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/* 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)
{
setAttribute(Qt::WA_DeleteOnClose, 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(ui.center_button, SIGNAL(clicked()), this, SLOT(doCenter()));
connect(&timer,SIGNAL(timeout()), this,SLOT(poll_tracker_info()));
timer.start(100);
}
TrackerDialog::~TrackerDialog()
{
qDebug()<<"TrackerDialog::~TrackerDialog";
}
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::doCenter()
{
if (tracker)
tracker->CenterTracker();
}
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(false);
}
//-----------------------------------------------------------------------------
#pragma comment(linker, "/export:GetTrackerDialog=_GetTrackerDialog@0")
FTNOIR_TRACKER_BASE_EXPORT ITrackerDialogPtr __stdcall GetTrackerDialog( )
{
return new TrackerDialog;
}
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