Creator::Creator(QWidget *parent)
: QWidget(parent)
{
_modifier = 0;
qRegisterMetaType<MessageLevel>("MessageLevel");
qRegisterMetaType<cv::Mat>("cv::Mat");
qRegisterMetaType<CalibrationSet>("CalibrationSet");
qRegisterMetaType<QMatrix4x4>("QMatrix4x4");
qRegisterMetaType<PositionDesc>("PositionDesc");
ui.setupUi(this);
// populate values to comboboxes
ui.modifierCombo->addItem("None", QVariant(NoneModifier));
ui.modifierCombo->addItem("Canny", QVariant(CannyModifier));
// connections
// Global application
// shortcuts
_shortcuts.push_back(new QShortcut(QKeySequence("Ctrl+s"), this));
_shortcuts.push_back(new QShortcut(QKeySequence("Alt+a"), this));
_shortcuts.push_back(new QShortcut(QKeySequence("Alt+n"), this));
connect(_shortcuts[0], SIGNAL(activated()), this, SLOT(SaveSettings()));
connect(_shortcuts[1], SIGNAL(activated()), this, SLOT(AddPoint()));
connect(_shortcuts[2], SIGNAL(activated()), this, SLOT(AddNewPoint()));
// worker connects
connect(this, SIGNAL(modeChangedSignal(int)), _capturer.GetWorker(), SLOT(SetMode(int)));
connect(ui.renderer, SIGNAL( DescChangedSignal(PositionDesc&)), this, SLOT(FillActive(PositionDesc&)));
// rendered connects
connect(ui.renderGroup, SIGNAL(buttonClicked(int)), ui.renderer, SLOT(ChangeRenderStyle(int)));
ui.renderGroup->setId(ui.renderPointsButton, RenderPoints);
ui.renderGroup->setId(ui.renderWireframeButton, RenderWireframe);
ui.renderGroup->setId(ui.renderFullButton, RenderComplete);
connect(ui.loadButton, SIGNAL(clicked()), this, SLOT(LoadModel()));
connect(ui.renderer, SIGNAL(reportSignal(MessageLevel, const QString &)), ui.infobox, SLOT(Report(MessageLevel, const QString&)));
connect(ui.reloadShadersButton, SIGNAL(clicked()), ui.renderer, SLOT(ChangeShaders()));
connect(ui.lockGroup, SIGNAL(buttonClicked(int)), ui.renderer, SLOT(ChangeActiveKeyPos(int)));
ui.lockGroup->setId(ui.cameraRadioButton, PositionCamera);
ui.lockGroup->setId(ui.modelRadioButton, PositionModel);
ui.lockGroup->setId(ui.lightRadioButton, PositionLight);
// videorender connections
connect(ui.applyDescButton, SIGNAL(clicked()), this, SLOT(ChangeActiveDesc()));
connect(ui.saveSettingsButton, SIGNAL(clicked(void)), this, SLOT(SaveSettings()));
connect(ui.playButton, SIGNAL(clicked(void)), this, SLOT(PlayVideo()));
connect(ui.pauseButton, SIGNAL(clicked(void)), this, SLOT(Pause(void)));
connect(ui.cloudPoints, SIGNAL(Finished(void)), this, SLOT(EnablePlay()));
connect(ui.cloudPoints, SIGNAL(reportSignal(MessageLevel, const QString &)), ui.infobox, SLOT(Report(MessageLevel, const QString&)));
connect(ui.createMeshButton, SIGNAL(clicked()),this, SLOT(StartCreating()));
//connect(ui.nextFrameButton, SIGNAL(clicked(void)), ui.cloudPoints, SLOT(RequestNextFrame()));
//connect(ui.prevFrameButton, SIGNAL(clicked(void)), ui.cloudPoints, SLOT(RequestPrevFrame()));
ui.nextFrameButton->setDisabled(true);
ui.prevFrameButton->setDisabled(true);
connect(ui.stopButton, SIGNAL(clicked(void)), this, SLOT(Stop(void)));
connect(ui.featuresCheckbox, SIGNAL(clicked(void)), this, SLOT(FeaturesFromFrame()));
connect(ui.stopButton, SIGNAL(clicked(void)), this, SLOT(Stop()));
connect(ui.greyCheckBox, SIGNAL(clicked(void)), this, SLOT(ShowGreyFrame(void)));
connect(ui.newButton, SIGNAL(clicked(void)), this, SLOT(CreateNew(void)));
//calibration connects
connect(ui.loadCalibrationButton, SIGNAL(clicked()), this, SLOT(LoadCalibration(void)));
connect(ui.runCalibrationButton, SIGNAL(clicked()), this, SLOT(RunCalibration(void)));
connect(ui.calibrationFolderButton, SIGNAL(clicked()), this, SLOT(LoadCalibrationImages()));
connect(ui.applyCalibrationButton, SIGNAL(clicked()), this, SLOT(SendParameters()));
connect(ui.playUndistortedButton, SIGNAL(clicked()), this, SLOT(ShowUndistorted()));
connect(ui.saveCalibrationButton, SIGNAL(clicked()), this, SLOT(SaveCalibration()));
connect(&_capturer, SIGNAL(imageReadySignal(cv::Mat)), ui.cloudPoints, SLOT(setImage(cv::Mat)));
connect(&_capturer, SIGNAL(reportSignal(MessageLevel, const QString &)), ui.cloudPoints, SLOT(Report(MessageLevel, const QString &)));
connect(_capturer.GetWorker(), SIGNAL(camParametersSignal(cv::Mat, cv::Mat)), ui.cloudPoints, SLOT(ShowParameters(cv::Mat, cv::Mat)));
connect(ui.cloudPoints, SIGNAL(setCalibrationSignal(CalibrationSet)), _capturer.GetWorker(), SLOT(ChangeCalibration(CalibrationSet)));
// comparer connects
connect(ui.compareNext, SIGNAL(clicked()), this, SLOT(GetNextImagePair()));
connect(this, SIGNAL(PreparePairSignal(int, int)), _capturer.GetWorker(), SLOT(PreparePair(int,int)));
connect(_capturer.GetWorker(), SIGNAL(imagePairSignal(cv::Mat, cv::Mat)), this, SLOT(SetCompare(cv::Mat, cv::Mat)));
connect(ui.applyModifierButton, SIGNAL(clicked()), this, SLOT(SetModifier()));
//connect(ui.comparePrev, SIGNAL(clicked()), this, SLOT(GetPrevImagePair()));
// rest of the initialization
LoadSettings();
}
/*
* Compute Gradient of I
*/
int Lgm_Grad_I( Lgm_Vector *v0, Lgm_Vector *GradI, Lgm_MagModelInfo *mInfo ) {
Lgm_Vector u, Pa, Pb;
double rat, H, h, a, b, SS, Sa, Sb, I, f[6], r;
int i, N;
/*
* We want to compute the gradient of I at the point v0.
* This requires 3 derivatives: one each in x, y and z directions.
* We will try a fairly acurate difference scehme:
*
* f_0^(1) = 1/(60h) ( f_3 - 9f_2 + 45f_1 - 45f_-1 + 9f_-2 - f_-3 )
* See page 450 of CRC standard Math tables 28th edition.
*/
/*
* Set h to a smallish value
*/
// h = 5e-2;
h = 0.1;
// h = 0.2;
switch ( DIFF_SCHEME ) {
case USE_SIX_POINT:
N = 3;
break;
case USE_FOUR_POINT:
N = 2;
break;
case USE_TWO_POINT:
N = 1;
break;
}
// User should set these?
mInfo->Lgm_I_Integrator = DQAGS;
mInfo->Lgm_I_Integrator_epsabs = 0.0;
mInfo->Lgm_I_Integrator_epsrel = 1e-5;
/* X-component */
mInfo->UseInterpRoutines = 1;
if (mInfo->VerbosityLevel > 0) printf("\t\tComputing dIdx: h = %g\n", h);
for (i=-N; i<=N; ++i){
if (i!=0) { // dont need the center value in our difference scheme
u = *v0; H = (double)i*h; u.x += H;
/*
* Trace to southern mirror point
*/
if ( Lgm_TraceToMirrorPoint( &u, &Pa, &Sa, mInfo->Bm, -1.0, mInfo->Lgm_TraceToMirrorPoint_Tol, mInfo ) > 0 ) {
/*
* Trace to northern mirror point
*/
if ( Lgm_TraceToMirrorPoint( &Pa, &Pb, &SS, mInfo->Bm, 1.0, mInfo->Lgm_TraceToMirrorPoint_Tol, mInfo ) > 0 ) {
r = Lgm_Magnitude( &Pb );
//mInfo->Hmax = SS/200.0;
mInfo->Hmax = SS/(double)mInfo->nDivs;
Lgm_TraceLine2( &Pa, &Pb, (r-1.0)*Re, 0.5*SS-mInfo->Hmax, 1.0, 1e-7, FALSE, mInfo );
ReplaceFirstPoint( 0.0, mInfo->Bm, &Pa, mInfo );
AddNewPoint( SS, mInfo->Bm, &Pb, mInfo );
InitSpline( mInfo );
mInfo->Lgm_I_integrand_S = 0.0;
mInfo->Lgm_I_integrand_FirstCall = TRUE;
mInfo->Lgm_n_I_integrand_Calls = 0;
mInfo->Sm_South = 0.0;
mInfo->Sm_North = SS;
if ( SS <= 1e-5 ) {
// if FL length is small, use an approx expression for I
rat = mInfo->Bmin/mInfo->Bm;
if ((1.0-rat) < 0.0) {
I = 0.0;
} else {
// Eqn 2.66b in Roederer
I = SS*sqrt(1.0 - rat);
printf("HEREEEEEEEEEEEEEEEEEEEEEEe\n");
}
} else {
I = Iinv_interped( mInfo );
}
if (mInfo->VerbosityLevel > 2) printf("I = %g Lgm_n_I_integrand_Calls = %d\n", I, mInfo->Lgm_n_I_integrand_Calls );
FreeSpline( mInfo );
} else {
printf("\t\tMirror point below %g km in Southern Hemisphere\n", mInfo->Lgm_LossConeHeight);
exit(0);
}
} else {
printf("\t\tMirror point below %g km in Northern Hemisphere\n", mInfo->Lgm_LossConeHeight);
exit(0);
}
f[i+N] = I;
}
}
if (DIFF_SCHEME == USE_SIX_POINT){
GradI->x = (f[6] - 9.0*f[5] + 45.0*f[4] - 45.0*f[2] + 9.0*f[1] - f[0])/(60.0*h);
} else if (DIFF_SCHEME == USE_FOUR_POINT){
GradI->x = (-f[4] + 8.0*f[3] - 8.0*f[1] + f[0])/(12.0*h);
} else if (DIFF_SCHEME == USE_TWO_POINT){
GradI->x = (f[2] - f[0])/(2.0*h);
}
/* Y-component */
if (mInfo->VerbosityLevel > 0) printf("\t\tComputing dIdy: h = %g\n", h);
for (i=-N; i<=N; ++i){
if (i!=0) { // dont need the center value in our difference scheme
u = *v0; H = (double)i*h; u.y += H;
/*
* Trace to southern mirror point
*/
if ( Lgm_TraceToMirrorPoint( &u, &Pa, &Sa, mInfo->Bm, -1.0, mInfo->Lgm_TraceToMirrorPoint_Tol, mInfo ) > 0 ) {
/*
* Trace to northern mirror point
*/
if ( Lgm_TraceToMirrorPoint( &Pa, &Pb, &SS, mInfo->Bm, 1.0, mInfo->Lgm_TraceToMirrorPoint_Tol, mInfo ) > 0 ) {
r = Lgm_Magnitude( &Pb );
//mInfo->Hmax = SS/200.0;
mInfo->Hmax = SS/(double)mInfo->nDivs;
Lgm_TraceLine2( &Pa, &Pb, (r-1.0)*Re, 0.5*SS-mInfo->Hmax, 1.0, 1e-7, FALSE, mInfo );
ReplaceFirstPoint( 0.0, mInfo->Bm, &Pa, mInfo );
AddNewPoint( SS, mInfo->Bm, &Pb, mInfo );
InitSpline( mInfo );
mInfo->Lgm_I_integrand_S = 0.0;
mInfo->Lgm_I_integrand_FirstCall = TRUE;
mInfo->Lgm_n_I_integrand_Calls = 0;
mInfo->Sm_South = 0.0;
mInfo->Sm_North = SS;
if ( SS <= 1e-5 ) {
// if FL length is small, use an approx expression for I
rat = mInfo->Bmin/mInfo->Bm;
if ((1.0-rat) < 0.0) {
I = 0.0;
} else {
// Eqn 2.66b in Roederer
I = SS*sqrt(1.0 - rat);
}
} else {
I = Iinv_interped( mInfo );
}
if (mInfo->VerbosityLevel > 2) printf("I = %g Lgm_n_I_integrand_Calls = %d\n", I, mInfo->Lgm_n_I_integrand_Calls );
FreeSpline( mInfo );
} else {
printf("\t\tMirror point below %g km in Southern Hemisphere\n", mInfo->Lgm_LossConeHeight);
exit(0);
}
} else {
printf("\t\tMirror point below %g km in Northern Hemisphere\n", mInfo->Lgm_LossConeHeight);
exit(0);
}
f[i+N] = I;
}
}
if (DIFF_SCHEME == USE_SIX_POINT){
GradI->y = (f[6] - 9.0*f[5] + 45.0*f[4] - 45.0*f[2] + 9.0*f[1] - f[0])/(60.0*h);
} else if (DIFF_SCHEME == USE_FOUR_POINT){
GradI->y = (-f[4] + 8.0*f[3] - 8.0*f[1] + f[0])/(12.0*h);
} else if (DIFF_SCHEME == USE_TWO_POINT){
GradI->y = (f[2] - f[0])/(2.0*h);
}
/* Z-component */
if (mInfo->VerbosityLevel > 0) printf("\t\tComputing dIdz: h = %g\n", h);
for (i=-N; i<=N; ++i){
if (i!=0) { // dont need the center value in our difference scheme
u = *v0; H = (double)i*h; u.z += H;
/*
* Trace to southern mirror point
*/
if ( Lgm_TraceToMirrorPoint( &u, &Pa, &Sa, mInfo->Bm, -1.0, mInfo->Lgm_TraceToMirrorPoint_Tol, mInfo ) > 0 ) {
/*
* Trace to northern mirror point
*/
if ( Lgm_TraceToMirrorPoint( &Pa, &Pb, &SS, mInfo->Bm, 1.0, mInfo->Lgm_TraceToMirrorPoint_Tol, mInfo ) > 0 ) {
r = Lgm_Magnitude( &Pb );
//mInfo->Hmax = SS/200.0;
mInfo->Hmax = SS/(double)mInfo->nDivs;
Lgm_TraceLine2( &Pa, &Pb, (r-1.0)*Re, 0.5*SS-mInfo->Hmax, 1.0, 1e-7, FALSE, mInfo );
ReplaceFirstPoint( 0.0, mInfo->Bm, &Pa, mInfo );
AddNewPoint( SS, mInfo->Bm, &Pb, mInfo );
InitSpline( mInfo );
mInfo->Lgm_I_integrand_S = 0.0;
mInfo->Lgm_I_integrand_FirstCall = TRUE;
mInfo->Lgm_n_I_integrand_Calls = 0;
mInfo->Sm_South = 0.0;
mInfo->Sm_North = SS;
if ( SS <= 1e-5 ) {
// if FL length is small, use an approx expression for I
rat = mInfo->Bmin/mInfo->Bm;
if ((1.0-rat) < 0.0) {
I = 0.0;
} else {
// Eqn 2.66b in Roederer
I = SS*sqrt(1.0 - rat);
}
} else {
I = Iinv_interped( mInfo );
}
if (mInfo->VerbosityLevel > 2) printf("I = %g Lgm_n_I_integrand_Calls = %d\n", I, mInfo->Lgm_n_I_integrand_Calls );
FreeSpline( mInfo );
} else {
printf("\t\tMirror point below %g km in Southern Hemisphere\n", mInfo->Lgm_LossConeHeight);
exit(0);
}
} else {
printf("\t\tMirror point below %g km in Northern Hemisphere\n", mInfo->Lgm_LossConeHeight);
exit(0);
}
f[i+N] = I;
}
}
if (DIFF_SCHEME == USE_SIX_POINT){
GradI->z = (f[6] - 9.0*f[5] + 45.0*f[4] - 45.0*f[2] + 9.0*f[1] - f[0])/(60.0*h);
} else if (DIFF_SCHEME == USE_FOUR_POINT){
GradI->z = (-f[4] + 8.0*f[3] - 8.0*f[1] + f[0])/(12.0*h);
} else if (DIFF_SCHEME == USE_TWO_POINT){
GradI->z = (f[2] - f[0])/(2.0*h);
}
return(0);
}
void ActiveTrack::AddPointNow( bool do_add_point )
{
wxDateTime now = wxDateTime::Now();
if( m_prev_dist < 0.0005 ) // avoid zero length segs
if( !do_add_point ) return;
if( m_prev_time.IsValid() ) if( m_prev_time == now ) // avoid zero time segs
if( !do_add_point ) return;
vector2D gpsPoint( gLon, gLat );
// The dynamic interval algorithm will gather all track points in a queue,
// and analyze the cross track errors for each point before actually adding
// a point to the track.
switch( trackPointState ) {
case firstPoint: {
TrackPoint *pTrackPoint = AddNewPoint( gpsPoint, now.ToUTC() );
m_lastStoredTP = pTrackPoint;
trackPointState = secondPoint;
do_add_point = false;
break;
}
case secondPoint: {
vector2D pPoint( gLon, gLat );
skipPoints.push_back( pPoint );
skipTimes.push_back( now.ToUTC() );
trackPointState = potentialPoint;
break;
}
case potentialPoint: {
if( gpsPoint == skipPoints[skipPoints.size()-1] ) break;
unsigned int xteMaxIndex = 0;
double xteMax = 0;
// Scan points skipped so far and see if anyone has XTE over the threshold.
for( unsigned int i=0; i<skipPoints.size(); i++ ) {
double xte = GetXTE( m_lastStoredTP->m_lat, m_lastStoredTP->m_lon, gLat, gLon, skipPoints[i].lat, skipPoints[i].lon );
if( xte > xteMax ) {
xteMax = xte;
xteMaxIndex = i;
}
}
if( xteMax > m_allowedMaxXTE ) {
TrackPoint *pTrackPoint = AddNewPoint( skipPoints[xteMaxIndex], skipTimes[xteMaxIndex] );
pSelect->AddSelectableTrackSegment( m_lastStoredTP->m_lat, m_lastStoredTP->m_lon,
pTrackPoint->m_lat, pTrackPoint->m_lon,
m_lastStoredTP, pTrackPoint, this );
m_prevFixedTP = m_fixedTP;
m_fixedTP = m_removeTP;
m_removeTP = m_lastStoredTP;
m_lastStoredTP = pTrackPoint;
for( unsigned int i=0; i<=xteMaxIndex; i++ ) {
skipPoints.pop_front();
skipTimes.pop_front();
}
// Now back up and see if we just made 3 points in a straight line and the middle one
// (the next to last) point can possibly be eliminated. Here we reduce the allowed
// XTE as a function of leg length. (Half the XTE for very short legs).
if( GetnPoints() > 2 ) {
double dist = DistGreatCircle( m_fixedTP->m_lat, m_fixedTP->m_lon, m_lastStoredTP->m_lat, m_lastStoredTP->m_lon );
double xte = GetXTE( m_fixedTP, m_lastStoredTP, m_removeTP );
if( xte < m_allowedMaxXTE / wxMax(1.0, 2.0 - dist*2.0) ) {
TrackPoints.pop_back();
TrackPoints.pop_back();
TrackPoints.push_back( m_lastStoredTP );
pSelect->DeletePointSelectableTrackSegments( m_removeTP );
pSelect->AddSelectableTrackSegment( m_fixedTP->m_lat, m_fixedTP->m_lon,
m_lastStoredTP->m_lat, m_lastStoredTP->m_lon,
m_fixedTP, m_lastStoredTP, this );
delete m_removeTP;
m_removeTP = m_fixedTP;
m_fixedTP = m_prevFixedTP;
}
}
}
skipPoints.push_back( gpsPoint );
skipTimes.push_back( now.ToUTC() );
break;
}
}
// Check if this is the last point of the track.
if( do_add_point ) {
TrackPoint *pTrackPoint = AddNewPoint( gpsPoint, now.ToUTC() );
pSelect->AddSelectableTrackSegment( m_lastStoredTP->m_lat, m_lastStoredTP->m_lon,
pTrackPoint->m_lat, pTrackPoint->m_lon,
m_lastStoredTP, pTrackPoint, this );
}
m_prev_time = now;
}
