Merge pull request #84 from funnbot/pr/fix-calib-timeout

Fix calib timeout
ju1ce · Aug 24, 2022 · d4f05eb · d4f05eb
2 parents fecaaf8 + 1095ab5
commit d4f05eb
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Showing 4 changed files with 19 additions and 36 deletions.
diff --git a/AprilTagTrackers/GUI.cpp b/AprilTagTrackers/GUI.cpp
@@ -89,11 +89,6 @@ void GUI::SetManualCalibVisible(bool visible)
     ForwardToMainThread(impl, &MainFrame::SetManualCalibVisible, std::move(visible));
 }
 
-void GUI::SaveManualCalib()
-{
-    ForwardToMainThread(impl, &MainFrame::SaveManualCalib);
-}
-
 PreviewControl::PreviewControl(RefPtr<GUI> _gui, PreviewId _id)
     : gui(_gui), id(_id)
 {

diff --git a/AprilTagTrackers/GUI.hpp b/AprilTagTrackers/GUI.hpp
@@ -99,8 +99,6 @@ class GUI
     void SetManualCalib(const ManualCalib::Real& calib);
     /// Set if the manual calib window is visible.
     void SetManualCalibVisible(bool visible = true);
-    /// Save manual calib to user config
-    void SaveManualCalib();
 
     /// Defined in GUI/MainFrame.h, but used as opaque ptr, not to be included in headers.
     class MainFrame;

diff --git a/AprilTagTrackers/GUI/MainFrame.cpp b/AprilTagTrackers/GUI/MainFrame.cpp
@@ -101,12 +101,12 @@ bool GUI::MainFrame::IsPreviewVisible(PreviewId id)
 
 ManualCalib::Real GUI::MainFrame::GetManualCalib()
 {
-    return manualCalib.GetAsReal();
+    return config.manualCalib.GetAsReal();
 }
 
 void GUI::MainFrame::SetManualCalib(const ManualCalib::Real& calib)
 {
-    manualCalib.SetFromReal(calib);
+    config.manualCalib.SetFromReal(calib);
 
     using Clock = std::chrono::steady_clock;
     static Clock::time_point lastUpdate = Clock::now();
@@ -123,22 +123,20 @@ void GUI::MainFrame::SetManualCalib(const ManualCalib::Real& calib)
 void GUI::MainFrame::SetManualCalibVisible(bool visible)
 {
     manualCalibForm->SetSizerVisible(visible);
+    // can be called from checkbox event, SetValue won't trigger another event
     manualCalibCheckBox->SetValue(visible);
     if (visible)
     {
-        manualCalib = config.manualCalib;
         manualCalibForm->Update();
         Fit();
     }
+    else 
+    {
+        config.Save();
+    }
     tracker->manualRecalibrate = visible;
 }
 
-void GUI::MainFrame::SaveManualCalib()
-{
-    config.manualCalib = manualCalib;
-    config.Save();
-}
-
 void GUI::MainFrame::OnNotebookPageChanged(wxBookCtrlEvent& evt)
 {
     RefPtr<wxNotebook> nb = static_cast<wxNotebook*>(evt.GetEventObject());
@@ -249,34 +247,29 @@ void GUI::MainFrame::CreateCameraPage(RefPtr<wxNotebook> pages)
         cam.AddGet(CheckBoxButton{lc.CAMERA_CALIBRATION_MODE,
                        [this](auto& evt)
                        {
-                           bool checked = evt.IsChecked();
-                           SetManualCalibVisible(checked);
-                           if (!checked)
-                           {
-                               SaveManualCalib();
-                           }
+                           SetManualCalibVisible(evt.IsChecked());
                        }})
             ->GetWidget();
 
     manualCalibForm = cam.PopSizer().SubForm();
 
     manualCalibForm->PushSizer<wxBoxSizer>(wxVERTICAL)
         .Add(Label{lc.CAMERA_CALIBRATION_INSTRUCTION})
-        .Add(Labeled{lc.calib.X, InputNumber{manualCalib.posOffset[0]}})
-        .Add(Labeled{lc.calib.Y, InputNumber{manualCalib.posOffset[1]}})
-        .Add(Labeled{lc.calib.Z, InputNumber{manualCalib.posOffset[2]}})
-        .Add(Labeled{lc.calib.PITCH, InputNumber{manualCalib.angleOffset[0]}})
-        .Add(Labeled{lc.calib.YAW, InputNumber{manualCalib.angleOffset[1]}})
-        .Add(Labeled{lc.calib.ROLL, InputNumber{manualCalib.angleOffset[2]}})
-        .Add(Labeled{lc.calib.SCALE, InputNumber{manualCalib.scale}})
-        .Add(CheckBoxButton{ lc.CAMERA_MULTICAM_CALIB, [this](auto& evt)
+        .Add(Labeled{lc.calib.X, InputNumber{config.manualCalib.posOffset[0]}})
+        .Add(Labeled{lc.calib.Y, InputNumber{config.manualCalib.posOffset[1]}})
+        .Add(Labeled{lc.calib.Z, InputNumber{config.manualCalib.posOffset[2]}})
+        .Add(Labeled{lc.calib.PITCH, InputNumber{config.manualCalib.angleOffset[0]}})
+        .Add(Labeled{lc.calib.YAW, InputNumber{config.manualCalib.angleOffset[1]}})
+        .Add(Labeled{lc.calib.ROLL, InputNumber{config.manualCalib.angleOffset[2]}})
+        .Add(Labeled{lc.calib.SCALE, InputNumber{config.manualCalib.scale}})
+        .Add(CheckBoxButton{lc.CAMERA_MULTICAM_CALIB, [this](auto& evt)
             {
                 tracker->multicamAutocalib = evt.IsChecked();
-            } })
-        .Add(CheckBoxButton{ lc.CAMERA_LOCK_HEIGHT, [this](auto& evt)
+            }})
+        .Add(CheckBoxButton{lc.CAMERA_LOCK_HEIGHT, [this](auto& evt)
             {
                 tracker->lockHeightCalib = evt.IsChecked();
-            } });
+            }});
 
     manualCalibForm->SetSizerVisible(false);
 }

diff --git a/AprilTagTrackers/GUI/MainFrame.hpp b/AprilTagTrackers/GUI/MainFrame.hpp
@@ -49,8 +49,6 @@ class GUI::MainFrame : protected wxFrame
     void SetManualCalib(const ManualCalib::Real& calib);
     /// Set if the manual calib window is visible.
     void SetManualCalibVisible(bool visible = true);
-    /// Save manual calib to user config.
-    void SaveManualCalib();
 
 private:
     void OnCloseWindow();
@@ -76,7 +74,6 @@ class GUI::MainFrame : protected wxFrame
     /// Reference to params sub form
     RefPtr<Form::FormBuilder> manualCalibForm;
     RefPtr<wxCheckBox> manualCalibCheckBox;
-    ManualCalib manualCalib{};
 
     std::array<PreviewFrame, 2> previews;
 };