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/************************************************************************
*
* Copyright (C) 2014-2025 IRCAD France
* Copyright (C) 2014-2018 IHU Strasbourg
*
* This file is part of Sight.
*
* Sight 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 3 of the License, or
* (at your option) any later version.
*
* Sight 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 Sight. If not, see <https://www.gnu.org/licenses/>.
*
***********************************************************************/
#include "module/ui/qt/calibration/camera_set_editor.hpp"
#include <core/base.hpp>
#include <core/com/slots.hpp>
#include <core/com/slots.hxx>
#include <core/object.hpp>
#include <core/thread/worker.hpp>
#include <data/matrix4.hpp>
#include <service/macros.hpp>
#include <ui/qt/container/widget.hpp>
#include <QBoxLayout>
#include <QGridLayout>
#include <algorithm>
#include <sstream>
namespace sight::module::ui::qt::calibration
{
const core::com::slots::key_t camera_set_editor::UPDATE_INFOS_SLOT = "updateInfos";
// -------------------------------------------------------------------------
camera_set_editor::camera_set_editor() noexcept :
m_cam_index(1)
{
new_slot(UPDATE_INFOS_SLOT, &camera_set_editor::update_informations, this);
}
// -------------------------------------------------------------------------
void camera_set_editor::configuring()
{
sight::ui::service::initialize();
service::config_t config = this->get_config();
m_cam_index = config.get<std::size_t>("index", 1);
}
// -------------------------------------------------------------------------
void camera_set_editor::starting()
{
sight::ui::service::create();
auto qt_container = std::dynamic_pointer_cast<sight::ui::qt::container::widget>(get_container());
auto* main_layout = new QBoxLayout(QBoxLayout::TopToBottom);
main_layout->setAlignment(Qt::AlignTop | Qt::AlignLeft);
m_description = new QLabel("");
main_layout->addWidget(m_description);
auto* grid_layout = new QGridLayout();
for(std::uint8_t i = 0 ; i < 4 ; ++i)
{
for(std::uint8_t j = 0 ; j < 4 ; ++j)
{
auto* label = new QLabel("");
m_matrix_labels.push_back(label);
grid_layout->addWidget(label, i, j);
}
}
main_layout->addLayout(grid_layout);
qt_container->set_layout(main_layout);
this->update_informations();
}
// -------------------------------------------------------------------------
void camera_set_editor::stopping()
{
this->destroy();
}
// -------------------------------------------------------------------------
void camera_set_editor::update_informations()
{
const auto camera_set = m_camera_set.lock();
//IS CALIBRATED
data::matrix4::csptr matrix = camera_set->get_extrinsic_matrix(m_cam_index);
if(matrix)
{
m_description->setText("<b>The cameras are calibrated.</b>");
}
else
{
m_description->setText("<b>The cameras are not calibrated.</b>");
this->clear_labels();
return;
}
for(std::uint8_t i = 0 ; i < 4 ; ++i)
{
for(std::uint8_t j = 0 ; j < 4 ; ++j)
{
m_matrix_labels[i * 4 + j]->setText(QString("%1").arg((*matrix)(i, j)));
}
}
}
// -------------------------------------------------------------------------
void camera_set_editor::clear_labels()
{
for(const auto& label : m_matrix_labels)
{
label->setText(QString(""));
}
}
// ----------------------------------------------------------------------------
service::connections_t camera_set_editor::auto_connections() const
{
return {
{m_camera_set, data::camera_set::ADDED_CAMERA_SIG, UPDATE_INFOS_SLOT},
{m_camera_set, data::camera_set::EXTRINSIC_CALIBRATED_SIG, UPDATE_INFOS_SLOT},
{m_camera_set, data::camera_set::REMOVED_CAMERA_SIG, UPDATE_INFOS_SLOT},
};
}
} // namespace sight::module::ui::qt::calibration
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