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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.hpp>
#include <QString>
#include <QDebug>
TrackerDialog_PT::TrackerDialog_PT()
: tracker(nullptr),
timer(this),
trans_calib(1, 2, 0)
{
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, &QTimer::timeout, this, &TrackerDialog_PT::poll_tracker_info_impl);
timer.setInterval(250);
connect(&calib_timer, &QTimer::timeout, this, &TrackerDialog_PT::trans_calib_step);
calib_timer.setInterval(35);
poll_tracker_info_impl();
connect(this, &TrackerDialog_PT::poll_tracker_info, this, &TrackerDialog_PT::poll_tracker_info_impl, Qt::DirectConnection);
}
void TrackerDialog_PT::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";
{
cv::Vec3f tmp;
cv::Vec3i nsamples;
std::tie(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]);
static constexpr unsigned min_yaw_samples = 15;
static constexpr unsigned min_pitch_samples = 15;
static constexpr unsigned 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.
const QString sample_feedback = progn(
if (nsamples[0] < min_yaw_samples)
return tr("%1 yaw samples. Yaw more to %2 samples for stable calibration.")
.arg(nsamples[0]).arg(min_yaw_samples);
if (nsamples[1] < min_pitch_samples)
return tr("%1 pitch samples. Pitch more to %2 samples for stable calibration.")
.arg(nsamples[1]).arg(min_pitch_samples);
const unsigned nsamples_total = nsamples[0] + nsamples[1];
return 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);
ui.tcalib_button->setText(progn(
if (start)
return tr("Stop calibration");
else
return tr("Start calibration");
));
}
void TrackerDialog_PT::poll_tracker_info_impl()
{
CamInfo 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 TrackerDialog_PT::set_camera_settings_available(const QString& camera_name)
{
const bool avail = video_property_page::should_show_dialog(camera_name);
ui.camera_settings->setEnabled(avail);
}
void TrackerDialog_PT::show_camera_settings()
{
const int idx = ui.camdevice_combo->currentIndex();
if (tracker)
{
if (tracker->camera)
{
cv::VideoCapture& cap = *tracker->camera;
CamInfo info;
bool status;
std::tie(status, info) = tracker->camera.get_info();
if (status)
video_property_page::show_from_capture(cap, info.idx);
}
}
else
video_property_page::show(idx);
}
void TrackerDialog_PT::trans_calib_step()
{
QMutexLocker l(&calibrator_mutex);
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);
poll_tracker_info();
timer.start();
}
void TrackerDialog_PT::unregister_tracker()
{
tracker = NULL;
ui.tcalib_button->setEnabled(false);
poll_tracker_info();
timer.stop();
}
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