::show_camera_settings); + + connect(&timer, &QTimer::timeout, this, &EasyTrackerDialog::poll_tracker_info_impl); + timer.setInterval(250); + + connect(&calib_timer, &QTimer::timeout, this, &EasyTrackerDialog::trans_calib_step); + calib_timer.setInterval(35); + + poll_tracker_info_impl(); + + connect(this, &EasyTrackerDialog::poll_tracker_info, this, &EasyTrackerDialog::poll_tracker_info_impl, Qt::DirectConnection); + + constexpr pt_color_type color_types[] = { + pt_color_average, + pt_color_natural, + pt_color_red_only, + pt_color_green_only, + pt_color_blue_only, + }; + + for (unsigned k = 0; k < std::size(color_types); k++) + ui.blob_color->setItemData(k, int(color_types[k])); + + tie_setting(s.blob_color, ui.blob_color); + + tie_setting(s.threshold_slider, ui.threshold_value_display, [this](const slider_value& val) { + return threshold_display_text(int(val)); + }); + + // refresh threshold display on auto-threshold checkbox state change + tie_setting(s.auto_threshold, + this, + [this](bool) { s.threshold_slider.notify(); }); +} + +QString EasyTrackerDialog::threshold_display_text(int threshold_value) +{ + if (!s.auto_threshold) + return tr("Brightness %1/255").arg(threshold_value); + else + { + pt_camera_info info; + int w = s.cam_res_x, h = s.cam_res_y; + + if (w * h <= 0) + { + w = 640; + h = 480; + } + + if (tracker && tracker->get_cam_info(info) && info.res_x * info.res_y != 0) + { + w = info.res_x; + h = info.res_y; + } + + double value = (double)pt_point_extractor::threshold_radius_value(w, h, threshold_value); + + return tr("LED radius %1 pixels").arg(value, 0, 'f', 2); + } +} + +void EasyTrackerDialog::startstop_trans_calib(bool start) +{ + QMutexLocker l(&calibrator_mutex); + + if (start) + { + qDebug() << "pt: starting translation calibration"; + calib_timer.start(); + trans_calib.reset(); + s.t_MH_x = 0; + s.t_MH_y = 0; + s.t_MH_z = 0; + + ui.sample_count_display->setText(QString()); + } + else + { + calib_timer.stop(); + qDebug() << "pt: stopping translation calibration"; + { + auto [tmp, nsamples] = trans_calib.get_estimate(); + s.t_MH_x = int(tmp[0]); + s.t_MH_y = int(tmp[1]); + s.t_MH_z = int(tmp[2]); + + constexpr int min_yaw_samples = 15; + constexpr int min_pitch_samples = 15; + constexpr int min_samples = min_yaw_samples+min_pitch_samples; + + // Don't bother counting roll samples. Roll calibration is hard enough + // that it's a hidden unsupported feature anyway. + + QString sample_feedback; + if (nsamples[0] < min_yaw_samples) + sample_feedback = tr("%1 yaw samples. Yaw more to %2 samples for stable calibration.").arg(nsamples[0]).arg(min_yaw_samples); + else if (nsamples[1] < min_pitch_samples) + sample_feedback = tr("%1 pitch samples. Pitch more to %2 samples for stable calibration.").arg(nsamples[1]).arg(min_pitch_samples); + else + { + const int nsamples_total = nsamples[0] + nsamples[1]; + sample_feedback = tr("%1 samples. Over %2, good!").arg(nsamples_total).arg(min_samples); + } + + ui.sample_count_display->setText(sample_feedback); + } + } + ui.tx_spin->setEnabled(!start); + ui.ty_spin->setEnabled(!start); + ui.tz_spin->setEnabled(!start); + + if (start) + ui.tcalib_button->setText(tr("Stop calibration")); + else + ui.tcalib_button->setText(tr("Start calibration")); +} + +void EasyTrackerDialog::poll_tracker_info_impl() +{ + pt_camera_info info; + if (tracker && tracker->get_cam_info(info)) + { + ui.caminfo_label->setText(tr("%1x%2 @ %3 FPS").arg(info.res_x).arg(info.res_y).arg(iround(info.fps))); + + // display point info + const int n_points = tracker->get_n_points(); + ui.pointinfo_label->setText((n_points == 3 ? tr("%1 OK!") : tr("%1 BAD!")).arg(n_points)); + } + else + { + ui.caminfo_label->setText(tr("Tracker offline")); + ui.pointinfo_label->setText(QString()); + } +} + +void EasyTrackerDialog::set_camera_settings_available(const QString& /* camera_name */) +{ + ui.camera_settings->setEnabled(true); +} + +void EasyTrackerDialog::show_camera_settings() +{ + if (tracker) + { + QMutexLocker l(&tracker->camera_mtx); + tracker->camera->show_camera_settings(); + } + else + (void)video::show_dialog(s.camera_name); +} + +void EasyTrackerDialog::trans_calib_step() +{ + QMutexLocker l(&calibrator_mutex); + // TODO: Do we still need that function +} + +void EasyTrackerDialog::save() +{ + s.b->save(); +} + +void EasyTrackerDialog::doOK() +{ + save(); + close(); +} + +void EasyTrackerDialog::doCancel() +{ + close(); +} + +void EasyTrackerDialog::register_tracker(ITracker *t) +{ + tracker = static_cast<EasyTracker*>(t); + ui.tcalib_button->setEnabled(true); + poll_tracker_info(); + timer.start(); +} + +void EasyTrackerDialog::unregister_tracker() +{ + tracker = nullptr; + ui.tcalib_button->setEnabled(false); + poll_tracker_info(); + timer.stop(); +} + +} // ns pt_impl |