00001 #include "RansacPresenter.h"
00002 #include "RansacPresenter.moc"
00003
00004 #include <iostream>
00005
00006 RansacPresenter::RansacPresenter(RansacFeatureSetMatcher* featureSetMatcher, ParameterWidget* featureSetMatcherParameter):
00007 FeatureSetMatcherPresenter(featureSetMatcher, featureSetMatcherParameter)
00008 {
00009 m_featureSetMatcherParameter->addDoubleParameter("successProbability", "Probability of success", 0.95, 0., 1., 2, 0.01);
00010 m_featureSetMatcherParameter->addDoubleParameter("inlierProbability", "Probability of inlier", 0.5, 0., 1., 2, 0.01);
00011 m_featureSetMatcherParameter->addDoubleParameter("distanceThreshold", "Threshold on the descriptor", 0.4, 0., 1., 2, 0.01);
00012 m_featureSetMatcherParameter->addBoolParameter("adaptive", "Adaptive iteration estimation", false);
00013 syncronize();
00014 reconnect();
00015 }
00016
00017 void RansacPresenter::setFeatureSetMatcher(AbstractFeatureSetMatcher* featureSetMatcher){
00018 m_featureSetMatcher = featureSetMatcher;
00019 syncronize();
00020 }
00021
00022 void RansacPresenter::setFeatureSetMatcherParameter(ParameterWidget* featureSetMatcherParameter){
00023 disconnect(m_featureSetMatcherParameter, 0, this, 0);
00024 m_featureSetMatcherParameter = featureSetMatcherParameter;
00025 m_featureSetMatcherParameter->clearParameterMap();
00026 m_featureSetMatcherParameter->addDoubleParameter("successProbability", "Probability of success", 0.95, 0., 1., 2, 0.01);
00027 m_featureSetMatcherParameter->addDoubleParameter("inlierProbability", "Probability of inlier", 0.5, 0., 1., 2, 0.01);
00028 m_featureSetMatcherParameter->addDoubleParameter("distanceThreshold", "Threshold on the descriptor", 0.4, 0., 1., 2, 0.01);
00029 m_featureSetMatcherParameter->addBoolParameter("adaptive", "Adaptive iteration estimation", false);
00030 syncronize();
00031 reconnect();
00032 }
00033
00034 void RansacPresenter::changeParameter(const QString& name){
00035 if(!QString::compare(name, "successProbability")){
00036 double guiValue;
00037 bool valid = m_featureSetMatcherParameter->getDoubleValue("successProbability", guiValue);
00038 if(valid) {changeSuccessProbability(guiValue);}
00039 } else if(!QString::compare(name, "inlierProbability")){
00040 double guiValue;
00041 bool valid = m_featureSetMatcherParameter->getDoubleValue("inlierProbability", guiValue);
00042 if(valid) {changeInlierProbability(guiValue);}
00043 } else if(!QString::compare(name, "distanceThreshold")){
00044 double guiValue;
00045 bool valid = m_featureSetMatcherParameter->getDoubleValue("distanceThreshold", guiValue);
00046 if(valid) {changeDistanceThreshold(guiValue);}
00047 } else if(!QString::compare(name, "adaptive")){
00048 bool guiValue;
00049 bool valid = m_featureSetMatcherParameter->getBoolValue("adaptive", guiValue);
00050 if(valid) {changeAdaptive(guiValue ? Qt::Checked : Qt::Unchecked);}
00051 } else {
00052 FeatureSetMatcherPresenter::changeParameter(name);
00053 }
00054 }
00055
00056
00057 void RansacPresenter::changeSuccessProbability(double value){
00058 RansacFeatureSetMatcher *featureSetMatcher = (RansacFeatureSetMatcher *) m_featureSetMatcher;
00059 double guiValue;
00060 m_featureSetMatcherParameter->getDoubleValue("successProbability", guiValue);
00061 if(featureSetMatcher->getSuccessProbability() != value || guiValue != value){
00062 featureSetMatcher->setSuccessProbability(value);
00063 m_featureSetMatcherParameter->setDoubleValue("successProbability", featureSetMatcher->getSuccessProbability());
00064 emit featureSetMatcherChanged();
00065 }
00066 }
00067
00068 void RansacPresenter::changeInlierProbability(double value){
00069 RansacFeatureSetMatcher *featureSetMatcher = (RansacFeatureSetMatcher *) m_featureSetMatcher;
00070 double guiValue;
00071 m_featureSetMatcherParameter->getDoubleValue("inlierProbability", guiValue);
00072 if(featureSetMatcher->getInlierProbability() != value || guiValue != value){
00073 featureSetMatcher->setInlierProbability(value);
00074 m_featureSetMatcherParameter->setDoubleValue("inlierProbability", featureSetMatcher->getInlierProbability());
00075 emit featureSetMatcherChanged();
00076 }
00077 }
00078
00079 void RansacPresenter::changeDistanceThreshold(double value){
00080 RansacFeatureSetMatcher *featureSetMatcher = (RansacFeatureSetMatcher *) m_featureSetMatcher;
00081 double guiValue;
00082 m_featureSetMatcherParameter->getDoubleValue("distanceThreshold", guiValue);
00083 if(featureSetMatcher->getDistanceThreshold() != value || guiValue != value){
00084 featureSetMatcher->setDistanceThreshold(value);
00085 m_featureSetMatcherParameter->setDoubleValue("distanceThreshold", featureSetMatcher->getDistanceThreshold());
00086 emit featureSetMatcherChanged();
00087 }
00088 }
00089
00090 void RansacPresenter::changeAdaptive(int value){
00091 RansacFeatureSetMatcher *featureSetMatcher = (RansacFeatureSetMatcher *) m_featureSetMatcher;
00092 bool check = value == Qt::Checked;
00093 if(featureSetMatcher->getAdaptive() != check || m_featureSetMatcherParameter->getBoolValue("adaptive") != check){
00094 featureSetMatcher->setAdaptive(check);
00095 m_featureSetMatcherParameter->setBoolValue("adaptive", value);
00096 emit featureSetMatcherChanged();
00097 }
00098 }
00099
00100 void RansacPresenter::syncronize(){
00101 RansacFeatureSetMatcher *featureSetMatcher = (RansacFeatureSetMatcher *) m_featureSetMatcher;
00102 m_featureSetMatcherParameter->setDoubleValue("successProbability", featureSetMatcher->getSuccessProbability());
00103 m_featureSetMatcherParameter->setDoubleValue("inlierProbability", featureSetMatcher->getInlierProbability());
00104 m_featureSetMatcherParameter->setBoolValue("adaptive", featureSetMatcher->getAdaptive());
00105 FeatureSetMatcherPresenter::syncronize();
00106 }
00107
00108 void RansacPresenter::reconnect(){
00109 disconnect(m_featureSetMatcherParameter, 0, this, 0);
00110 connect(m_featureSetMatcherParameter, SIGNAL(parameterChanged(const QString&)), this, SLOT(changeParameter(const QString&)));
00111 }
