void ArucoThread::computeCorQuatAndPos( const double position[3], const double rotation[4] )
{
qDebug() << "ARUCO: comput cor par done>";
// set corection translation
mCorP.x() = -position[0];
mCorP.y() = -position[1];
mCorP.z() = -position[2];
// set corection quaternion
osg::Quat tmp( rotation[1], rotation[2], rotation[3], rotation[0] );
mCorQ = tmp.conj();
mCorSetted = true;
mUpdCorPar = false;
emit corParUpdated(); // emit that corection parameters were updated
}
void OpenCV::OpenCVCore::createConnectionAruco()
{
// send actual image
QObject::connect( mOpencvWindow,
SIGNAL( sendImgMarker( bool ) ),
mThrAruco,
SLOT( setSendImgEnabling( bool ) ) );
/*QObject::connect( mThrAruco,
SIGNAL(pushImage(QImage)),
mOpencvDialog,
SLOT(setLabelQ(QImage)) );*/
QObject::connect( mThrAruco,
SIGNAL( pushImagemMat( cv::Mat ) ),
mOpencvWindow,
SLOT( setLabel( cv::Mat ) ) );
// send actual image to background
QObject::connect( mOpencvWindow,
SIGNAL( sendBackgrImgMarker( bool ) ),
mThrAruco,
SLOT( setSendBackgrImgEnabled( bool ) ) );
// start, stop
QObject::connect( mOpencvWindow,
SIGNAL( startMarker() ),
mThrAruco,
SLOT( start() ) );
QObject::connect( mOpencvWindow,
SIGNAL( stopMarker( bool ) ),
mThrAruco,
SLOT( setCancel( bool ) ) );
QObject::connect( mThrAruco,
SIGNAL( finished() ),
mOpencvWindow,
SLOT( onMarkerThrFinished() ) );
QObject::connect( mOpencvWindow,
SIGNAL( setCapVideoMarker( OpenCV::CapVideo* ) ),
mThrAruco,
SLOT( setCapVideo( OpenCV::CapVideo* ) ) );
QObject::connect( mOpencvWindow,
SIGNAL( startMultiMarker() ),
mThrAruco,
SLOT( start() ) );
QObject::connect( mOpencvWindow,
SIGNAL( stopMultiMarker( bool ) ),
mThrAruco,
SLOT( setCancel( bool ) ) );
QObject::connect( mOpencvWindow,
SIGNAL( startMarker() ),
AppCore::Core::getInstance( mApp )->getCoreWindow(),
SLOT( swapManipulator() ) );
QObject::connect( mOpencvWindow,
SIGNAL( arucoRunning( bool ) ),
AppCore::Core::getInstance( mApp )->getCoreGraph(),
SLOT( setArucoRunning( bool ) ) );
// other seting
QObject::connect( mOpencvWindow->getMarkerBehindCB(),
SIGNAL( clicked( bool ) ),
mThrAruco,
SLOT( setPositionOfMarker( bool ) ) );
QObject::connect( mOpencvWindow->getCorEnabledCB(),
SIGNAL( clicked( bool ) ),
mThrAruco,
SLOT( setCorEnabling( bool ) ) );
QObject::connect( mOpencvWindow->getUpdateCorParPB(),
SIGNAL( clicked() ),
mThrAruco,
SLOT( updateCorectionPar() ) );
QObject::connect( mThrAruco,
SIGNAL( corParUpdated() ),
mOpencvWindow,
SLOT( onCorParUpdated() ) );
QObject::connect( mOpencvWindow,
SIGNAL( setMultiMarker( bool ) ),
mThrAruco,
SLOT( setMultiMarker( bool ) ) );
// aruco mouse Controll
QObject::connect( mOpencvWindow->getInterchangeMarkersPB(),
SIGNAL( clicked() ),
mThrAruco,
SLOT( interchangeMarkers() ) );
}
