LinuxtrackGui::LinuxtrackGui(QWidget *parent) : QWidget(parent), ds(NULL),
xpInstall(NULL), initialized(false), news_serial(-1), guiInit(true), showWineWarning(true)
{
ui.setupUi(this);
PREF;
setWindowTitle(QString::fromUtf8("Linuxtrack GUI v") + QString::fromUtf8(PACKAGE_VERSION));
grd = new Guardian(this);
me = new ModelEdit(grd, this);
lv = new LogView();
pi = new PluginInstall(ui, this);
ps = new ProfileSelector(this);
QObject::connect(&STATE, SIGNAL(stateChanged(linuxtrack_state_type)),
this, SLOT(trackerStateHandler(linuxtrack_state_type)));
QObject::connect(&zipper, SIGNAL(finished(int, QProcess::ExitStatus)),
this, SLOT(logsPackaged(int, QProcess::ExitStatus)));
ui.ModelEditSite->addWidget(me);
ui.ProfileSetupSite->addWidget(ps);
gui_settings = new QSettings(QString::fromUtf8("linuxtrack"), QString::fromUtf8("ltr_gui"));
showWindow = new LtrGuiForm(ui, *gui_settings);
helper = new LtrDevHelp();
gui_settings->beginGroup(QString::fromUtf8("MainWindow"));
resize(gui_settings->value(QString::fromUtf8("size"), QSize(763, 627)).toSize());
move(gui_settings->value(QString::fromUtf8("pos"), QPoint(0, 0)).toPoint());
welcome = gui_settings->value(QString::fromUtf8("welcome"), true).toBool();
news_serial = gui_settings->value(QString::fromUtf8("news"), -1).toInt();
showWineWarning = gui_settings->value(QString::fromUtf8("wine_warning"), true).toBool();
gui_settings->endGroup();
gui_settings->beginGroup(QString::fromUtf8("TrackingWindow"));
showWindow->resize(gui_settings->value(QString::fromUtf8("size"), QSize(800, 600)).toSize());
showWindow->move(gui_settings->value(QString::fromUtf8("pos"), QPoint(0, 0)).toPoint());
gui_settings->endGroup();
gui_settings->beginGroup(QString::fromUtf8("HelperWindow"));
helper->resize(gui_settings->value(QString::fromUtf8("size"), QSize(300, 80)).toSize());
helper->move(gui_settings->value(QString::fromUtf8("pos"), QPoint(0, 0)).toPoint());
gui_settings->endGroup();
HelpViewer::LoadPrefs(*gui_settings);
ui.LegacyPose->setChecked(ltr_int_use_alter());
ui.LegacyRotation->setChecked(ltr_int_use_oldrot());
ui.TransRotDisable->setChecked(!ltr_int_do_tr_align());
ui.FocalLength->setValue(ltr_int_get_focal_length());
WineLauncher wl;
if(!wl.wineAvailable() && showWineWarning){
WineWarn w(this);
if(w.exec() == QDialog::Accepted){
showWineWarning = false;
}
}
guiInit = false;
}
static void iter_pose(struct bloblist_type blobs, double points[3][3], bool centering)
{
(void) centering;
double tmp[3];
double pp0[3], pp1[3], pp2[3];
double uv, uw, vw;
double d, e, f;
double d2, e2, f2;
double a_max, a_min;
double h, j, k, m, n, o, p, q;
internal_focal_depth = ltr_int_get_focal_length();
//printf("Pose: Iteration\n");
//printf("I: %15.4g %15.4g %15.4g\n", blobs.blobs[0].x, blobs.blobs[1].x, blobs.blobs[2].x);
//printf("I: %15.4g %15.4g %15.4g\n", blobs.blobs[0].y, blobs.blobs[1].y, blobs.blobs[2].y);
if(type == M_CAP){
//CAP
pp0[0] = blobs.blobs[0].x; pp0[1] = blobs.blobs[0].y; pp0[2] = internal_focal_depth;
pp1[0] = blobs.blobs[1].x; pp1[1] = blobs.blobs[1].y; pp1[2] = internal_focal_depth;
pp2[0] = blobs.blobs[2].x; pp2[1] = blobs.blobs[2].y; pp2[2] = internal_focal_depth;
ltr_int_make_vec(model_point1, model_point2, tmp);
d = ltr_int_vec_size(tmp);
ltr_int_make_vec(model_point0, model_point2, tmp);
e = ltr_int_vec_size(tmp);
ltr_int_make_vec(model_point0, model_point1, tmp);
f = ltr_int_vec_size(tmp);
}else{
//CLIP
pp0[0] = blobs.blobs[1].x; pp0[1] = blobs.blobs[1].y; pp0[2] = internal_focal_depth;
pp1[0] = blobs.blobs[0].x; pp1[1] = blobs.blobs[0].y; pp1[2] = internal_focal_depth;
pp2[0] = blobs.blobs[2].x; pp2[1] = blobs.blobs[2].y; pp2[2] = internal_focal_depth;
ltr_int_make_vec(model_point0, model_point2, tmp);
d = ltr_int_vec_size(tmp);
ltr_int_make_vec(model_point1, model_point2, tmp);
e = ltr_int_vec_size(tmp);
ltr_int_make_vec(model_point1, model_point0, tmp);
f = ltr_int_vec_size(tmp);
}
// ltr_int_print_vec(pp0, "cp0");
// ltr_int_print_vec(pp1, "cp1");
// ltr_int_print_vec(pp2, "cp2");
ltr_int_normalize_vec(pp0);
ltr_int_normalize_vec(pp1);
ltr_int_normalize_vec(pp2);
//ltr_int_print_vec(pp0, "pp0");
//ltr_int_print_vec(pp1, "pp1");
//ltr_int_print_vec(pp2, "pp2");
// printf("d = %f\t\te = %f\t\tf = %f\n", d, e, f);
uv = ltr_int_dot_product(pp0, pp1);
uw = ltr_int_dot_product(pp0, pp2);
vw = ltr_int_dot_product(pp1, pp2);
d2 = d*d;
e2 = e*e;
f2 = f*f;
h=uw * uw - 1.0;
j=uv * uv - 1.0;
double uxv, uxw;
ltr_int_cross_product(pp0, pp1, tmp);
uxv = f / ltr_int_vec_size(tmp);
ltr_int_cross_product(pp0, pp2, tmp);
uxw = e / ltr_int_vec_size(tmp);
a_min = e < f ? f : e;
a_max = uxv < uxw ? uxv : uxw;
//printf("amin = %f; amax = %f\n", a_min, a_max);
//Initial guess
double a = a_min + (a_min + a_max) / 2;
//printf("a = %f\n", a);
double a2, b, c, i_d;
int i;
for(i = 0; i < 20; ++i){
if(a < a_min + 0.1){
a = a_min + 0.1;
}
if(a > a_max - 0.1){
a = a_max - 0.1;
}
a2 = a * a;
k = sqrt(a2 * j + f2);
m = sqrt(a2 * h + e2);
n = a * h / m;
o = a * j / k;
p = a * uv - k;
q = a * uw - m;
b = a * uv - k;
c = a * uw - m;
i_d = b * b + c * c - 2 * b * c * vw - d2;
//printf("b = %f\nc = %f\ni_d = %f\nd = %f\n", b, c, i_d, i_d / 2*((uv-o)*(p-q*vw)+(uw-n)*(q-p*vw)));
a -= i_d / (2*((uv-o)*(p-q*vw)+(uw-n)*(q-p*vw)));
//printf("a = %f\n", a);
if(abs(i_d) < 1e-2){
break;
}
}
//printf("amin = %f\namax = %f\n", a_min, a_max);
if(type == M_CAP){
ltr_int_mul_vec(pp0, a, points[0]);
ltr_int_mul_vec(pp1, b, points[1]);
}else{
ltr_int_mul_vec(pp0, a, points[1]);
ltr_int_mul_vec(pp1, b, points[0]);
}
ltr_int_mul_vec(pp2, c, points[2]);
/* print_matrix(points, "alter92_result"); */
if(pts_dbg_flag == DBG_ON){
printf("RAW 3D points\n");
printf("RAW: %g %g %g\n", points[0][0], points[0][1], points[0][2]);
printf("RAW: %g %g %g\n", points[1][0], points[1][1], points[1][2]);
printf("RAW: %g %g %g\n", points[2][0], points[2][1], points[2][2]);
}
}
