touchCalibration_t::touchCalibration_t( void )
: data_( 0 )
{
char inbuf[80];
snprintf(inbuf,sizeof(inbuf), "t%ux%u", SCREENWIDTH(), SCREENHEIGHT() );
char const *flashVar = readFlashVar(inbuf);
if( flashVar ){
setCalibration( flashVar );
return ;
}
else {
char calPath[512];
snprintf( calPath, sizeof(calPath), "/mmc/%s.dat", inbuf );
FILE *fIn = fopen(calPath, "r");
if( fIn ){
bool haveData = false ;
char tmp[512];
if(fgets(tmp,sizeof(tmp),fIn)){
setCalibration(tmp);
haveData = true ;
}
fclose(fIn);
if(haveData)
return ;
}
else
perror(calPath);
}
fprintf( stderr, "%s: no touch screen settings\n", inbuf );
}
/**
* \brief Slot called when the databas button is clicked
*
* It opens a calibrationselectiondialog to select a clibration appropriate
* for this device.
*/
void calibrationwidget::databaseClicked() {
debug(LOG_DEBUG, DEBUG_LOG, 0, "create a calibration selection");
calibrationselectiondialog *selection
= new calibrationselectiondialog(this);
debug(LOG_DEBUG, DEBUG_LOG, 0, "set up the guider in the selection");
selection->setGuider(_controltype, _guiderdescriptor, _guiderfactory);
connect(selection, SIGNAL(calibrationSelected(snowstar::Calibration)),
this, SLOT(setCalibration(snowstar::Calibration)));
selection->show();
}
void simpleCalibration( double focal = 520.0 )
{
if ( !load_images )
{
DEBUG_E( ("Not loaded Images. Use properly the constructor or set parameters manually") );
exit(-1);
}
double wimg = image1->size().width - 1.0;
double himg = image1->size().height - 1.0;
Eigen::Matrix3d K;
K << focal, 0.0, wimg/2, 0.0, focal, himg/2, 0.0, 0.0, 1.0; // Camera Matrix (intrinsics)
setCalibration( K );
}
CTWithWater::CTWithWater(const CalibrationData& calibrationData, double water_depth)
: m_dWaterDepth(water_depth),
m_CameraMatrix(NULL),
m_DistCoeffs(NULL),
m_Rv(NULL),
m_R(NULL),
m_T(NULL),
m_CameraWorld(NULL),
m_S(NULL),
m_CameraMatrixNorm(NULL),
m_DistCoeffsNorm(NULL)
{
allocMatrices();
setCalibration(calibrationData);
}
int gui::TreeWindow::qt_metacall(QMetaObject::Call _c, int _id, void **_a)
{
_id = QWidget::qt_metacall(_c, _id, _a);
if (_id < 0)
return _id;
if (_c == QMetaObject::InvokeMetaMethod) {
switch (_id) {
case 0: updateActions((*reinterpret_cast< const QModelIndex(*)>(_a[1]))); break;
case 1: updateActions(); break;
case 2: clickedTree((*reinterpret_cast< const QModelIndex(*)>(_a[1]))); break;
case 3: { string _r = ObtType((*reinterpret_cast< const QModelIndex(*)>(_a[1])));
if (_a[0]) *reinterpret_cast< string*>(_a[0]) = _r; } break;
case 4: insertChild(); break;
case 5: { bool _r = insertColumn((*reinterpret_cast< const QModelIndex(*)>(_a[1])));
if (_a[0]) *reinterpret_cast< bool*>(_a[0]) = _r; } break;
case 6: { bool _r = insertColumn();
if (_a[0]) *reinterpret_cast< bool*>(_a[0]) = _r; } break;
case 7: insertRow(); break;
case 8: { bool _r = removeColumn((*reinterpret_cast< const QModelIndex(*)>(_a[1])));
if (_a[0]) *reinterpret_cast< bool*>(_a[0]) = _r; } break;
case 9: { bool _r = removeColumn();
if (_a[0]) *reinterpret_cast< bool*>(_a[0]) = _r; } break;
case 10: removeRow(); break;
case 11: editObject(); break;
case 12: saveShow(); break;
case 13: loadShow(); break;
case 14: setOrbitmode(); break;
case 15: setRollmode(); break;
case 16: setDollymode(); break;
case 17: setPanymode(); break;
case 18: setCalibration(); break;
case 19: quit(); break;
default: ;
}
_id -= 20;
}
return _id;
}
GraphPose( Eigen::Matrix3d &Calib )
{
setCalibration( Calib );
fallback_icp = false;
initializePtrs();
};
void handleDisplayChange(XRRScreenChangeNotifyEvent *evt) {
int screenWidth, screenHeight;
if(evt==NULL) {
screenWidth = lastScreenWidth;
screenHeight = lastScreenHeight;
} else {
screenWidth = evt->width;
lastScreenWidth = screenWidth;
screenHeight = evt->height;
lastScreenHeight = screenHeight;
}
if(debugMode) {
printf("Screen size: %ix%i\n", screenWidth, screenHeight);
}
XRRScreenResources *res = XRRGetScreenResourcesCurrent(display, root);
int d;
for(d = 0; d < profiles.nDeviceSettings; d++) {
if(profiles.deviceSettings[d].attachedOutput == NULL && !(profiles.deviceSettings[d].autoOutput)) {
/* Set calibration of whole screen */
int id = 0;
for(id = 0; id<profiles.deviceSettings[d].inputDeviceCount; id++) {
if(debugMode) {
printf("Calibrate Device with ID %i\n", profiles.deviceSettings[d].inputDeviceIDs[id]);
}
setCalibration(profiles.deviceSettings[d].inputDeviceIDs[id], profiles.deviceSettings[d].outputMinX, profiles.deviceSettings[d].outputMaxX, profiles.deviceSettings[d].outputMinY, profiles.deviceSettings[d].outputMaxY, profiles.deviceSettings[d].swapAxes, screenWidth, screenHeight, 0, 0, screenWidth, screenHeight, 0);
}
} else if(profiles.deviceSettings[d].inputDeviceCount > 0) {
int o;
for(o = 0; o < res->noutput; o++) {
XRROutputInfo *outpInf = XRRGetOutputInfo(display, res, res->outputs[o]);
if((profiles.deviceSettings[d].autoOutput && (strstr(outpInf->name, "LVDS") || strstr(outpInf->name, "lvds")) )
|| (profiles.deviceSettings[d].attachedOutput && !strcmp(outpInf->name, profiles.deviceSettings[d].attachedOutput))) {
/* This is the attached output */
if(outpInf->crtc != 0) {
/* The output is active (has a CRTC) */
XRRCrtcInfo* crtcInf = XRRGetCrtcInfo(display, res, outpInf->crtc);
if(debugMode) {
printf("Output %s -- x: %i; y: %i; w: %i; h: %i\n", outpInf->name, crtcInf->x, crtcInf->y, crtcInf->width, crtcInf->height);
}
/* Set calibration */
int id = 0;
for(id = 0; id<profiles.deviceSettings[d].inputDeviceCount; id++) {
if(debugMode) {
printf("Calibrate Device with ID %i\n", profiles.deviceSettings[d].inputDeviceIDs[id]);
}
setCalibration(profiles.deviceSettings[d].inputDeviceIDs[id], profiles.deviceSettings[d].outputMinX, profiles.deviceSettings[d].outputMaxX, profiles.deviceSettings[d].outputMinY, profiles.deviceSettings[d].outputMaxY, profiles.deviceSettings[d].swapAxes, screenWidth, screenHeight, crtcInf->x, crtcInf->y, crtcInf->width, crtcInf->height, crtcInf->rotation);
}
XRRFreeCrtcInfo(crtcInf);
}
/* Output found, so break */
break;
}
XRRFreeOutputInfo(outpInf);
}
}
}
XRRFreeScreenResources(res);
}
uint_least8_t ADS7846::doCalibration(MI0283QT9 *lcd, uint16_t eeprom_addr, uint_least8_t check_eeprom) //touch panel calibration routine
{
uint_least8_t i;
CAL_POINT lcd_points[3] = {CAL_POINT1, CAL_POINT2, CAL_POINT3}; //calibration point postions
CAL_POINT tp_points[3];
//calibration data in EEPROM?
if(readCalibration(eeprom_addr) && check_eeprom)
{
return 0;
}
//clear screen and wait for touch release
lcd->fillScreen(RGB(255,255,255));
#if defined(__AVR__)
lcd->drawTextPGM((lcd->getWidth()/2)-50, (lcd->getHeight()/2)-10, PSTR("Calibration"), RGB(0,0,0), RGB(255,255,255), 1);
#else
lcd->drawText((lcd->getWidth()/2)-50, (lcd->getHeight()/2)-10, "Calibration", RGB(0,0,0), RGB(255,255,255), 1);
#endif
while(getPressure() > MIN_PRESSURE){ service(); };
//show calibration points
for(i=0; i<3; )
{
//draw points
lcd->drawCircle(lcd_points[i].x, lcd_points[i].y, 2, RGB( 0, 0, 0));
lcd->drawCircle(lcd_points[i].x, lcd_points[i].y, 5, RGB( 0, 0, 0));
lcd->drawCircle(lcd_points[i].x, lcd_points[i].y, 10, RGB(255, 0, 0));
//run service routine
service();
//press dectected? -> save point
if(getPressure() > MIN_PRESSURE)
{
lcd->fillCircle(lcd_points[i].x, lcd_points[i].y, 2, RGB(255,0,0));
tp_points[i].x = getXraw();
tp_points[i].y = getYraw();
i++;
//wait and redraw screen
delay(100);
lcd->fillScreen(RGB(255,255,255));
#if defined(__AVR__)
lcd->drawTextPGM((lcd->getWidth()/2)-50, (lcd->getHeight()/2)-10, PSTR("Calibration"), RGB(0,0,0), RGB(255,255,255), 1);
#else
lcd->drawText((lcd->getWidth()/2)-50, (lcd->getHeight()/2)-10, "Calibration", RGB(0,0,0), RGB(255,255,255), 1);
#endif
}
}
//calulate calibration matrix
setCalibration(lcd_points, tp_points);
//save calibration matrix
writeCalibration(eeprom_addr);
//wait for touch release
while(getPressure() > MIN_PRESSURE){ service(); };
return 1;
}
// Load from a viewXXXX directory.
void RGBDImage :: loadFromDir(const std::string& dir,
const RGBDCalibration* calib,
RGBDProcessor* processor)
{
m_directory = dir;
if (!is_file(dir+"/raw/color.png") && is_file(dir+"/color.png"))
{
rawRgbRef() = imread(dir + "/color.png", 1);
rawRgb().copyTo(rgbRef());
ntk_ensure(rgbRef().data, ("Could not read color image from " + dir).c_str());
}
else
{
if (is_file(dir + "/raw/color.png"))
{
rawRgbRef() = imread(dir + "/raw/color.png", 1);
ntk_ensure(rawRgbRef().data, ("Could not read raw color image from " + dir).c_str());
}
if (is_file(dir + "/raw/depth.raw"))
{
rawDepthRef() = imread_Mat1f_raw(dir + "/raw/depth.raw");
ntk_ensure(rawDepthRef().data, ("Could not read raw depth image from " + dir).c_str());
}
else if (is_file(dir + "/raw/depth.yml"))
{
rawDepthRef() = imread_yml(dir + "/raw/depth.yml");
ntk_ensure(rawDepthRef().data, ("Could not read raw depth image from " + dir).c_str());
}
if (is_file(dir + "/raw/amplitude.raw"))
{
rawAmplitudeRef() = imread_Mat1f_raw(dir + "/raw/amplitude.raw");
ntk_ensure(rawAmplitudeRef().data, ("Could not read raw amplitude image from " + dir).c_str());
}
if (is_file(dir + "/raw/amplitude.yml"))
{
rawAmplitudeRef() = imread_yml(dir + "/raw/amplitude.yml");
ntk_ensure(rawAmplitudeRef().data, ("Could not read raw amplitude image from " + dir).c_str());
}
else if (is_file(dir + "/raw/amplitude.png"))
{
rawAmplitudeRef() = imread(dir + "/raw/amplitude.png", 0);
ntk_ensure(rawAmplitudeRef().data, ("Could not read raw amplitude image from " + dir).c_str());
}
if (is_file(dir + "/raw/intensity.raw"))
{
rawIntensityRef() = imread_Mat1f_raw(dir + "/raw/intensity.raw");
ntk_ensure(rawIntensityRef().data, ("Could not read raw intensity image from " + dir).c_str());
}
else if (is_file(dir + "/raw/intensity.yml"))
{
rawIntensityRef() = imread_yml(dir + "/raw/intensity.yml");
ntk_ensure(rawIntensityRef().data, ("Could not read raw intensity image from " + dir).c_str());
}
else if (is_file(dir + "/raw/intensity.png"))
{
rawIntensityRef() = imread(dir + "/raw/intensity.png", 0);
ntk_ensure(rawIntensityRef().data, ("Could not read raw intensity image from " + dir).c_str());
}
}
setCalibration(calib);
if (processor)
processor->processImage(*this);
}
PoseICP( pcl::PointCloud<pcl::PointXYZRGBA>::Ptr &pc1, pcl::PointCloud<pcl::PointXYZRGBA>::Ptr &pc2, Eigen::Matrix3d &Calib )
{
setCalibration( Calib );
setClouds( pc1, pc2 );
load_images = false;
}
PoseICP( std::string &rgb1, std::string &range1, std::string &rgb2, std::string &range2, Eigen::Matrix3d &Calib )
{
setCalibration( Calib );
setImages( rgb1, range1, rgb2, range2 );
load_clouds = false;
};
PoseICP( cv::Mat *rgb1, cv::Mat *range1, cv::Mat *rgb2, cv::Mat *range2, Eigen::Matrix3d &Calib )
{
setCalibration( Calib );
setImages( rgb1, range1, rgb2, range2 );
load_clouds = false;
};
PoseICP( Eigen::Matrix3d &Calib )
{
setCalibration( Calib );
load_images = false;
load_clouds = false;
};
