frameeditorwindow.cpp

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#include <GUI/frameeditorwindow.h>
#include <QFileDialog>

FrameEditor::FrameEditor(QWidget *parent)
{
    markerPublisher = new MarkerPublisher(0);

    //Set Toolbar
    fileMenu = this->menuBar()->addMenu("&File");
    openAct = new QAction(tr("&Open"), this);
    openAct->setShortcuts(QKeySequence::Open);
    openAct->setStatusTip(tr("Open a file"));
    connect(openAct, SIGNAL(triggered()), this, SLOT(openFile()));
    fileMenu->addAction(openAct);
    saveAct = new QAction(tr("&Save"), this);
    saveAct->setShortcuts(QKeySequence::Save);
    saveAct->setStatusTip(tr("Save file"));
    connect(saveAct, SIGNAL(triggered()), this, SLOT(saveFile()));
    fileMenu->addAction(saveAct);

    lblItemCount = new QLabel(this);
    lblItemCount->resize(200,30);

    //Set Listbox
    lstFrames = new QListWidget(this);
    lstFrames->move(20,30);
    lstFrames->setVisible(true);
    lstFrames->setSelectionMode(QAbstractItemView::SingleSelection);
    connect(lstFrames, SIGNAL(itemClicked(QListWidgetItem*)),  this, SLOT(lstFramesItemClicked(QListWidgetItem*)));
}

void FrameEditor::resizeEvent(QResizeEvent * event)
{
    lstFrames->resize(this->width()-40, this->height()-160);
    lblItemCount->move(20, this->height()-150);
    QMainWindow::resizeEvent(event);
}

void FrameEditor::lstFramesItemClicked(QListWidgetItem * item)
{
    int row = item->listWidget()->row( item );
    colouredCameraFrames.at(row).color.r = 1.0;
    colouredCameraFrames.at(row).color.g = 0.0;
    if (lastSelected > -1 )
    {
        colouredCameraFrames.at(lastSelected).color.r = 0.0;
        colouredCameraFrames.at(lastSelected).color.g = 1.0;
    }
    lastSelected = row;
    markerPublisher->publishColouredCameraFrames(&colouredCameraFrames);
}


void FrameEditor::openFile()
{
    QString fileName = QFileDialog::getOpenFileName(this, "Open File", "CalibrationData.data", tr("Calibrationfile (*.data)"));
    if (fileName.length() > 0)
    {
        ROS_INFO_STREAM("File: " << fileName.toStdString());
        TransformationFile_Manager_Data fileManager(fileName.toStdString());
        transformationData = fileManager.readFromFile();
        lstFrames->clear();
        colouredCameraFrames.clear();
        for (unsigned int i = 0; i < transformationData.size(); i++)
        {
            Transformation_Data data = transformationData.at(i);
            QString name = QString::number(data.pan) + ", " + QString::number(data.tilt);
            new QListWidgetItem(name, lstFrames);
            colouredCameraFrame cCF;
            cCF.pose = data.PTU_Frame;
            ROS_INFO_STREAM(data.PTU_Frame(0,3) << ", " << data.PTU_Frame(1,3) << ", " << data.PTU_Frame(2,3));
            cCF.color.r = 0.0;
            cCF.color.g = 1.0;
            cCF.color.b = 0.0;
            cCF.color.a = 1.0;
            colouredCameraFrames.push_back(cCF);
        }
        lastSelected = -1;
        markerPublisher->publishColouredCameraFrames(&colouredCameraFrames);
    }
}

void FrameEditor::saveFile()
{
    QString fileName = QFileDialog::getSaveFileName(this, "Save file", "CalibrationData.data", tr("Calibrationfile (*.data)"));
    if (fileName.length() > 0)
    {
        ROS_INFO_STREAM("File: " << fileName.toStdString());
        TransformationFile_Manager_Data fileManager(fileName.toStdString());
        fileManager.writeToFile(transformationData);
    }
}