1 files changed, 161 insertions, 47 deletions

diff --git a/tracker-pt/ftnoir_tracker_pt_dialog.cpp b/tracker-pt/ftnoir_tracker_pt_dialog.cpp
index 98e8e424..d67f79a7 100644
--- a/tracker-pt/ftnoir_tracker_pt_dialog.cpp
+++ b/tracker-pt/ftnoir_tracker_pt_dialog.cpp
@@ -7,28 +7,39 @@
  */
 
 #include "ftnoir_tracker_pt_dialog.h"
-#include "cv/video-property-page.hpp"
+#include "compat/math.hpp"
+#include "video/camera.hpp"
 
-#include "compat/camera-names.hpp"
-#include <opencv2/core.hpp>
 #include <QString>
+#include <QtGlobal>
 #include <QDebug>
 
-TrackerDialog_PT::TrackerDialog_PT()
-    : tracker(nullptr),
-      timer(this),
-      trans_calib(1, 2, 0)
+using namespace options;
+
+static void init_resources() { Q_INIT_RESOURCE(tracker_pt_base); }
+
+namespace pt_impl {
+
+TrackerDialog_PT::TrackerDialog_PT(const QString& module_name) :
+    s(module_name),
+    tracker(nullptr),
+    timer(this),
+    trans_calib(1, 2)
 {
+    init_resources();
+
     ui.setupUi(this);
 
-    ui.camdevice_combo->addItems(get_camera_names());
+    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.use_mjpeg, ui.use_mjpeg);
 
-    tie_setting(s.threshold, ui.threshold_slider);
+    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);
@@ -63,7 +74,7 @@ TrackerDialog_PT::TrackerDialog_PT()
 
     tie_setting(s.auto_threshold, ui.auto_threshold);
 
-    connect( ui.tcalib_button,SIGNAL(toggled(bool)), this,SLOT(startstop_trans_calib(bool)));
+    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()));
@@ -76,15 +87,94 @@ TrackerDialog_PT::TrackerDialog_PT()
     timer.setInterval(250);
 
     connect(&calib_timer, &QTimer::timeout, this, &TrackerDialog_PT::trans_calib_step);
-    calib_timer.setInterval(100);
+    calib_timer.setInterval(35);
 
     poll_tracker_info_impl();
 
-    connect(this, &TrackerDialog_PT::poll_tracker_info, this, &TrackerDialog_PT::poll_tracker_info_impl, Qt::QueuedConnection);
+    constexpr pt_color_type color_types[] = {
+        pt_color_bt709,
+        pt_color_hardware,
+        pt_color_red_only,
+        pt_color_green_only,
+        pt_color_blue_only,
+        pt_color_red_chromakey,
+        pt_color_green_chromakey,
+        pt_color_blue_chromakey,
+        pt_color_cyan_chromakey,
+        pt_color_yellow_chromakey,
+        pt_color_magenta_chromakey,
+    };
+
+    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.chroma_key_strength, ui.chroma_key_strength_slider);
+    connect(&s.chroma_key_strength, value_::value_changed<slider_value>(), ui.chroma_key_strength_label,
+            [this] { ui.chroma_key_strength_label->setValue(*s.chroma_key_strength); });
+    ui.chroma_key_strength_label->setValue(*s.chroma_key_strength);
+
+    tie_setting(s.chroma_key_overexposed, ui.chroma_key_overexposed);
+    connect(ui.blob_color, &QComboBox::currentTextChanged, this, &TrackerDialog_PT::chroma_key_controls_enable);
+
+    chroma_key_controls_enable("");
+
+    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_(); });
+
+    tie_setting(s.enable_point_filter, ui.enable_point_filter);
+    tie_setting(s.point_filter_coefficient, ui.point_filter_slider);
+    tie_setting(s.point_filter_limit, ui.point_filter_limit_slider);
+    connect(&s.point_filter_coefficient, value_::value_changed<slider_value>(),
+            ui.point_filter_label, [this] { ui.point_filter_label->setValue(*s.point_filter_coefficient); } );
+    connect(&s.point_filter_limit, value_::value_changed<slider_value>(), ui.point_filter_limit_label,
+        [this] { ui.point_filter_limit_label->setValue(*s.point_filter_limit); }, Qt::QueuedConnection);
+    ui.point_filter_label->setValue(*s.point_filter_coefficient);
+    ui.point_filter_limit_label->setValue(*s.point_filter_limit);
+
+    tie_setting(s.point_filter_deadzone, ui.point_filter_deadzone_slider);
+    ui.point_filter_deadzone_label->setValue(*s.point_filter_deadzone);
+
+    connect(&s.point_filter_deadzone, value_::value_changed<slider_value>(), ui.point_filter_deadzone_label,
+        [this] { ui.point_filter_deadzone_label->setValue(*s.point_filter_deadzone); }, Qt::QueuedConnection);
+}
+
+QString TrackerDialog_PT::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 TrackerDialog_PT::startstop_trans_calib(bool start)
 {
+    QMutexLocker l(&calibrator_mutex);
+
     if (start)
     {
         qDebug() << "pt: starting translation calibration";
@@ -101,17 +191,28 @@ void TrackerDialog_PT::startstop_trans_calib(bool start)
         calib_timer.stop();
         qDebug() << "pt: stopping translation calibration";
         {
-            cv::Vec3f tmp;
-            unsigned nsamples;
-            std::tie(tmp, nsamples) = trans_calib.get_estimate();
+            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]);
 
-            static constexpr unsigned min_samples = 80;
-            const QString sample_feedback = nsamples >= min_samples
-                ? tr("%1 samples. Over %2, good!").arg(nsamples).arg(min_samples)
-                : tr("%1 samples. Try for at least %2 for a precise calibration.").arg(nsamples).arg(min_samples);
+            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);
         }
@@ -119,18 +220,17 @@ void TrackerDialog_PT::startstop_trans_calib(bool start)
     ui.tx_spin->setEnabled(!start);
     ui.ty_spin->setEnabled(!start);
     ui.tz_spin->setEnabled(!start);
-    ui.tcalib_button->setText(progn(
-        if (start)
-          return tr("Stop calibration");
-        else
-          return tr("Start calibration");
-    ));
+
+    if (start)
+        ui.tcalib_button->setText(tr("Stop calibration"));
+    else
+        ui.tcalib_button->setText(tr("Start calibration"));
 }
 
 void TrackerDialog_PT::poll_tracker_info_impl()
 {
-    CamInfo info;
-    if (tracker && tracker->get_cam_info(&info))
+    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)));
 
@@ -145,35 +245,37 @@ void TrackerDialog_PT::poll_tracker_info_impl()
     }
 }
 
-void TrackerDialog_PT::set_camera_settings_available(const QString& camera_name)
+void TrackerDialog_PT::set_camera_settings_available(const QString& /* camera_name */)
 {
-    const bool avail = video_property_page::should_show_dialog(camera_name);
-    ui.camera_settings->setEnabled(avail);
+    ui.camera_settings->setEnabled(true);
 }
 
 void TrackerDialog_PT::show_camera_settings()
 {
-    const int idx = ui.camdevice_combo->currentIndex();
-
     if (tracker)
-    {
-        if (tracker->camera)
-        {
-            cv::VideoCapture& cap = *tracker->camera;
+        tracker->open_camera_dialog_flag = true;
+    else
+        (void)video::show_dialog(s.camera_name);
+}
 
-            CamInfo info;
-            bool status;
-            std::tie(status, info) = tracker->camera.get_info();
-            if (status)
-                video_property_page::show_from_capture(cap, info.idx);
-        }
+void TrackerDialog_PT::chroma_key_controls_enable(const QString&)
+{
+    bool enabled = false;
+    QVariant data = ui.blob_color->currentData();
+    if (data.isValid())
+    {
+        pt_color_type blob_color = pt_color_type(data.toInt());
+        enabled = blob_color >= pt_color_red_chromakey && blob_color <= pt_color_magenta_chromakey;
     }
-    else
-        video_property_page::show(idx);
+    ui.chroma_key_strength_slider->setEnabled(enabled);
+    ui.chroma_key_strength_label->setEnabled(enabled);
+    ui.chroma_key_overexposed->setEnabled(enabled);
 }
 
 void TrackerDialog_PT::trans_calib_step()
 {
+    QMutexLocker l(&calibrator_mutex);
+
     if (tracker)
     {
         Affine X_CM = tracker->pose();
@@ -203,14 +305,26 @@ void TrackerDialog_PT::register_tracker(ITracker *t)
 {
     tracker = static_cast<Tracker_PT*>(t);
     ui.tcalib_button->setEnabled(true);
-    poll_tracker_info();
+    poll_tracker_info_impl();
     timer.start();
 }
 
 void TrackerDialog_PT::unregister_tracker()
 {
-    tracker = NULL;
+    tracker = nullptr;
     ui.tcalib_button->setEnabled(false);
-    poll_tracker_info();
+    poll_tracker_info_impl();
     timer.stop();
 }
+
+void TrackerDialog_PT::set_buttons_visible(bool x)
+{
+    ui.buttonBox->setVisible(x);
+}
+
+void TrackerDialog_PT::reload()
+{
+    s.b->reload();
+}
+
+} // ns pt_impl