PlotItemDialog::PlotItemDialog(PlotItem *item, QWidget *parent)
: ViewItemDialog(item, parent), _plotItem(item), _defaultTagString("<Auto Name>") {
Q_ASSERT(_plotItem);
_store = kstApp->mainWindow()->document()->objectStore();
setWindowTitle(tr("Edit Plot Item"));
_contentTab = new ContentTab(this, _store);
connect(_contentTab, SIGNAL(apply()), this, SLOT(contentChanged()));
DialogPage *contentsPage = new DialogPage(this);
contentsPage->setPageTitle(tr("Contents"));
contentsPage->addDialogTab(_contentTab);
addDialogPage(contentsPage, true);
_labelTab = new LabelTab(_plotItem, this);
_topLabelTab = new OverrideLabelTab(tr("Top Font"), this);
_bottomLabelTab = new OverrideLabelTab(tr("Bottom Font"), this);
_leftLabelTab = new OverrideLabelTab(tr("Left Font"), this);
_rightLabelTab = new OverrideLabelTab(tr("Right Font"), this);
_axisLabelTab = new OverrideLabelTab(tr("Axis Font"), this);
_labelPage = new DialogPageTab(this);
_labelPage->setPageTitle(tr("Labels"));
_labelPage->addDialogTab(_labelTab);
_labelPage->addDialogTab(_topLabelTab);
_labelPage->addDialogTab(_bottomLabelTab);
_labelPage->addDialogTab(_leftLabelTab);
_labelPage->addDialogTab(_rightLabelTab);
_labelPage->addDialogTab(_axisLabelTab);
addDialogPage(_labelPage, true);
connect(_labelTab, SIGNAL(apply()), this, SLOT(labelsChanged()));
connect(_labelTab, SIGNAL(globalFontUpdate()), this, SLOT(globalFontUpdate()));
connect(_topLabelTab, SIGNAL(useDefaultChanged(bool)), this, SLOT(useTopDefaultChanged(bool)));
connect(_bottomLabelTab, SIGNAL(useDefaultChanged(bool)), this, SLOT(useBottomDefaultChanged(bool)));
connect(_leftLabelTab, SIGNAL(useDefaultChanged(bool)), this, SLOT(useLeftDefaultChanged(bool)));
connect(_rightLabelTab, SIGNAL(useDefaultChanged(bool)), this, SLOT(useRightDefaultChanged(bool)));
connect(_axisLabelTab, SIGNAL(useDefaultChanged(bool)), this, SLOT(useAxisDefaultChanged(bool)));
_rangeTab = new RangeTab(_plotItem, this);
DialogPage *rangePage = new DialogPage(this);
rangePage->setPageTitle(tr("Range/Zoom"));
rangePage->addDialogTab(_rangeTab);
addDialogPage(rangePage, true);
connect(_rangeTab, SIGNAL(apply()), this, SLOT(rangeChanged()));
_xAxisTab = new AxisTab(this);
_xAxisPage = new DialogPage(this);
_xAxisPage->setPageTitle(tr("X-Axis"));
_xAxisPage->addDialogTab(_xAxisTab);
addDialogPage(_xAxisPage, true);
connect(_xAxisTab, SIGNAL(apply()), this, SLOT(xAxisChanged()));
_yAxisTab = new AxisTab(this);
_yAxisTab->setAsYAxis();
_yAxisPage = new DialogPage(this);
_yAxisPage->setPageTitle(tr("Y-Axis"));
_yAxisPage->addDialogTab(_yAxisTab);
addDialogPage(_yAxisPage, true);
connect(_yAxisTab, SIGNAL(apply()), this, SLOT(yAxisChanged()));
_xMarkersTab = new MarkersTab(this);
DialogPage *xMarkersPage = new DialogPage(this);
xMarkersPage->setPageTitle(tr("X-Axis Markers"));
xMarkersPage->addDialogTab(_xMarkersTab);
addDialogPage(xMarkersPage, true);
_xMarkersTab->setObjectStore(_store);
connect(_xMarkersTab, SIGNAL(apply()), this, SLOT(xAxisPlotMarkersChanged()));
_yMarkersTab = new MarkersTab(this);
DialogPage *yMarkersPage = new DialogPage(this);
yMarkersPage->setPageTitle(tr("Y-Axis Markers"));
yMarkersPage->addDialogTab(_yMarkersTab);
addDialogPage(yMarkersPage, true);
_yMarkersTab->setObjectStore(_store);
connect(yMarkersPage, SIGNAL(apply()), this, SLOT(yAxisPlotMarkersChanged()));
// addRelations(); This tends to clutter the plot dialog, let's test skipping it
setupContent();
setupAxis();
setupRange();
setupLabels();
setupMarkers();
setSupportsMultipleEdit(true);
if (_plotItem->descriptiveNameIsManual()) {
setTagString(_plotItem->descriptiveName());
} else {
setTagString(_defaultTagString);
}
QList<PlotItem*> list = ViewItem::getItems<PlotItem>();
clearMultipleEditOptions();
foreach(PlotItem* plot, list) {
addMultipleEditOption(plot->plotName(), plot->descriptionTip(), plot->shortName());
}
bool BazARTracker::init(int xsize, int ysize,
const std::string& bazar_config_name,
const std::string& camera_name)
{
/*OSGART*/
ARParam wparam;
// Set the initial camera parameters.
cparamName = camera_name;
if(arParamLoad((char*)cparamName.c_str(), 1, &wparam) < 0) {
std::cerr << "ERROR: Camera parameter load error." << std::endl;
return false;
}
arParamChangeSize(&wparam, xsize, ysize,&(m_cparam->cparam));
arInitCparam(&(m_cparam->cparam));
arParamDisp(&(m_cparam->cparam));
/*BAZAR*/
// load BazAR's configuration files and detector parameters
if (!loadBazARConfig(bazar_config_name, &bazconf)) exit(0);
// load BazAR's camera calibration file
if (!loadBazARCamParams((char*)(bazconf.camCalFileName),&bazconf)) exit(0);
// init bazar tracker
matCameraRT4_4 = cvCreateMat(4, 4, CV_64F); //64 bit double precision float
g_matIntrinsic = cvCreateMat(3, 3, CV_64F);
// output windows
if (getDebugMode()){
cvNamedWindow("Gray", CV_WINDOW_AUTOSIZE);
cvNamedWindow("Result_BAZAR", CV_WINDOW_AUTOSIZE);
}
// fine tuning for accuracy - careful!!
detector.ransac_dist_threshold = (float)bazconf.ransac_dist_threshold;
detector.max_ransac_iterations = (float)bazconf.max_ransac_iterations;
detector.non_linear_refine_threshold = (float)bazconf.non_linear_refine_threshold;
detector.match_score_threshold = (float)bazconf.match_score_threshold; // A lower threshold will allow detection in harder conditions, but
// might lead to false positives
// Train or load classifier
if(!detector.build_with_cache(
// hse25: no hard coded stuff :) -- jaja
(char*)(bazconf.modelFileName), // mode image file name
400, // maximum number of keypoints on the model
32, // patch size in pixels
3, // yape radius. Use 3,5 or 7.
16, // number of trees for the classifier. Somewhere between 12-50
3 // number of levels in the gaussian pyramid
))
{
cerr << "BazARTracker: Unable to load the model image " << (char*)(bazconf.modelFileName) <<" or its classifier.\n";
return false;
}
// set camera parameters for BAZAR
char *camCal = (char*)(bazconf.camCalFileName);
char *camExt = (char*)(bazconf.camExtFileName);
if(!augment.LoadOptimalStructureFromFile(camCal, camExt))
{
std::cerr << "BazARTracker: couldn't load camera parameters: " << camCal << " " << camExt << std::endl;
return false;
}
// image buffers needed for detection, conversion..
image = cvCreateImage(cvSize(xsize, ysize), IPL_DEPTH_8U, 4); // captured image
gray = cvCreateImage(cvSize(xsize, ysize), IPL_DEPTH_8U, 1); // detector input
display = cvCreateImage(cvSize(xsize, ysize), IPL_DEPTH_8U, 4); // debug
// use bazar's camera calibration
m_cparam->cparam.mat[0][0] = bazconf.camCalMatrix[0][0]; m_cparam->cparam.mat[0][1] = bazconf.camCalMatrix[0][1]; m_cparam->cparam.mat[0][2] = bazconf.camCalMatrix[0][2];
m_cparam->cparam.mat[1][0] = bazconf.camCalMatrix[1][0]; m_cparam->cparam.mat[1][1] = bazconf.camCalMatrix[1][1]; m_cparam->cparam.mat[1][2] = bazconf.camCalMatrix[1][2];
m_cparam->cparam.mat[2][0] = bazconf.camCalMatrix[2][0]; m_cparam->cparam.mat[2][1] = bazconf.camCalMatrix[2][1]; m_cparam->cparam.mat[2][2] = bazconf.camCalMatrix[2][2];
for(int i=0; i<3; i++)
{
for(int j=0; j<3; j++)
{
cvmSet(g_matIntrinsic, i, j, m_cparam->cparam.mat[i][j]);
}
}
// end BAZAR
setProjection(10.0f, 8000.0f);
setDebugMode(m_debugmode);
setupMarkers();
// Success
return true;
}
int main(int argc, char **argv)
{
char glutGamemode[32];
char *cpara = NULL;
char cparaDefault[] = "Data/camera_para.dat";
char *vconf = NULL;
int patt_names_count = 0;
char *patt_names[CHECK_ID_MULTIMARKERS_MAX] = {NULL};
ARdouble pattRatio = (ARdouble)AR_PATT_RATIO;
AR_MATRIX_CODE_TYPE matrixCodeType = AR_MATRIX_CODE_TYPE_DEFAULT;
int labelingMode = AR_DEFAULT_LABELING_MODE;
int patternDetectionMode = AR_DEFAULT_PATTERN_DETECTION_MODE;
int i, gotTwoPartOption;
float tempF;
int tempI;
//
// Library inits.
//
glutInit(&argc, argv);
//
// Startup options.
//
i = 1; // argv[0] is name of app, so start at 1.
while (i < argc)
{
gotTwoPartOption = FALSE;
// Look for two-part options first.
if ((i + 1) < argc)
{
if (strcmp(argv[i], "--vconf") == 0)
{
i++;
vconf = argv[i];
gotTwoPartOption = TRUE;
}
else if (strcmp(argv[i], "--cpara") == 0)
{
i++;
cpara = argv[i];
gotTwoPartOption = TRUE;
}
else if (strcmp(argv[i], "--pattRatio") == 0)
{
i++;
if (sscanf(argv[i], "%f", &tempF) == 1 && tempF > 0.0f && tempF < 1.0f)
pattRatio = (ARdouble)tempF;
else
ARLOGe("Error: argument '%s' to --pattRatio invalid.\n", argv[i]);
gotTwoPartOption = TRUE;
}
else if (strcmp(argv[i], "--pattSize") == 0)
{
i++;
if (sscanf(argv[i], "%d", &tempI) == 1 && tempI >= 16 && tempI <= AR_PATT_SIZE1_MAX)
gPattSize = tempI;
else
ARLOGe("Error: argument '%s' to --pattSize invalid.\n", argv[i]);
gotTwoPartOption = TRUE;
}
else if (strcmp(argv[i], "--pattCountMax") == 0)
{
i++;
if (sscanf(argv[i], "%d", &tempI) == 1 && tempI > 0)
gPattCountMax = tempI;
else
ARLOGe("Error: argument '%s' to --pattSize invalid.\n", argv[i]);
gotTwoPartOption = TRUE;
}
else if (strcmp(argv[i], "--borderSize") == 0)
{
i++;
if (sscanf(argv[i], "%f", &tempF) == 1 && tempF > 0.0f && tempF < 0.5f)
pattRatio = (ARdouble)(1.0f - 2.0f * tempF);
else
ARLOGe("Error: argument '%s' to --borderSize invalid.\n", argv[i]);
gotTwoPartOption = TRUE;
}
else if (strcmp(argv[i], "--matrixCodeType") == 0)
{
i++;
if (strcmp(argv[i], "AR_MATRIX_CODE_3x3") == 0)
matrixCodeType = AR_MATRIX_CODE_3x3;
else if (strcmp(argv[i], "AR_MATRIX_CODE_3x3_HAMMING63") == 0)
matrixCodeType = AR_MATRIX_CODE_3x3_HAMMING63;
else if (strcmp(argv[i], "AR_MATRIX_CODE_3x3_PARITY65") == 0)
matrixCodeType = AR_MATRIX_CODE_3x3_PARITY65;
else if (strcmp(argv[i], "AR_MATRIX_CODE_4x4") == 0)
matrixCodeType = AR_MATRIX_CODE_4x4;
else if (strcmp(argv[i], "AR_MATRIX_CODE_4x4_BCH_13_9_3") == 0)
matrixCodeType = AR_MATRIX_CODE_4x4_BCH_13_9_3;
else if (strcmp(argv[i], "AR_MATRIX_CODE_4x4_BCH_13_5_5") == 0)
matrixCodeType = AR_MATRIX_CODE_4x4_BCH_13_5_5;
else if (strcmp(argv[i], "AR_MATRIX_CODE_5x5") == 0)
matrixCodeType = AR_MATRIX_CODE_5x5;
else if (strcmp(argv[i], "AR_MATRIX_CODE_6x6") == 0)
matrixCodeType = AR_MATRIX_CODE_6x6;
else if (strcmp(argv[i], "AR_MATRIX_CODE_GLOBAL_ID") == 0)
matrixCodeType = AR_MATRIX_CODE_GLOBAL_ID;
else
ARLOGe("Error: argument '%s' to --matrixCodeType invalid.\n", argv[i]);
gotTwoPartOption = TRUE;
}
else if (strcmp(argv[i], "--labelingMode") == 0)
{
i++;
if (strcmp(argv[i], "AR_LABELING_BLACK_REGION") == 0)
labelingMode = AR_LABELING_BLACK_REGION;
else if (strcmp(argv[i], "AR_LABELING_WHITE_REGION") == 0)
labelingMode = AR_LABELING_WHITE_REGION;
else
ARLOGe("Error: argument '%s' to --labelingMode invalid.\n", argv[i]);
gotTwoPartOption = TRUE;
}
else if (strcmp(argv[i], "--patternDetectionMode") == 0)
{
i++;
if (strcmp(argv[i], "AR_TEMPLATE_MATCHING_COLOR") == 0)
patternDetectionMode = AR_TEMPLATE_MATCHING_COLOR;
else if (strcmp(argv[i], "AR_TEMPLATE_MATCHING_MONO") == 0)
patternDetectionMode = AR_TEMPLATE_MATCHING_MONO;
else if (strcmp(argv[i], "AR_MATRIX_CODE_DETECTION") == 0)
patternDetectionMode = AR_MATRIX_CODE_DETECTION;
else if (strcmp(argv[i], "AR_TEMPLATE_MATCHING_COLOR_AND_MATRIX") == 0)
patternDetectionMode = AR_TEMPLATE_MATCHING_COLOR_AND_MATRIX;
else if (strcmp(argv[i], "AR_TEMPLATE_MATCHING_MONO_AND_MATRIX") == 0)
patternDetectionMode = AR_TEMPLATE_MATCHING_MONO_AND_MATRIX;
else
ARLOGe("Error: argument '%s' to --patternDetectionMode invalid.\n", argv[i]);
gotTwoPartOption = TRUE;
}
}
if (!gotTwoPartOption)
{
// Look for single-part options.
if (strcmp(argv[i], "--help") == 0 || strcmp(argv[i], "-help") == 0 || strcmp(argv[i], "-h") == 0)
{
usage(argv[0]);
}
else if (strcmp(argv[i], "--version") == 0 || strcmp(argv[i], "-version") == 0 || strcmp(argv[i], "-v") == 0)
{
ARLOG("%s version %s\n", argv[0], AR_HEADER_VERSION_STRING);
exit(0);
}
else if (strncmp(argv[i], "-border=", 8) == 0)
{
if (sscanf(&(argv[i][8]), "%f", &tempF) == 1 && tempF > 0.0f && tempF < 0.5f)
pattRatio = (ARdouble)(1.0f - 2.0f * tempF);
else
ARLOGe("Error: argument '%s' to -border= invalid.\n", argv[i]);
}
else
{
if (patt_names_count < CHECK_ID_MULTIMARKERS_MAX)
{
patt_names[patt_names_count] = argv[i];
patt_names_count++;
}
// } else {
// ARLOGe("Error: invalid command line argument '%s'.\n", argv[i]);
// usage(argv[0]);
}
}
i++;
}
//
// Video setup.
//
if (!cpara)
cpara = cparaDefault;
if (!setupCamera(cpara, vconf, &gCparamLT, &gARHandle, &gAR3DHandle))
{
ARLOGe("main(): Unable to set up AR camera.\n");
exit(-1);
}
//
// AR init.
//
arSetPatternDetectionMode(gARHandle, patternDetectionMode);
arSetLabelingMode(gARHandle, labelingMode);
arSetPattRatio(gARHandle, pattRatio);
arSetMatrixCodeType(gARHandle, matrixCodeType);
//
// Graphics setup.
//
// Set up GL context(s) for OpenGL to draw into.
glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGBA | GLUT_DEPTH);
if (!windowed)
{
if (windowRefresh)
sprintf(glutGamemode, "%ix%i:%i@%i", windowWidth, windowHeight, windowDepth, windowRefresh);
else
sprintf(glutGamemode, "%ix%i:%i", windowWidth, windowHeight, windowDepth);
glutGameModeString(glutGamemode);
glutEnterGameMode();
}
else
{
glutInitWindowSize(gCparamLT->param.xsize, gCparamLT->param.ysize);
glutCreateWindow(argv[0]);
}
// Setup ARgsub_lite library for current OpenGL context.
if ((gArglSettings = arglSetupForCurrentContext(&(gCparamLT->param), arVideoGetPixelFormat())) == NULL)
{
ARLOGe("main(): arglSetupForCurrentContext() returned error.\n");
cleanup();
exit(-1);
}
arglSetupDebugMode(gArglSettings, gARHandle);
arUtilTimerReset();
// Load marker(s).
if (!setupMarkers(patt_names_count, (const char**)patt_names, gMultiConfigs, gARHandle, &gARPattHandle))
{
ARLOGe("main(): Unable to set up AR marker(s).\n");
cleanup();
exit(-1);
}
gMultiConfigCount = patt_names_count;
// Register GLUT event-handling callbacks.
// NB: mainLoop() is registered by Visibility.
glutDisplayFunc(Display);
glutReshapeFunc(Reshape);
glutVisibilityFunc(Visibility);
glutKeyboardFunc(Keyboard);
glutMainLoop();
return (0);
}
bool
ARToolKit4NFTTracker::init(int xsize,int ysize,
const std::string& pattlist_name,const std::string& camera_name)
{
ARParam wparam;
// Set the initial camera parameters.
if(arParamLoad((char*)camera_name.c_str(), 1, &wparam) < 0) {
std::cerr << "ERROR: Camera parameter load error." << std::endl;
return false;
}
arParamChangeSize(&wparam, xsize, ysize, &cparam);
std::cout << "*** Camera Parameter ***" << std::endl;
arParamDisp( &cparam );
if( (arHandle = arCreateHandle(&cparam)) == NULL )
{
std::cerr << "ERROR: arCreateHandle." << std::endl;
return false;
}
int pixFormat = AR_PIXEL_FORMAT_BGRA;
if( arSetPixelFormat(arHandle, pixFormat) < 0 )
{
std::cerr << "Error: arSetPixelFormat." << std::endl;
return false;
}
if( arSetDebugMode(arHandle, AR_DEBUG_DISABLE) < 0 )
{
std::cerr << "Error: arSetDebugMode." << std::endl;
return false;
}
if( arSetLabelingThresh(arHandle,threshold) < 0 )
{
std::cerr << "Error: arSetLabelingThresh." << std::endl;
return false;
}
arSetMarkerExtractionMode( arHandle, AR_NOUSE_TRACKING_HISTORY );
if( (ar3DHandle=ar3DCreateHandle(&cparam)) == NULL )
{
std::cerr << "Error: ar3DCreateHandle." << std::endl;
return false;
}
if( (arPattHandle=arPattCreateHandle()) == NULL )
{
std::cerr << "Error: arPattCreateHandle." << std::endl;
return false;
}
setProjection(10.0f, 10000.0f);
//INIT NFT
int matchingImageMode = AR2_MATCHING_FRAME_IMAGE;
int matchingMethod = AR2_MATCHING_FINE;
int debugMode = 0;
ar2Handle = ar2CreateHandle( &cparam, pixFormat );
ar2ChangeMacthingImageMode( ar2Handle, matchingImageMode );
ar2ChangeMacthingMethod( ar2Handle, matchingMethod );
ar2ChangeDebugMode( ar2Handle, debugMode );
//arFittingMode = AR_FITTING_TO_IDEAL;
//arImageProcMode = AR_IMAGE_PROC_IN_FULL;
if (!setupMarkers(pattlist_name)) {
std::cerr << "ERROR: Marker setup failed." << std::endl;
return false;
}
return true;
}
