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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 "ftnoir_tracker_pt_dialog.h"
#include "cv/video-property-page.hpp"
#include "compat/camera-names.hpp"
#include <opencv2/core/core.hpp>
#include <memory>
#include <vector>
#include <QMessageBox>
#include <QString>
#include <QDebug>
//-----------------------------------------------------------------------------
TrackerDialog_PT::TrackerDialog_PT()
: tracker(NULL),
timer(this),
trans_calib_running(false)
{
ui.setupUi( this );
ui.camdevice_combo->addItems(get_camera_names());
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.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);
tie_setting(s.dynamic_pose, ui.dynamic_pose);
tie_setting(s.init_phase_timeout, ui.init_phase_timeout);
tie_setting(s.auto_threshold, ui.auto_threshold);
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, &TrackerDialog_PT::set_camera_settings_available);
set_camera_settings_available(ui.camdevice_combo->currentText());
connect(ui.camera_settings, &QPushButton::clicked, this, &TrackerDialog_PT::show_camera_settings);
connect(&timer,SIGNAL(timeout()), this,SLOT(poll_tracker_info()));
timer.start(250);
connect(&calib_timer, &QTimer::timeout, this, &TrackerDialog_PT::trans_calib_step);
calib_timer.setInterval(100);
}
void TrackerDialog_PT::startstop_trans_calib(bool start)
{
if (start)
{
qDebug()<<"TrackerDialog:: Starting translation calibration";
calib_timer.start();
trans_calib.reset();
trans_calib_running = true;
s.t_MH_x = 0;
s.t_MH_y = 0;
s.t_MH_z = 0;
}
else
{
calib_timer.stop();
qDebug()<<"TrackerDialog:: Stopping translation calibration";
trans_calib_running = false;
{
auto tmp = 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]);
}
}
ui.tx_spin->setEnabled(!start);
ui.ty_spin->setEnabled(!start);
ui.tz_spin->setEnabled(!start);
ui.tcalib_button->setText(progn(
if (start)
return QStringLiteral("Stop calibration");
else
return QStringLiteral("Start calibration");
));
}
void TrackerDialog_PT::poll_tracker_info()
{
CamInfo info;
if (tracker && tracker->get_cam_info(&info))
{
QString to_print;
{
// display caminfo
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
{
ui.caminfo_label->setText("Tracker offline");
ui.pointinfo_label->setText("");
}
}
void TrackerDialog_PT::set_camera_settings_available(const QString& camera_name)
{
#ifdef _WIN32
const bool avail = camera_name != QStringLiteral("PS3Eye Camera");
ui.camera_settings->setEnabled(avail);
#elif defined(__linux)
(void)camera_name;
#else
(void)camera_name;
ui.camera_settings->setEnabled(false);
#endif
}
void TrackerDialog_PT::show_camera_settings()
{
const int idx = ui.camdevice_combo->currentIndex();
if (tracker)
{
cv::VideoCapture* cap = tracker->camera;
if (cap && cap->isOpened())
{
video_property_page::show_from_capture(*cap, idx);
}
}
else
video_property_page::show(idx);
}
void TrackerDialog_PT::trans_calib_step()
{
if (tracker)
{
Affine X_CM = tracker->pose();
trans_calib.update(X_CM.R, X_CM.t);
}
else
startstop_trans_calib(false);
}
void TrackerDialog_PT::save()
{
s.b->save();
}
void TrackerDialog_PT::doOK()
{
save();
close();
}
void TrackerDialog_PT::doCancel()
{
close();
}
void TrackerDialog_PT::register_tracker(ITracker *t)
{
tracker = static_cast<Tracker_PT*>(t);
ui.tcalib_button->setEnabled(true);
//ui.center_button->setEnabled(true);
}
void TrackerDialog_PT::unregister_tracker()
{
tracker = NULL;
ui.tcalib_button->setEnabled(false);
//ui.center_button->setEnabled(false);
}
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