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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.
*/
#ifndef FTNOIR_TRACKER_PT_DIALOG_H
#define FTNOIR_TRACKER_PT_DIALOG_H
#include "ftnoir_tracker_base/ftnoir_tracker_base.h"
#include "ftnoir_tracker_pt_settings.h"
#include "ftnoir_tracker_pt.h"
#include "ui_ftnoir_pt_controls.h"
#include "trans_calib.h"
#include <QTimer>
//-----------------------------------------------------------------------------
class TrackerDialog : public QWidget, public ITrackerDialog
{
Q_OBJECT
public:
TrackerDialog();
~TrackerDialog();
// ITrackerDialog interface
void Initialize(QWidget *parent);
void registerTracker(ITracker *tracker);
void unRegisterTracker();
void trans_calib_step();
protected slots:
// ugly qt stuff
void set_video_widget(bool val) { settings.video_widget = val; settings_changed(); }
void set_dyn_pose_res(bool val) { settings.dyn_pose_res = val; settings_changed(); }
void set_sleep_time(int val) { settings.sleep_time = val; settings_changed(); }
void set_reset_time(int val) { settings.reset_time = val; settings_changed(); }
void set_cam_index(int val) { settings.cam_index = val; settings_changed(); }
void set_cam_f(double val) { settings.cam_f = val; settings_changed(); }
void set_cam_res_x(int val) { settings.cam_res_x = val; settings_changed(); }
void set_cam_res_y(int val) { settings.cam_res_y = val; settings_changed(); }
void set_cam_fps(int val) { settings.cam_fps = val; settings_changed(); }
void set_cam_pitch(int val) { settings.cam_pitch = val; settings_changed(); }
void set_min_point_size(int val) { settings.min_point_size = val; settings_changed(); }
void set_max_point_size(int val) { settings.max_point_size = val; settings_changed(); }
void set_threshold(int val) { settings.threshold = val; settings_changed(); }
void set_ena_roll(bool val) { settings.bEnableRoll = val; settings_changed(); }
void set_ena_pitch(bool val) { settings.bEnablePitch = val; settings_changed(); }
void set_ena_yaw(bool val) { settings.bEnableYaw = val; settings_changed(); }
void set_ena_x(bool val) { settings.bEnableX = val; settings_changed(); }
void set_ena_y(bool val) { settings.bEnableY = val; settings_changed(); }
void set_ena_z(bool val) { settings.bEnableZ = val; settings_changed(); }
void set_clip_t_height(int val) { dialog_settings.clip_ty = val; set_clip(); }
void set_clip_t_length(int val) { dialog_settings.clip_tz = val; set_clip(); }
void set_clip_b_height(int val) { dialog_settings.clip_by = val; set_clip(); }
void set_clip_b_length(int val) { dialog_settings.clip_bz = val; set_clip(); }
void set_cap_width(int val) { dialog_settings.cap_x = val; set_cap(); }
void set_cap_height(int val) { dialog_settings.cap_y = val; set_cap(); }
void set_cap_length(int val) { dialog_settings.cap_z = val; set_cap(); }
void set_m1x(int val) { dialog_settings.M01x = val; set_custom(); }
void set_m1y(int val) { dialog_settings.M01y = val; set_custom(); }
void set_m1z(int val) { dialog_settings.M01z = val; set_custom(); }
void set_m2x(int val) { dialog_settings.M02x = val; set_custom(); }
void set_m2y(int val) { dialog_settings.M02y = val; set_custom(); }
void set_m2z(int val) { dialog_settings.M02z = val; set_custom(); }
void set_tx(int val) { settings.t_MH[0] = val; settings_changed(); }
void set_ty(int val) { settings.t_MH[1] = val; settings_changed(); }
void set_tz(int val) { settings.t_MH[2] = val; settings_changed(); }
void set_model(int model_id);
void doCenter();
void doReset();
void doOK();
void doCancel();
void startstop_trans_calib(bool start);
void poll_tracker_info();
protected:
void set_clip();
void set_cap();
void set_custom();
void settings_changed();
TrackerSettings settings;
TrackerDialogSettings dialog_settings;
bool settings_dirty;
Tracker* tracker;
TranslationCalibrator trans_calib;
bool trans_calib_running;
QTimer timer;
Ui::UICPTClientControls ui;
};
#endif //FTNOIR_TRACKER_PT_DIALOG_H
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