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/* 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 "tracker-easy-dialog.h"
#include "compat/math.hpp"
#include "video/camera.hpp"
#include <opencv2/core.hpp>
#include <opencv2/calib3d.hpp>
#include <QString>
#include <QtGlobal>
#include <QDebug>
using namespace options;
static void init_resources() { Q_INIT_RESOURCE(tracker_easy); }
namespace EasyTracker
{
Dialog::Dialog() :
s(KModuleName),
tracker(nullptr),
timer(this),
trans_calib(1, 2)
{
init_resources();
ui.setupUi(this);
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.min_point_size, ui.mindiam_spin);
tie_setting(s.max_point_size, ui.maxdiam_spin);
tie_setting(s.DeadzoneRectHalfEdgeSize, ui.spinDeadzone);
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.debug, ui.debug);
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(ui.camdevice_combo, &QComboBox::currentTextChanged, this, &Dialog::set_camera_settings_available);
set_camera_settings_available(ui.camdevice_combo->currentText());
connect(ui.camera_settings, &QPushButton::clicked, this, &Dialog::show_camera_settings);
connect(&timer, &QTimer::timeout, this, &Dialog::poll_tracker_info_impl);
timer.setInterval(250);
connect(&calib_timer, &QTimer::timeout, this, &Dialog::trans_calib_step);
calib_timer.setInterval(35);
poll_tracker_info_impl();
connect(this, &Dialog::poll_tracker_info, this, &Dialog::poll_tracker_info_impl, Qt::DirectConnection);
for (unsigned k = 0; k < cv::SOLVEPNP_MAX_COUNT; k++)
ui.comboBoxSolvers->setItemData(k, k);
tie_setting(s.PnpSolver, ui.comboBoxSolvers);
}
void Dialog::startstop_trans_calib(bool start)
{
QMutexLocker l(&calibrator_mutex);
if (start)
{
qDebug() << "pt: starting translation calibration";
calib_timer.start();
trans_calib.reset();
s.t_MH_x = 0;
s.t_MH_y = 0;
s.t_MH_z = 0;
ui.sample_count_display->setText(QString());
}
else
{
calib_timer.stop();
qDebug() << "pt: stopping translation calibration";
{
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]);
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);
}
}
ui.tx_spin->setEnabled(!start);
ui.ty_spin->setEnabled(!start);
ui.tz_spin->setEnabled(!start);
if (start)
ui.tcalib_button->setText(tr("Stop calibration"));
else
ui.tcalib_button->setText(tr("Start calibration"));
}
void Dialog::poll_tracker_info_impl()
{
//SL: sort this out
/*
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)));
// display point info
const int n_points = tracker->get_n_points();
ui.pointinfo_label->setText((n_points == 3 ? tr("%1 OK!") : tr("%1 BAD!")).arg(n_points));
}
else
*/
{
ui.caminfo_label->setText(tr("Tracker offline"));
ui.pointinfo_label->setText(QString());
}
}
void Dialog::set_camera_settings_available(const QString& /* camera_name */)
{
ui.camera_settings->setEnabled(true);
}
void Dialog::show_camera_settings()
{
if (tracker)
{
QMutexLocker l(&tracker->camera_mtx);
tracker->camera->show_dialog();
}
else
(void)video::show_dialog(s.camera_name);
}
void Dialog::trans_calib_step()
{
QMutexLocker l(&calibrator_mutex);
// TODO: Do we still need that function
}
void Dialog::save()
{
s.b->save();
}
void Dialog::doOK()
{
save();
close();
}
void Dialog::doCancel()
{
close();
}
void Dialog::register_tracker(ITracker *t)
{
tracker = static_cast<Tracker*>(t);
ui.tcalib_button->setEnabled(true);
poll_tracker_info();
timer.start();
}
void Dialog::unregister_tracker()
{
tracker = nullptr;
ui.tcalib_button->setEnabled(false);
poll_tracker_info();
timer.stop();
}
}
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