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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>
#include <opencv2/core/core.hpp>
#ifndef OPENTRACK_API
# include <boost/shared_ptr.hpp>
#else
# include <memory>
#endif
#include <vector>
using namespace std;
//-----------------------------------------------------------------------------
TrackerDialog::TrackerDialog()
: tracker(NULL),
timer(this),
trans_calib_running(false)
{
ui.setupUi( this );
vector<string> device_names;
get_camera_device_names(device_names);
for (vector<string>::iterator iter = device_names.begin(); iter != device_names.end(); ++iter)
{
ui.camdevice_combo->addItem(iter->c_str());
}
tie_setting(s.cam_index, 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_secondary, ui.threshold_secondary_slider);
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);
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()));
timer.start(100);
}
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;
{
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::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);
// 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
{
QString to_print = "Tracker offline";
ui.caminfo_label->setText(to_print);
ui.pointinfo_label->setText(to_print);
}
}
void TrackerDialog::trans_calib_step()
{
if (tracker)
{
Affine X_CM;
tracker->pose(&X_CM);
trans_calib.update(X_CM.R, X_CM.t);
cv::Vec3f t_MH = trans_calib.get_estimate();
s.t_MH_x = t_MH[0];
s.t_MH_y = t_MH[1];
s.t_MH_z = t_MH[2];
}
}
void TrackerDialog::save()
{
s.b->save();
}
void TrackerDialog::doOK()
{
save();
close();
}
void TrackerDialog::doCancel()
{
s.b->reload();
close();
}
void TrackerDialog::register_tracker(ITracker *t)
{
qDebug()<<"TrackerDialog:: Tracker registered";
tracker = static_cast<Tracker*>(t);
ui.tcalib_button->setEnabled(true);
//ui.center_button->setEnabled(true);
}
void TrackerDialog::unregister_tracker()
{
qDebug()<<"TrackerDialog:: Tracker un-registered";
tracker = NULL;
ui.tcalib_button->setEnabled(false);
//ui.center_button->setEnabled(false);
}
extern "C" OPENTRACK_EXPORT ITrackerDialog* GetDialog( )
{
return new TrackerDialog;
}
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