LinuxtrackGui::LinuxtrackGui(QWidget *parent) : QWidget(parent), ds(NULL),
xpInstall(NULL), initialized(false), news_serial(-1), guiInit(true), showWineWarning(true)
{
ui.setupUi(this);
PREF;
setWindowTitle(QString::fromUtf8("Linuxtrack GUI v") + QString::fromUtf8(PACKAGE_VERSION));
grd = new Guardian(this);
me = new ModelEdit(grd, this);
lv = new LogView();
pi = new PluginInstall(ui, this);
ps = new ProfileSelector(this);
QObject::connect(&STATE, SIGNAL(stateChanged(linuxtrack_state_type)),
this, SLOT(trackerStateHandler(linuxtrack_state_type)));
QObject::connect(&zipper, SIGNAL(finished(int, QProcess::ExitStatus)),
this, SLOT(logsPackaged(int, QProcess::ExitStatus)));
ui.ModelEditSite->addWidget(me);
ui.ProfileSetupSite->addWidget(ps);
gui_settings = new QSettings(QString::fromUtf8("linuxtrack"), QString::fromUtf8("ltr_gui"));
showWindow = new LtrGuiForm(ui, *gui_settings);
helper = new LtrDevHelp();
gui_settings->beginGroup(QString::fromUtf8("MainWindow"));
resize(gui_settings->value(QString::fromUtf8("size"), QSize(763, 627)).toSize());
move(gui_settings->value(QString::fromUtf8("pos"), QPoint(0, 0)).toPoint());
welcome = gui_settings->value(QString::fromUtf8("welcome"), true).toBool();
news_serial = gui_settings->value(QString::fromUtf8("news"), -1).toInt();
showWineWarning = gui_settings->value(QString::fromUtf8("wine_warning"), true).toBool();
gui_settings->endGroup();
gui_settings->beginGroup(QString::fromUtf8("TrackingWindow"));
showWindow->resize(gui_settings->value(QString::fromUtf8("size"), QSize(800, 600)).toSize());
showWindow->move(gui_settings->value(QString::fromUtf8("pos"), QPoint(0, 0)).toPoint());
gui_settings->endGroup();
gui_settings->beginGroup(QString::fromUtf8("HelperWindow"));
helper->resize(gui_settings->value(QString::fromUtf8("size"), QSize(300, 80)).toSize());
helper->move(gui_settings->value(QString::fromUtf8("pos"), QPoint(0, 0)).toPoint());
gui_settings->endGroup();
HelpViewer::LoadPrefs(*gui_settings);
ui.LegacyPose->setChecked(ltr_int_use_alter());
ui.LegacyRotation->setChecked(ltr_int_use_oldrot());
ui.TransRotDisable->setChecked(!ltr_int_do_tr_align());
ui.FocalLength->setValue(ltr_int_get_focal_length());
WineLauncher wl;
if(!wl.wineAvailable() && showWineWarning){
WineWarn w(this);
if(w.exec() == QDialog::Accepted){
showWineWarning = false;
}
}
guiInit = false;
}
bool ltr_int_pose_process_blobs(struct bloblist_type blobs,
linuxtrack_pose_t *pose, linuxtrack_abs_pose_t *abs_pose, bool centering)
{
// double points[3][3];
double points[3][3] = {{28.35380, -1.24458, -0.11606},
{103.19049, -44.13490, -76.36657},
{131.32094, 10.75412, -50.19649}
};
/*
double points[3][3] = {{22.923, 110.165, 28.070},
{91.241, 44.781, 91.768},
{184.262, 18.075, 47.793}
};
*/
if(ltr_int_use_alter()){
alter_pose(blobs, points, centering);
}else{
iter_pose(blobs, points, centering);
}
double angles[3];
double displacement[3];
double abs_center[3] = {0.0, 0.0, 0.0};
double abs_angles[3] = {0.0, 0.0, 0.0};
if(ltr_int_use_oldrot()){
//printf("Rotations: Old algo\n");
//ltr_int_print_matrix(points, "points");
double new_base[3][3];
double vec1[3];
double vec2[3];
ltr_int_make_vec(points[1], points[0], vec1);
ltr_int_make_vec(points[2], points[0], vec2);
ltr_int_make_base(vec1, vec2, new_base);
// ltr_int_print_matrix(new_base, "new_base");
if(!ltr_int_is_matrix_finite(new_base)){
return false;
}
if(centering == true){
ltr_int_assign_matrix(new_base, center_base);
}
//all applications contain transposed base
ltr_int_transpose_in_place(new_base);
double new_center[3];
ltr_int_matrix_times_vec(new_base, model_ref, vec1);
ltr_int_add_vecs(points[0], vec1, new_center);
// ltr_int_print_matrix(new_base, "new_base'");
// ltr_int_print_vec(model_ref, "model_ref");
// ltr_int_print_vec(points[0], "pt0");
// ltr_int_print_vec(new_center, "new_center");
if(centering == true){
int i;
for(i = 0; i < 3; ++i){
center_ref[i] = new_center[i];
}
}
abs_center[0] = new_center[0];
abs_center[1] = new_center[1];
abs_center[2] = new_center[2];
ltr_int_make_vec(new_center, center_ref, displacement);
// ltr_int_print_vec(center_ref, "ref_pt");
// ltr_int_print_vec(displacement, "mv");
// ltr_int_print_matrix(center_base, "center_base");
double transform[3][3];
ltr_int_mul_matrix(new_base, center_base, transform);
// ltr_int_print_matrix(new_base, "new_base'");
// ltr_int_print_matrix(center_base, "center_base");
// ltr_int_print_matrix(transform, "transform");
//double pitch, yaw, roll;
ltr_int_matrix_to_euler(transform, &(angles[0]), &(angles[1]), &(angles[2]));
}else{
//printf("Rotations: New algo\n");
//ltr_int_print_matrix(points, "points");
if(centering){
if(!ltr_int_center(points[0], points[1], points[2], c_base, tr_center, tr_rot)){
ltr_int_log_message("Couldn't center in new pose!\n");
return false;
}
}
if(!ltr_int_get_pose(points[0], points[1], points[2], c_base, tr_center,
tr_rot, angles, displacement, abs_center, abs_angles)){
ltr_int_log_message("Couldn't determine the pose in new pose!\n");
return false;
}
}
ltr_int_mul_vec(angles, 180.0 /M_PI, angles);
ltr_int_mul_vec(abs_angles, 180.0 /M_PI, abs_angles);
if(ltr_int_is_vector_finite(angles) && ltr_int_is_vector_finite(displacement)){
pose->raw_pitch = angles[0];
pose->raw_yaw = angles[1];
pose->raw_roll = angles[2];
pose->raw_tx = displacement[0];
pose->raw_ty = displacement[1];
pose->raw_tz = displacement[2];
abs_pose->abs_pitch = abs_angles[0];
abs_pose->abs_yaw = abs_angles[1];
abs_pose->abs_roll = abs_angles[2];
abs_pose->abs_tx = abs_center[0];
abs_pose->abs_ty = abs_center[1];
abs_pose->abs_tz = abs_center[2];
return true;
}
return false;
}
