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//##########################################################################
//# #
//# CLOUDCOMPARE #
//# #
//# This program is free software; you can redistribute it and/or modify #
//# it under the terms of the GNU General Public License as published by #
//# the Free Software Foundation; version 2 or later of the License. #
//# #
//# This program 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 General Public License for more details. #
//# #
//# COPYRIGHT: EDF R&D / TELECOM ParisTech (ENST-TSI) #
//# #
//##########################################################################
#include "ccGBLSensorProjectionDlg.h"
//local
#include "ccCustomDoubleValidator.h"
//qCC_db
#include <ccGBLSensor.h>
ccGBLSensorProjectionDlg::ccGBLSensorProjectionDlg(QWidget* parent)
: QDialog(parent)
, Ui::GBLSensorProjectDialog()
{
setupUi(this);
posXEdit->setValidator(new ccCustomDoubleValidator(this));
posYEdit->setValidator(new ccCustomDoubleValidator(this));
posZEdit->setValidator(new ccCustomDoubleValidator(this));
x1rot->setValidator(new ccCustomDoubleValidator(this));
x2rot->setValidator(new ccCustomDoubleValidator(this));
x3rot->setValidator(new ccCustomDoubleValidator(this));
y1rot->setValidator(new ccCustomDoubleValidator(this));
y2rot->setValidator(new ccCustomDoubleValidator(this));
y3rot->setValidator(new ccCustomDoubleValidator(this));
z1rot->setValidator(new ccCustomDoubleValidator(this));
z2rot->setValidator(new ccCustomDoubleValidator(this));
z3rot->setValidator(new ccCustomDoubleValidator(this));
}
void ccGBLSensorProjectionDlg::initWithGBLSensor(const ccGBLSensor* sensor)
{
if( !sensor)
return;
const int precision = sizeof(PointCoordinateType) == 8 ? 12 : 8;
/*** Rotation order ***/
{
if (sensor->getRotationOrder() == ccGBLSensor::YAW_THEN_PITCH)
rotationOrderComboBox->setCurrentIndex(0);
else if (sensor->getRotationOrder() == ccGBLSensor::PITCH_THEN_YAW)
rotationOrderComboBox->setCurrentIndex(1);
}
/*** Position + Orientation ***/
{
//rotation matrix
const ccGLMatrix& rot = sensor->getRigidTransformation();
{
const float* mat = rot.data();
x1rot->setText(QString::number(mat[0] ,'f',precision));
y1rot->setText(QString::number(mat[1] ,'f',precision));
z1rot->setText(QString::number(mat[2] ,'f',precision));
x2rot->setText(QString::number(mat[4] ,'f',precision));
y2rot->setText(QString::number(mat[5] ,'f',precision));
z2rot->setText(QString::number(mat[6] ,'f',precision));
x3rot->setText(QString::number(mat[8] ,'f',precision));
y3rot->setText(QString::number(mat[9] ,'f',precision));
z3rot->setText(QString::number(mat[10],'f',precision));
}
//center
const float* C = sensor->getRigidTransformation().getTranslation();
posXEdit->setText(QString::number(C[0],'f',precision));
posYEdit->setText(QString::number(C[1],'f',precision));
posZEdit->setText(QString::number(C[2],'f',precision));
}
/*** Angular steps ***/
{
//pitch step
pitchStepSpinBox->setValue(sensor->getPitchStep() * CC_RAD_TO_DEG);
//yaw step
yawStepSpinBox->setValue(sensor->getYawStep() * CC_RAD_TO_DEG);
}
/*** Other ***/
{
//max range
maxRangeDoubleSpinBox->setValue(sensor->getSensorRange());
//uncertainty
uncertaintyDoubleSpinBox->setValue(sensor->getUncertainty());
}
}
void ccGBLSensorProjectionDlg::updateGBLSensor(ccGBLSensor* sensor)
{
if (!sensor)
return;
/*** rotation order ***/
{
ccGBLSensor::ROTATION_ORDER rotOrder = (rotationOrderComboBox->currentIndex() == 0 ? ccGBLSensor::YAW_THEN_PITCH : ccGBLSensor::PITCH_THEN_YAW);
sensor->setRotationOrder(rotOrder);
}
/*** Position + Orientation ***/
{
//orientation matrix
ccGLMatrix rot;
{
float* mat = rot.data();
mat[0] = x1rot->text().toFloat();
mat[1] = y1rot->text().toFloat();
mat[2] = z1rot->text().toFloat();
mat[4] = x2rot->text().toFloat();
mat[5] = y2rot->text().toFloat();
mat[6] = z2rot->text().toFloat();
mat[8] = x3rot->text().toFloat();
mat[9] = y3rot->text().toFloat();
mat[10] = z3rot->text().toFloat();
}
//center
CCVector3 C(static_cast<PointCoordinateType>(posXEdit->text().toDouble()),
static_cast<PointCoordinateType>(posYEdit->text().toDouble()),
static_cast<PointCoordinateType>(posZEdit->text().toDouble()));
rot.setTranslation(C);
sensor->setRigidTransformation(rot);
}
/*** Angular steps ***/
{
//pitch step
sensor->setPitchStep(static_cast<PointCoordinateType>(pitchStepSpinBox->value() * CC_DEG_TO_RAD));
//yax step
sensor->setYawStep(static_cast<PointCoordinateType>(yawStepSpinBox->value() * CC_DEG_TO_RAD));
}
/*** Other ***/
{
//max. range
sensor->setSensorRange(static_cast<ScalarType>(maxRangeDoubleSpinBox->value()));
//uncertainty
sensor->setUncertainty(static_cast<ScalarType>(uncertaintyDoubleSpinBox->value()));
}
}
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