flirtlib: FLIRTDemo.h Source File

00001 /*****************************************************************
00002  *
00003  * This file is part of the FLIRTLib project
00004  *
00005  * FLIRTLib Copyright (c) 2010 Gian Diego Tipaldi and Kai O. Arras 
00006  *
00007  * This software is licensed under the "Creative Commons 
00008  * License (Attribution-NonCommercial-ShareAlike 3.0)" 
00009  * and is copyrighted by Gian Diego Tipaldi and Kai O. Arras 
00010  * 
00011  * Further information on this license can be found at:
00012  * http://creativecommons.org/licenses/by-nc-sa/3.0/
00013  * 
00014  * FLIRTLib is distributed in the hope that it will be useful,
00015  * but WITHOUT ANY WARRANTY; without even the implied 
00016  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
00017  * PURPOSE.  
00018  *
00019  *****************************************************************/
00020 
00021 
00022 
00023 #ifndef FLIRTDEMO_H_
00024 #define FLIRTDEMO_H_
00025 
00026 #include <gui/SensorStreamWidget.h>
00027 #include <gui/LaserReadingRenderer.h>
00028 #include <gui/PolarGridRenderer.h>
00029 #include <gui/InterestPointRenderer.h>
00030 #include <gui/RendererWidget.h>
00031 #include <gui/DetectorChooserPresenter.h>
00032 #include <gui/DescriptorChooserPresenter.h>
00033 #include <gui/MultiScaleDetectorPlotWidget.h>
00034 #include <gui/MultiScaleDetectorPresenter.h>
00035 #include <gui/MultiScaleCurvatureDetectorPresenter.h>
00036 #include <gui/MultiScaleNormalDetectorPresenter.h>
00037 #include <gui/ShapeContextPresenter.h>
00038 #include <gui/BetaGridPresenter.h>
00039 #include <gui/ParameterWidget.h>
00040 #include <gui/TabbedParameterWidget.h>
00041 #include <gui/SimplePeakFinderPresenter.h>
00042 #include <feature/Detector.h>
00043 #include <feature/ShapeContext.h>
00044 #include <feature/BetaGrid.h>
00045 #include <feature/RangeDetector.h>
00046 #include <feature/CurvatureDetector.h>
00047 #include <feature/NormalBlobDetector.h>
00048 #include <feature/NormalEdgeDetector.h>
00049 #include <sensorstream/CarmenLog.h>
00050 #include <sensorstream/LogSensorStream.h>
00051 #include <sensorstream/SensorStream.h>
00052 #include <utils/SimpleMinMaxPeakFinder.h>
00053 
00054 #include <QtGui/QApplication>
00055 #include <QtGui/QGridLayout>
00056 #include <QtGui/QVBoxLayout>
00057 #include <QtGui/QTabWidget>
00058 #include <QtGui/QScrollArea>
00059 
00060 #include <string>
00061 #include <iostream>
00062 
00063 inline Color toColor(const QColor& _color) { return Color(_color.redF(), _color.greenF(), _color.blueF(), _color.alphaF());}
00064 
00065 class FLIRTDemo: public QWidget {
00066     Q_OBJECT
00067     public:
00068         FLIRTDemo(QWidget* parent, SensorStream& sensor);
00069         
00070         virtual ~FLIRTDemo();
00071         
00072         SensorStreamWidget *m_sensorWidget;
00073         RendererWidget *m_rendererWidget;
00074         RendererWidget *m_descriptorRendererWidget;
00075         LaserReadingRenderer* m_laserRenderer;
00076         LaserReadingRenderer* m_supportRenderer;
00077         
00078         RangeDetector* m_detectorR;
00079         CurvatureDetector* m_detectorC;
00080         NormalBlobDetector* m_detectorNB;
00081         NormalEdgeDetector* m_detectorNE;
00082         MultiScaleDetectorPresenter* m_detectorPresenterR;
00083         MultiScaleCurvatureDetectorPresenter* m_detectorPresenterC;
00084         MultiScaleNormalDetectorPresenter* m_detectorPresenterNB;
00085         MultiScaleNormalDetectorPresenter* m_detectorPresenterNE;
00086         
00087         QWidget* m_chooserW;
00088         DetectorChooserPresenter* m_chooser;
00089         DescriptorChooserPresenter* m_chooserD;
00090         
00091         SimpleMinMaxPeakFinder* m_peakMR;
00092         SimplePeakFinder* m_peakR;
00093         SimplePeakFinderPresenter* m_peakMRPresenter;
00094         SimplePeakFinderPresenter* m_peakRPresenter;
00095         
00096         SimpleMinMaxPeakFinder* m_peakMNE;
00097         SimplePeakFinder* m_peakNE;
00098         SimplePeakFinderPresenter* m_peakMNEPresenter;
00099         SimplePeakFinderPresenter* m_peakNEPresenter;
00100         
00101         SimpleMinMaxPeakFinder* m_peakMNB;
00102         SimplePeakFinder* m_peakNB;
00103         SimplePeakFinderPresenter* m_peakMNBPresenter;
00104         SimplePeakFinderPresenter* m_peakNBPresenter;
00105         
00106         SimplePeakFinder* m_peakC;
00107         SimplePeakFinderPresenter* m_peakCPresenter;
00108         
00109         InterestPointRenderer* m_interestRenderer;
00110         PolarGridRenderer* m_polarRenderer;
00111         
00112         ShapeContextGenerator *m_descriptorGeneratorS;
00113         ShapeContextPresenter *m_descriptorPresenterS;
00114         
00115         BetaGridGenerator *m_descriptorGeneratorB;
00116         BetaGridPresenter *m_descriptorPresenterB;
00117         
00118         QGridLayout *m_layout;
00119         QGridLayout *m_paramLayout;
00120         MultiScaleDetectorPlotWidget * m_plotWidget;
00121         SensorStream& m_sensor;
00122         QTabWidget* m_parameter;
00123 //      QScrollArea *m_parameterScroll;
00124         
00125         std::vector<InterestPoint *> m_points;
00126         std::vector<const OrientedPoint2D *> m_interestPoints;
00127         InterestPoint * m_currentPoint;
00128         std::vector<double> m_scales;
00129         std::vector<Color> m_colors;
00130         const LaserReading *m_reading;
00131 
00132     public slots:
00133         virtual void next();
00134 
00135         virtual void next(int pos);
00136         
00137         virtual void update();
00138         
00139         virtual void updateDescriptor();
00140         
00141         virtual void mousePressedGL(int button, int x, int y);
00142         
00143     protected:
00144         void processReading(const AbstractReading* _read);
00145         void drawDescriptor();
00146 };
00147 
00148 #endif