void CameraParameters::AdditionalCalibrationInformation::addSettingsToList(
VarList& list) {
for (int i = 0; i < kNumControlPoints; ++i) {
list.addChild(control_point_set[i]);
}
list.addChild(initial_distortion);
list.addChild(camera_height);
list.addChild(line_search_corridor_width);
list.addChild(image_boundary);
list.addChild(max_feature_distance);
list.addChild(convergence_timeout);
list.addChild(cov_corner_x);
list.addChild(cov_corner_y);
list.addChild(cov_ls_x);
list.addChild(cov_ls_y);
list.addChild(pointSeparation);
}
void CameraParameters::addSettingsToList(VarList& list) {
list.addChild(focal_length);
list.addChild(principal_point_x);
list.addChild(principal_point_y);
list.addChild(distortion);
list.addChild(q0);
list.addChild(q1);
list.addChild(q2);
list.addChild(q3);
list.addChild(tx);
list.addChild(ty);
list.addChild(tz);
}
MainWindow::MainWindow(bool start_capture, bool enforce_affinity)
{
affinity=0;
if (enforce_affinity) affinity=new AffinityManager();
//opt=new GetOpt();
settings=0;
setupUi((QMainWindow *)this);
tree_view=new VarTreeView();
tmodel=new VarTreeModel();
splitter = new QSplitter(Qt::Horizontal,this);
splitter2 = new QSplitter(Qt::Vertical);
root=new VarList("Vision System");
opts=new RenderOptions();
right_tab=0;
QString stack_id="";
//opt->addArgument("stack",&stack_id);
//opt->parse();
//load RoboCup SSL stack by default:
multi_stack=new MultiStackRoboCupSSL(opts, 2);
VarExternal * stackvar;
root->addChild(stackvar= new VarExternal((multi_stack->getSettingsFileName() + ".xml").c_str(),multi_stack->getName()));
stackvar->addChild(multi_stack->getSettings());
//create tabs, GL visualizations and tool-panes for each capture thread in the multi-stack:
for (unsigned int i=0;i<multi_stack->threads.size();i++) {
VisionStack * s = multi_stack->threads[i]->getStack();
if (affinity!=0) multi_stack->threads[i]->setAffinityManager(affinity);
GLWidget * gl=new GLWidget(0,false);
gl->setRingBuffer(multi_stack->threads[i]->getFrameBuffer());
gl->setVisionStack(s);
QString label = "Camera " + QString::number(i);
VarList * threadvar = new VarList(label.toStdString());
threadvar->addChild(s->getSettings());
//iterate through plugin variables
QSplitter * stack_widget = new QSplitter(Qt::Horizontal);
stack_widgets.push_back(stack_widget);
QSplitter * stack_vis_splitter = new QSplitter(Qt::Vertical);
stack_widget->addWidget(stack_vis_splitter);
QTabWidget * stack_control_tab = new QTabWidget();
stack_control_tab->setTabPosition(QTabWidget::East);
stack_widget->addWidget(stack_control_tab);
VideoWidget * w=new VideoWidget(label,gl);
display_widgets.push_back(gl);
threadvar->addChild(multi_stack->threads[i]->getSettings());
stack_vis_splitter->addWidget(w);
//iterate through all plugins
unsigned int n=s->stack.size();
for (unsigned int j=0;j<n;j++) {
VisionPlugin * p=s->stack[j];
if (p->isSharedAmongStacks()) {
if (i==0) {
//this is a shared global plugin...
//add it to global pane
if (p->getSettings()!=0) stackvar->addChild(p->getSettings());
QWidget * tmp_control = p->getControlWidget();
if (tmp_control!=0) {
if (right_tab==0) {
right_tab=new QTabWidget();
right_tab->setTabPosition(QTabWidget::East);
}
right_tab->addTab(tmp_control,QString::fromStdString(p->getName()));
}
QWidget * tmp_vis = p->getVisualizationWidget();
if (tmp_vis!=0) splitter2->addWidget(tmp_vis);
}
} else {
if (p->getSettings()!=0) threadvar->addChild(p->getSettings());
//this is a local plugin relating only to a single thread
//add it to the context.
QWidget * tmp_control = p->getControlWidget();
if (tmp_control!=0) stack_control_tab->addTab(tmp_control,QString::fromStdString(p->getName()));
QWidget * tmp_vis = p->getVisualizationWidget();
if (tmp_vis!=0) stack_vis_splitter->addWidget(tmp_vis);
}
}
stackvar->addChild(threadvar);
splitter2->addWidget(stack_widget);
}
if (affinity!=0) affinity->demandCore(multi_stack->threads.size());
// Set position and size of main window:
QSettings window_settings("RoboCup", "ssl-vision");
window_settings.beginGroup("MainWindow");
QPoint pos = window_settings.value("pos", QPoint(100, 100)).toPoint();
QSize size = window_settings.value("size", QSize(800, 600)).toSize();
window_settings.endGroup();
resize(size);
move(pos);
//FINISHED STRUCTURAL TREE
//NOW LOAD DATA:
world.push_back(root);
world=VarXML::read( world,"settings.xml");
//update network output settings from xml file
((MultiStackRoboCupSSL*)multi_stack)->RefreshNetworkOutput();
multi_stack->start();
if (start_capture==true) {
for (unsigned int i = 0; i < multi_stack->threads.size(); i++) {
CaptureThread * ct = multi_stack->threads[i];
ct->init();
}
}
tree_view->setModel(tmodel);
tmodel->setRootItems(world);
tree_view->expandAndFocus(stackvar);
tree_view->fitColumns();
left_tab=new QTabWidget();
left_tab->setTabPosition(QTabWidget::West);
splitter->addWidget(left_tab);
splitter->addWidget(splitter2);
if (right_tab!=0) splitter->addWidget(right_tab);
left_tab->addTab(tree_view,"Data-Tree");
setCentralWidget(splitter); //was splitter
startTimer(10);
}