diff options
Diffstat (limited to 'tracker-pt/ftnoir_tracker_pt_dialog.cpp')
| -rw-r--r-- | tracker-pt/ftnoir_tracker_pt_dialog.cpp | 182 |
1 files changed, 182 insertions, 0 deletions
diff --git a/tracker-pt/ftnoir_tracker_pt_dialog.cpp b/tracker-pt/ftnoir_tracker_pt_dialog.cpp new file mode 100644 index 00000000..b1ae2238 --- /dev/null +++ b/tracker-pt/ftnoir_tracker_pt_dialog.cpp @@ -0,0 +1,182 @@ +/* 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 <QMessageBox> +#include <QDebug> +#include <opencv2/core/core.hpp> +#include <memory> +#include "opentrack/camera-names.hpp" +#include <vector> + +//----------------------------------------------------------------------------- +TrackerDialog_PT::TrackerDialog_PT() + : tracker(NULL), + timer(this), + trans_calib_running(false) +{ + ui.setupUi( this ); + + ui.camdevice_combo->addItems(get_camera_names()); + + 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, 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(&timer,SIGNAL(timeout()), this,SLOT(poll_tracker_info())); + connect(ui.camera_settings, SIGNAL(pressed()), this, SLOT(camera_settings())); + timer.start(100); +} + +void TrackerDialog_PT::camera_settings() +{ + if (tracker) + open_camera_settings(static_cast<cv::VideoCapture*>(tracker->camera), s.camera_name, &tracker->camera_mtx); + else + open_camera_settings(nullptr, s.camera_name, nullptr); +} + +void TrackerDialog_PT::startstop_trans_calib(bool start) +{ + if (start) + { + qDebug()<<"TrackerDialog:: Starting translation calibration"; + trans_calib.reset(); + trans_calib_running = true; + s.t_MH_x = 0; + s.t_MH_y = 0; + s.t_MH_z = 0; + } + else + { + qDebug()<<"TrackerDialog:: Stopping 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]; + } + } +} + +void TrackerDialog_PT::poll_tracker_info() +{ + CamInfo info; + if (tracker && tracker->get_cam_info(&info)) + { + QString to_print; + { + // display caminfo + 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(); + } + else + { + ui.caminfo_label->setText("Tracker offline"); + ui.pointinfo_label->setText(""); + } +} + +void TrackerDialog_PT::trans_calib_step() +{ + if (tracker) + { + Affine X_CM = tracker->pose(); + trans_calib.update(X_CM.R, X_CM.t); + } +} + +void TrackerDialog_PT::save() +{ + s.b->save(); +} + +void TrackerDialog_PT::doOK() +{ + save(); + close(); +} + +void TrackerDialog_PT::doCancel() +{ + s.b->reload(); + close(); +} + +void TrackerDialog_PT::register_tracker(ITracker *t) +{ + qDebug()<<"TrackerDialog:: Tracker registered"; + tracker = static_cast<Tracker_PT*>(t); + ui.tcalib_button->setEnabled(true); + //ui.center_button->setEnabled(true); +} + +void TrackerDialog_PT::unregister_tracker() +{ + qDebug()<<"TrackerDialog:: Tracker un-registered"; + tracker = NULL; + ui.tcalib_button->setEnabled(false); + //ui.center_button->setEnabled(false); +} + |