calibapp.h

/* -- 2007-05-07 -- 
 *  ardev - an augmented reality library for robot developers
 *  Copyright 2005-2007 - Toby Collett (ardev _at_ plan9.net.nz)
 *
 *  This library is free software; you can redistribute it and/or
 *  modify it under the terms of the GNU Lesser General Public
 *  License as published by the Free Software Foundation; either
 *  version 2.1 of the License, or (at your option) any later version.
 *
 *  This library is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
 *  Lesser General Public License for more details.
 *
 *  You should have received a copy of the GNU Lesser General Public
 *  License along with this library; if not, write to the Free Software
 *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA 
 *
 */

#ifndef CALIBAPP_H
#define CALIBAPP_H

#include "../ui/calibapp_base.h"


class Q3CanvasSprite;
class Q3Canvas;
class Q3CanvasView;

#include <qlistview.h>

#undef signals
#include <libplayerc++/playerc++.h>
#define signals protected

using namespace PlayerCc;

#include "camera.h"
#include <ardev/ardev.h>
#include <ardev/capture.h>
#include <libthjc/geometry.h>


class CalibApp : public QMainWindow, public Ui_CalibApp
{
    Q_OBJECT

public:
        CalibApp(int argc, char **argv, QWidget* parent = 0, Qt::WFlags flags = 0);
        virtual ~CalibApp() {};

        void ProcessImage();

        void LoadCalibPoints();

        // Command Line args
        int argc;
        char ** argv;

public slots:
        void Idle();    

        void OriginalClicked();
        void ShowStageClicked();
        void CalibrateClicked();

        void calibChanged();


        void AcquireToggled(bool);

        void fileOpen();
        void fileSaveAs();
        
        void Load2DPoints();
        void Load3DPoints();


protected:
        void ShowImage(const ARImage & im);

        ARImage Original;//, Threshold, Hough;
        ARImage Original_Backup;//, Threshold, Hough;
#define NumStages 15
        ARImage Stages[NumStages];

        list<Line> Lines;
        vector<Point2D> OrderedPoints;

        bool Capturing;
        QTimer * AcquireTimer;

        // Player Position Variables
        PlayerClient * PClient;
        Position3dProxy * Pos;
        
        // Image Capture
        PlayerClient * camServer;
        CameraProxy * cp;
        ARImage Acquired;
        
        // Storage for real world calibration Points
        double CubePoints[27][3];
        double CubeOffset[3];

        // Calibration Results
        Camera cam;

        bool CalibrationDone;
};



#endif // CALIBAPP_H

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