void detector_update(uint16_t leftReading, uint16_t rightReading) {
update_movements(leftData, leftReading);
update_movements(rightData, rightReading);
counter++;
if (counter > TICKS_PER_SECOND * 60) {
update_threshold(leftData);
update_threshold(rightData);
counter = 0;
}
}
widgetdock_calc_laser_line::widgetdock_calc_laser_line():
QDockWidget(tr("Laser line")),
method_(tr("Calculation method")),
method_threshold_(tr("Threshold")),
method_sum_(tr("Sum")),
threshold_(tr("Settings")),
threshold_show_original_(tr("Show original")),
threshold_show_binarize_(tr("Show binarized")),
threshold_binarize_l_(tr("Threshold: ")),
threshold_show_erode_(tr("Show eroded")),
threshold_erode_l_(tr("Erode: ")),
threshold_show_line_(tr("Show line")),
threshold_subpixel_l_(tr("Subpixel: ")),
sum_(tr("Settings")),
sum_show_original_(tr("Show original")),
sum_min_value_l_(tr("Minimal value: ")),
sum_min_sum_l_(tr("Minimal sum: ")),
sum_show_line_(tr("Show line")),
sum_subpixel_l_(tr("Subpixel: "))
{
method_layout_.addWidget(&method_sum_);
method_layout_.addWidget(&method_threshold_);
method_sum_.setChecked(true);
method_.setLayout(&method_layout_);
threshold_binarize_.setRange(1, 255);
threshold_erode_.setRange(0, 10);
threshold_layout_.addWidget(&threshold_show_original_, 0, 0, 1, 2);
threshold_layout_.addWidget(&threshold_show_binarize_, 1, 0, 1, 2);
threshold_layout_.addWidget(&threshold_binarize_l_, 2, 0, 1, 1);
threshold_layout_.addWidget(&threshold_binarize_, 2, 1, 1, 1);
threshold_layout_.addWidget(&threshold_show_erode_, 3, 0, 1, 2);
threshold_layout_.addWidget(&threshold_erode_l_, 4, 0, 1, 1);
threshold_layout_.addWidget(&threshold_erode_, 4, 1, 1, 1);
threshold_layout_.addWidget(&threshold_show_line_, 5, 0, 1, 2);
threshold_layout_.addWidget(&threshold_subpixel_l_, 6, 0, 1, 1);
threshold_layout_.addWidget(&threshold_subpixel_, 6, 1, 1, 1);
threshold_show_line_.setChecked(true);
threshold_binarize_.setValue(255);
threshold_erode_.setValue(2);
threshold_subpixel_.setChecked(true);
threshold_binarize_l_.setAlignment(Qt::AlignRight | Qt::AlignVCenter);
threshold_erode_l_.setAlignment(Qt::AlignRight | Qt::AlignVCenter);
threshold_subpixel_l_.setAlignment(Qt::AlignRight | Qt::AlignVCenter);
threshold_.setLayout(&threshold_layout_);
sum_min_value_.setRange(0, 254);
sum_min_sum_.setRange(0, 200000);
sum_layout_.addWidget(&sum_show_original_, 0, 0, 1, 2);
sum_layout_.addWidget(&sum_min_value_l_, 1, 0, 1, 1);
sum_layout_.addWidget(&sum_min_value_, 1, 1, 1, 1);
sum_layout_.addWidget(&sum_min_sum_l_, 2, 0, 1, 1);
sum_layout_.addWidget(&sum_min_sum_, 2, 1, 1, 1);
sum_layout_.addWidget(&sum_show_line_, 3, 0, 1, 2);
sum_layout_.addWidget(&sum_subpixel_l_, 4, 0, 1, 1);
sum_layout_.addWidget(&sum_subpixel_, 4, 1, 1, 1);
sum_show_line_.setChecked(true);
sum_min_value_.setValue(128);
sum_min_sum_.setValue(500);
sum_subpixel_.setChecked(true);
sum_min_value_l_.setAlignment(Qt::AlignRight | Qt::AlignVCenter);
sum_min_sum_l_.setAlignment(Qt::AlignRight | Qt::AlignVCenter);
sum_subpixel_l_.setAlignment(Qt::AlignRight | Qt::AlignVCenter);
sum_.setLayout(&sum_layout_);
main_layout_.addWidget(&method_);
main_layout_.addWidget(&threshold_);
main_layout_.addWidget(&sum_);
main_layout_.addStretch();
main_widget_.setLayout(&main_layout_);
setWidget(&main_widget_);
threshold_.hide();
constexpr auto released = &QRadioButton::released;
constexpr auto check_released = &QAbstractButton::released;
constexpr auto valueChanged =
static_cast< void(QSpinBox::*)(int) >(&QSpinBox::valueChanged);
auto const update_threshold_v = [this]{ update_threshold(); };
auto const update_threshold_i = [this](int){ update_threshold(); };
auto const update_sum_v = [this]{ update_sum(); };
auto const update_sum_i = [this](int){ update_sum(); };
connect(&method_threshold_, released, [this]{
show_box(threshold_);
update_threshold();
});
connect(&method_sum_, released, [this]{
show_box(sum_);
update_sum();
});
connect(&threshold_binarize_, valueChanged, update_threshold_i);
connect(&threshold_erode_, valueChanged, update_threshold_i);
connect(&threshold_subpixel_, check_released, update_threshold_v);
connect(&threshold_show_original_, released, update_threshold_v);
connect(&threshold_show_binarize_, released, update_threshold_v);
connect(&threshold_show_erode_, released, update_threshold_v);
connect(&threshold_show_line_, released, update_threshold_v);
connect(&sum_min_value_, valueChanged, update_sum_i);
connect(&sum_min_sum_, valueChanged, update_sum_i);
connect(&sum_subpixel_, check_released, update_sum_v);
connect(&sum_show_original_, released, update_sum_v);
connect(&sum_show_line_, released, update_sum_v);
update_threshold();
update_sum();
}
