MainWindow.cpp
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00001 /*
00002 Copyright (c) 2011-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
00003 All rights reserved.
00004 
00005 Redistribution and use in source and binary forms, with or without
00006 modification, are permitted provided that the following conditions are met:
00007     * Redistributions of source code must retain the above copyright
00008       notice, this list of conditions and the following disclaimer.
00009     * Redistributions in binary form must reproduce the above copyright
00010       notice, this list of conditions and the following disclaimer in the
00011       documentation and/or other materials provided with the distribution.
00012     * Neither the name of the Universite de Sherbrooke nor the
00013       names of its contributors may be used to endorse or promote products
00014       derived from this software without specific prior written permission.
00015 
00016 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
00017 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00018 WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00019 DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
00020 DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
00021 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00022 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
00023 ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
00024 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
00025 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00026 */
00027 
00028 #include "find_object/MainWindow.h"
00029 #include "find_object/Camera.h"
00030 #include "find_object/Settings.h"
00031 #include "find_object/TcpServer.h"
00032 #include "find_object/FindObject.h"
00033 #include "find_object/utilite/ULogger.h"
00034 #include "find_object/ObjWidget.h"
00035 #include "find_object/QtOpenCV.h"
00036 
00037 #include "AddObjectDialog.h"
00038 #include "ui_mainWindow.h"
00039 #include "KeypointItem.h"
00040 #include "RectItem.h"
00041 #include "ParametersToolBox.h"
00042 #include "AboutDialog.h"
00043 #include "rtabmap/PdfPlot.h"
00044 #include "Vocabulary.h"
00045 #include "ObjSignature.h"
00046 
00047 #include <iostream>
00048 #include <stdio.h>
00049 
00050 #include "opencv2/calib3d/calib3d.hpp"
00051 #include "opencv2/imgproc/imgproc.hpp"
00052 #include "opencv2/gpu/gpu.hpp"
00053 
00054 #include <QtCore/QTextStream>
00055 #include <QtCore/QFile>
00056 #include <QtCore/QBuffer>
00057 #include <QtCore/QThread>
00058 #include <QtCore/QLineF>
00059 
00060 #include <QtGui/QFileDialog>
00061 #include <QtGui/QMessageBox>
00062 #include <QtGui/QGraphicsScene>
00063 #include <QtGui/QGraphicsRectItem>
00064 #include <QtGui/QSpinBox>
00065 #include <QtGui/QStatusBar>
00066 #include <QtGui/QProgressDialog>
00067 #include <QtGui/QCloseEvent>
00068 #include <QtGui/QCheckBox>
00069 #include <QtGui/QScrollBar>
00070 #include <QtGui/QInputDialog>
00071 
00072 #include "utilite/UDirectory.h"
00073 
00074 namespace find_object {
00075 
00076 // Camera ownership transferred
00077 MainWindow::MainWindow(FindObject * findObject, Camera * camera, QWidget * parent) :
00078         QMainWindow(parent),
00079         camera_(camera),
00080         findObject_(findObject),
00081         likelihoodCurve_(0),
00082         inliersCurve_(0),
00083         lowestRefreshRate_(99),
00084         objectsModified_(false),
00085         tcpServer_(0)
00086 {
00087         UASSERT(findObject_ != 0);
00088 
00089         ui_ = new Ui_mainWindow();
00090         ui_->setupUi(this);
00091         aboutDialog_ = new AboutDialog(this);
00092         this->setStatusBar(new QStatusBar());
00093 
00094         likelihoodCurve_ = new rtabmap::PdfPlotCurve("Likelihood", &imagesMap_, this);
00095         inliersCurve_ = new rtabmap::PdfPlotCurve("Inliers", &imagesMap_, this);
00096         likelihoodCurve_->setPen(QPen(Qt::blue));
00097         inliersCurve_->setPen(QPen(Qt::red));
00098         ui_->likelihoodPlot->addCurve(likelihoodCurve_, false);
00099         ui_->likelihoodPlot->addCurve(inliersCurve_, false);
00100         ui_->likelihoodPlot->setGraphicsView(true);
00101 
00102         ui_->dockWidget_statistics->setVisible(false);
00103         ui_->dockWidget_parameters->setVisible(false);
00104         ui_->dockWidget_plot->setVisible(false);
00105         ui_->widget_controls->setVisible(false);
00106 
00107         QByteArray geometry;
00108         QByteArray state;
00109         Settings::loadWindowSettings(geometry, state);
00110         this->restoreGeometry(geometry);
00111         this->restoreState(state);
00112         lastObjectsUpdateParameters_ = Settings::getParameters();
00113 
00114         ui_->toolBox->setupUi();
00115 
00116         if(!camera_)
00117         {
00118                 camera_ = new Camera(this);
00119         }
00120         else
00121         {
00122                 camera_->setParent(this);
00123                 ui_->toolBox->getParameterWidget(Settings::kCamera_1deviceId())->setEnabled(false);
00124                 ui_->toolBox->getParameterWidget(Settings::kCamera_2imageWidth())->setEnabled(false);
00125                 ui_->toolBox->getParameterWidget(Settings::kCamera_3imageHeight())->setEnabled(false);
00126                 ui_->toolBox->getParameterWidget(Settings::kCamera_5mediaPath())->setEnabled(false);
00127                 ui_->toolBox->getParameterWidget(Settings::kCamera_6useTcpCamera())->setEnabled(false);
00128                 ui_->toolBox->getParameterWidget(Settings::kCamera_8port())->setEnabled(false);
00129                 ui_->toolBox->getParameterWidget(Settings::kCamera_9queueSize())->setEnabled(false);
00130                 ui_->actionCamera_from_video_file->setVisible(false);
00131                 ui_->actionCamera_from_TCP_IP->setVisible(false);
00132                 ui_->actionCamera_from_directory_of_images->setVisible(false);
00133                 ui_->actionLoad_scene_from_file->setVisible(false);
00134         }
00135 
00136         if(cv::gpu::getCudaEnabledDeviceCount() == 0)
00137         {
00138 #if FINDOBJECT_NONFREE == 1
00139                 ui_->toolBox->updateParameter(Settings::kFeature2D_SURF_gpu());
00140                 ui_->toolBox->getParameterWidget(Settings::kFeature2D_SURF_gpu())->setEnabled(false);
00141                 ui_->toolBox->getParameterWidget(Settings::kFeature2D_SURF_keypointsRatio())->setEnabled(false);
00142 #endif
00143                 ui_->toolBox->updateParameter(Settings::kFeature2D_Fast_gpu());
00144                 ui_->toolBox->updateParameter(Settings::kFeature2D_ORB_gpu());
00145                 ui_->toolBox->updateParameter(Settings::kNearestNeighbor_BruteForce_gpu());
00146                 ui_->toolBox->getParameterWidget(Settings::kFeature2D_Fast_gpu())->setEnabled(false);
00147                 ui_->toolBox->getParameterWidget(Settings::kFeature2D_Fast_keypointsRatio())->setEnabled(false);
00148                 ui_->toolBox->getParameterWidget(Settings::kFeature2D_ORB_gpu())->setEnabled(false);
00149                 ui_->toolBox->getParameterWidget(Settings::kNearestNeighbor_BruteForce_gpu())->setEnabled(false);
00150         }
00151 
00152         connect((QDoubleSpinBox*)ui_->toolBox->getParameterWidget(Settings::kCamera_4imageRate()),
00153                         SIGNAL(editingFinished()),
00154                         camera_,
00155                         SLOT(updateImageRate()));
00156         ui_->menuView->addAction(ui_->dockWidget_statistics->toggleViewAction());
00157         ui_->menuView->addAction(ui_->dockWidget_parameters->toggleViewAction());
00158         ui_->menuView->addAction(ui_->dockWidget_objects->toggleViewAction());
00159         ui_->menuView->addAction(ui_->dockWidget_plot->toggleViewAction());
00160         connect(ui_->toolBox, SIGNAL(parametersChanged(const QStringList &)), this, SLOT(notifyParametersChanged(const QStringList &)));
00161 
00162         ui_->imageView_source->setGraphicsViewMode(true);
00163         ui_->imageView_source->setTextLabel(tr("Press \"space\" to start the camera or drop an image here..."));
00164         ui_->imageView_source->setMirrorView(Settings::getGeneral_mirrorView());
00165         connect((QCheckBox*)ui_->toolBox->getParameterWidget(Settings::kGeneral_mirrorView()),
00166                                 SIGNAL(stateChanged(int)),
00167                                 this,
00168                                 SLOT(updateMirrorView()));
00169 
00170         ui_->widget_controls->setVisible(Settings::getGeneral_controlsShown());
00171         connect((QCheckBox*)ui_->toolBox->getParameterWidget(Settings::kGeneral_controlsShown()),
00172                                 SIGNAL(stateChanged(int)),
00173                                 this,
00174                                 SLOT(showHideControls()));
00175 
00176         //buttons
00177         connect(ui_->pushButton_restoreDefaults, SIGNAL(clicked()), ui_->toolBox, SLOT(resetCurrentPage()));
00178         connect(ui_->pushButton_updateObjects, SIGNAL(clicked()), this, SLOT(updateObjects()));
00179         connect(ui_->horizontalSlider_objectsSize, SIGNAL(valueChanged(int)), this, SLOT(updateObjectsSize()));
00180 
00181         ui_->actionStop_camera->setEnabled(false);
00182         ui_->actionPause_camera->setEnabled(false);
00183         ui_->actionSave_objects->setEnabled(false);
00184         ui_->actionSave_session->setEnabled(false);
00185 
00186         // Actions
00187         connect(ui_->actionAdd_object_from_scene, SIGNAL(triggered()), this, SLOT(addObjectFromScene()));
00188         connect(ui_->actionAdd_objects_from_files, SIGNAL(triggered()), this, SLOT(addObjectsFromFiles()));
00189         connect(ui_->actionLoad_scene_from_file, SIGNAL(triggered()), this, SLOT(loadSceneFromFile()));
00190         connect(ui_->actionStart_camera, SIGNAL(triggered()), this, SLOT(startProcessing()));
00191         connect(ui_->actionStop_camera, SIGNAL(triggered()), this, SLOT(stopProcessing()));
00192         connect(ui_->actionPause_camera, SIGNAL(triggered()), this, SLOT(pauseProcessing()));
00193         connect(ui_->actionExit, SIGNAL(triggered()), this, SLOT(close()));
00194         connect(ui_->actionSave_objects, SIGNAL(triggered()), this, SLOT(saveObjects()));
00195         connect(ui_->actionLoad_objects, SIGNAL(triggered()), this, SLOT(loadObjects()));
00196         connect(ui_->actionCamera_from_video_file, SIGNAL(triggered()), this, SLOT(setupCameraFromVideoFile()));
00197         connect(ui_->actionCamera_from_directory_of_images, SIGNAL(triggered()), this, SLOT(setupCameraFromImagesDirectory()));
00198         connect(ui_->actionCamera_from_TCP_IP, SIGNAL(triggered()), this, SLOT(setupCameraFromTcpIp()));
00199         connect(ui_->actionAbout, SIGNAL(triggered()), aboutDialog_ , SLOT(exec()));
00200         connect(ui_->actionRestore_all_default_settings, SIGNAL(triggered()), ui_->toolBox, SLOT(resetAllPages()));
00201         connect(ui_->actionRemove_all_objects, SIGNAL(triggered()), this, SLOT(removeAllObjects()));
00202         connect(ui_->actionSave_settings, SIGNAL(triggered()), this, SLOT(saveSettings()));
00203         connect(ui_->actionLoad_settings, SIGNAL(triggered()), this, SLOT(loadSettings()));
00204         connect(ui_->actionSave_session, SIGNAL(triggered()), this, SLOT(saveSession()));
00205         connect(ui_->actionLoad_session, SIGNAL(triggered()), this, SLOT(loadSession()));
00206         connect(ui_->actionShow_objects_features, SIGNAL(triggered()), this, SLOT(showObjectsFeatures()));
00207         connect(ui_->actionHide_objects_features, SIGNAL(triggered()), this, SLOT(hideObjectsFeatures()));
00208 
00209         connect(ui_->pushButton_play, SIGNAL(clicked()), this, SLOT(startProcessing()));
00210         connect(ui_->pushButton_stop, SIGNAL(clicked()), this, SLOT(stopProcessing()));
00211         connect(ui_->pushButton_pause, SIGNAL(clicked()), this, SLOT(pauseProcessing()));
00212         connect(ui_->horizontalSlider_frames, SIGNAL(valueChanged(int)), this, SLOT(moveCameraFrame(int)));
00213         connect(ui_->horizontalSlider_frames, SIGNAL(valueChanged(int)), ui_->label_frame, SLOT(setNum(int)));
00214         ui_->pushButton_play->setVisible(true);
00215         ui_->pushButton_pause->setVisible(false);
00216         ui_->pushButton_stop->setEnabled(false);
00217         ui_->horizontalSlider_frames->setEnabled(false);
00218         ui_->label_frame->setVisible(false);
00219 
00220         ui_->objects_area->addAction(ui_->actionAdd_object_from_scene);
00221         ui_->objects_area->addAction(ui_->actionAdd_objects_from_files);
00222         ui_->objects_area->setContextMenuPolicy(Qt::ActionsContextMenu);
00223 
00224         ui_->actionStart_camera->setShortcut(Qt::Key_Space);
00225         ui_->actionPause_camera->setShortcut(Qt::Key_Space);
00226 
00227         ui_->actionCamera_from_video_file->setChecked(!Settings::getCamera_5mediaPath().isEmpty() && !UDirectory::exists(Settings::getCamera_5mediaPath().toStdString()));
00228         ui_->actionCamera_from_directory_of_images->setChecked(!Settings::getCamera_5mediaPath().isEmpty() && UDirectory::exists(Settings::getCamera_5mediaPath().toStdString()));
00229         ui_->actionCamera_from_TCP_IP->setChecked(Settings::getCamera_6useTcpCamera());
00230 
00231         ui_->label_ipAddress->setTextInteractionFlags(Qt::TextSelectableByMouse);
00232         ui_->label_port->setTextInteractionFlags(Qt::TextSelectableByMouse);
00233         setupTCPServer();
00234 
00235         if(findObject_->objects().size())
00236         {
00237                 // show objects already loaded in FindObject
00238                 for(QMap<int, ObjSignature *>::const_iterator iter = findObject_->objects().constBegin();
00239                         iter!=findObject_->objects().constEnd();
00240                         ++iter)
00241                 {
00242                         ObjWidget * obj = new ObjWidget(iter.key(), iter.value()->keypoints(), cvtCvMat2QImage(iter.value()->image()));
00243                         objWidgets_.insert(obj->id(), obj);
00244                         this->showObject(obj);
00245                 }
00246         }
00247 
00248 
00249         if(Settings::getGeneral_autoStartCamera())
00250         {
00251                 // Set 1 msec to see state on the status bar.
00252                 QTimer::singleShot(1, this, SLOT(startProcessing()));
00253         }
00254 
00255         //Setup drag and drop images
00256         connect(ui_->imageDrop_objects, SIGNAL(imagesReceived(const QStringList &)), this, SLOT(addObjectsFromFiles(const QStringList &)));
00257         connect(ui_->imageDrop_scene, SIGNAL(imagesReceived(const QStringList &)), this, SLOT(loadSceneFromFile(const QStringList &)));
00258 }
00259 
00260 MainWindow::~MainWindow()
00261 {
00262         disconnect(camera_, SIGNAL(imageReceived(const cv::Mat &)), this, SLOT(update(const cv::Mat &)));
00263         disconnect(camera_, SIGNAL(finished()), this, SLOT(stopProcessing()));
00264         camera_->stop();
00265         qDeleteAll(objWidgets_);
00266         objWidgets_.clear();
00267         delete ui_;
00268         delete findObject_;
00269 }
00270 
00271 void MainWindow::closeEvent(QCloseEvent * event)
00272 {
00273         bool quit = true;
00274         this->stopProcessing();
00275         if(objectsModified_ && this->isVisible() && objWidgets_.size())
00276         {
00277                 int ret = QMessageBox::question(this, tr("Save new objects"), tr("Do you want to save added objects?"), QMessageBox::Yes | QMessageBox::No | QMessageBox::Cancel);
00278                 switch(ret)
00279                 {
00280                 case QMessageBox::Yes:
00281                         quit = this->saveObjects();
00282                         break;
00283                 case QMessageBox::Cancel:
00284                         quit = false;
00285                         break;
00286                 case QMessageBox::No:
00287                 default:
00288                         break;
00289                 }
00290         }
00291         if(quit)
00292         {
00293                 Settings::saveWindowSettings(this->saveGeometry(), this->saveState());
00294                 event->accept();
00295         }
00296         else
00297         {
00298                 event->ignore();
00299         }
00300 }
00301 
00302 void MainWindow::setupTCPServer()
00303 {
00304         if(tcpServer_)
00305         {
00306                 tcpServer_->close();
00307                 delete tcpServer_;
00308         }
00309         tcpServer_ = new TcpServer(Settings::getGeneral_port(), this);
00310         connect(this, SIGNAL(objectsFound(find_object::DetectionInfo)), tcpServer_, SLOT(publishDetectionInfo(find_object::DetectionInfo)));
00311         ui_->label_ipAddress->setText(tcpServer_->getHostAddress().toString());
00312         ui_->label_port->setNum(tcpServer_->getPort());
00313         UINFO("Detection sent on port: %d (IP=%s)", tcpServer_->getPort(), tcpServer_->getHostAddress().toString().toStdString().c_str());
00314 
00315         //connect services
00316         connect(tcpServer_, SIGNAL(addObject(const cv::Mat &, int, const QString &)), this, SLOT(addObjectFromTcp(const cv::Mat &, int, const QString &)));
00317         connect(tcpServer_, SIGNAL(removeObject(int)), this, SLOT(removeObject(int)));
00318 }
00319 
00320 void MainWindow::setSourceImageText(const QString & text)
00321 {
00322         ui_->imageView_source->setTextLabel(text);
00323 }
00324 
00325 void MainWindow::loadSession()
00326 {
00327         if(objWidgets_.size())
00328         {
00329                 QMessageBox::StandardButton b = QMessageBox::question(this, tr("Loading session..."),
00330                                 tr("There are some objects (%1) already loaded, they will be "
00331                                    "deleted when loading the session. Do you want to continue?").arg(objWidgets_.size()),
00332                                 QMessageBox::Yes | QMessageBox::No, QMessageBox::NoButton);
00333                 if(b != QMessageBox::Yes)
00334                 {
00335                         return;
00336                 }
00337         }
00338 
00339         QString path = QFileDialog::getOpenFileName(this, tr("Load session..."), Settings::workingDirectory(), "*.bin");
00340         if(!path.isEmpty())
00341         {
00342                 qDeleteAll(objWidgets_);
00343                 objWidgets_.clear();
00344                 ui_->actionSave_objects->setEnabled(false);
00345                 findObject_->removeAllObjects();
00346 
00347                 if(findObject_->loadSession(path))
00348                 {
00349                         //update parameters tool box
00350                         const ParametersMap & parameters = Settings::getParameters();
00351                         for(ParametersMap::const_iterator iter = parameters.begin(); iter!= parameters.constEnd(); ++iter)
00352                         {
00353                                 ui_->toolBox->updateParameter(iter.key());
00354                         }
00355 
00356                         //update object widgets
00357                         for(QMap<int, ObjSignature *>::const_iterator iter=findObject_->objects().constBegin(); iter!=findObject_->objects().constEnd();++iter)
00358                         {
00359                                 if(iter.value())
00360                                 {
00361                                         ObjWidget * obj = new ObjWidget(iter.key(), iter.value()->keypoints(), cvtCvMat2QImage(iter.value()->image()));
00362                                         objWidgets_.insert(obj->id(), obj);
00363                                         ui_->actionSave_objects->setEnabled(true);
00364                                         ui_->actionSave_session->setEnabled(true);
00365                                         this->showObject(obj);
00366 
00367                                         //update object labels
00368                                         QLabel * title = qFindChild<QLabel*>(this, QString("%1title").arg(iter.value()->id()));
00369                                         title->setText(QString("%1 (%2)").arg(iter.value()->id()).arg(QString::number(iter.value()->keypoints().size())));
00370                                 }
00371 
00372                         }
00373 
00374                         QMessageBox::information(this, tr("Session loaded!"), tr("Session \"%1\" successfully loaded (%2 objects)!").arg(path).arg(objWidgets_.size()));
00375 
00376                         if(!camera_->isRunning() && !sceneImage_.empty())
00377                         {
00378                                 this->update(sceneImage_);
00379                         }
00380                 }
00381         }
00382 }
00383 void MainWindow::saveSession()
00384 {
00385         if(objWidgets_.size())
00386         {
00387                 QString path = QFileDialog::getSaveFileName(this, tr("Save session..."), Settings::workingDirectory(), "*.bin");
00388                 if(!path.isEmpty())
00389                 {
00390                         if(QFileInfo(path).suffix().compare("bin") != 0)
00391                         {
00392                                 path.append(".bin");
00393                         }
00394 
00395                         if(findObject_->saveSession(path))
00396                         {
00397                                 QMessageBox::information(this, tr("Session saved!"), tr("Session \"%1\" successfully saved (%2 objects)!").arg(path).arg(objWidgets_.size()));
00398                         }
00399                 }
00400         }
00401 }
00402 
00403 void MainWindow::loadSettings()
00404 {
00405         QString path = QFileDialog::getOpenFileName(this, tr("Load settings..."), Settings::workingDirectory(), "*.ini");
00406         if(!path.isEmpty())
00407         {
00408                 if(QFileInfo(path).suffix().compare("ini") != 0)
00409                 {
00410                         path.append(".ini");
00411                 }
00412                 loadSettings(path);
00413         }
00414 }
00415 void MainWindow::saveSettings()
00416 {
00417         QString path = QFileDialog::getSaveFileName(this, tr("Save settings..."), Settings::workingDirectory(), "*.ini");
00418         if(!path.isEmpty())
00419         {
00420                 if(QFileInfo(path).suffix().compare("ini") != 0)
00421                 {
00422                         path.append(".ini");
00423                 }
00424                 saveSettings(path);
00425         }
00426 }
00427 
00428 bool MainWindow::loadSettings(const QString & path)
00429 {
00430         if(!path.isEmpty() && QFileInfo(path).suffix().compare("ini") == 0)
00431         {
00432                 QByteArray geometry;
00433                 QByteArray state;
00434                 Settings::loadSettings(path);
00435                 Settings::loadWindowSettings(geometry, state, path);
00436                 this->restoreGeometry(geometry);
00437                 this->restoreState(state);
00438 
00439                 //update parameters tool box
00440                 const ParametersMap & parameters = Settings::getParameters();
00441                 for(ParametersMap::const_iterator iter = parameters.begin(); iter!= parameters.constEnd(); ++iter)
00442                 {
00443                         ui_->toolBox->updateParameter(iter.key());
00444                 }
00445 
00446                 return true;
00447         }
00448         UERROR("Path \"%s\" not valid (should be *.ini)", path.toStdString().c_str());
00449         return false;
00450 }
00451 
00452 bool MainWindow::saveSettings(const QString & path) const
00453 {
00454         if(!path.isEmpty() && QFileInfo(path).suffix().compare("ini") == 0)
00455         {
00456                 Settings::saveSettings(path);
00457                 Settings::saveWindowSettings(this->saveGeometry(), this->saveState(), path);
00458                 return true;
00459         }
00460         UERROR("Path \"%s\" not valid (should be *.ini)", path.toStdString().c_str());
00461         return false;
00462 }
00463 
00464 int MainWindow::loadObjects(const QString & dirPath)
00465 {
00466         QList<int> loadedObjects;
00467         QString formats = Settings::getGeneral_imageFormats().remove('*').remove('.');
00468         UDirectory dir(dirPath.toStdString(), formats.toStdString());
00469         if(dir.isValid())
00470         {
00471                 const std::list<std::string> & names = dir.getFileNames(); // sorted in natural order
00472                 for(std::list<std::string>::const_iterator iter=names.begin(); iter!=names.end(); ++iter)
00473                 {
00474                         int id = this->addObjectFromFile((dirPath.toStdString()+dir.separator()+*iter).c_str());
00475                         if(id >= 0)
00476                         {
00477                                 loadedObjects.push_back(id);
00478                         }
00479                 }
00480                 if(loadedObjects.size())
00481                 {
00482                         this->updateObjects(loadedObjects);
00483                 }
00484         }
00485         return loadedObjects.size();
00486 }
00487 
00488 int MainWindow::saveObjects(const QString & dirPath)
00489 {
00490         int count = 0;
00491         QDir dir(dirPath);
00492         if(dir.exists())
00493         {
00494                 for(QMap<int, ObjWidget*>::const_iterator iter=objWidgets_.constBegin(); iter!=objWidgets_.constEnd(); ++iter)
00495                 {
00496                         if(iter.value()->pixmap().save(QString("%1/%2.png").arg(dirPath).arg(iter.key())))
00497                         {
00498                                 ++count;
00499                         }
00500                         else
00501                         {
00502                                 UERROR("Failed to save object %d", iter.key());
00503                         }
00504                 }
00505                 objectsModified_ = false;
00506         }
00507         return count;
00508 }
00509 
00510 void MainWindow::loadObjects()
00511 {
00512         QString dirPath = QFileDialog::getExistingDirectory(this, tr("Loading objects... Select a directory."), Settings::workingDirectory());
00513         if(!dirPath.isEmpty())
00514         {
00515                 int count = loadObjects(dirPath);
00516                 if(count)
00517                 {
00518                         QMessageBox::information(this, tr("Loading..."), tr("%1 objects loaded from \"%2\".").arg(count).arg(dirPath));
00519                 }
00520                 else
00521                 {
00522                         QMessageBox::information(this, tr("Loading..."), tr("No objects loaded from \"%1\"!").arg(dirPath));
00523                 }
00524         }
00525 }
00526 bool MainWindow::saveObjects()
00527 {
00528         QString dirPath = QFileDialog::getExistingDirectory(this, tr("Saving objects... Select a directory."), Settings::workingDirectory());
00529         if(!dirPath.isEmpty())
00530         {
00531                 int count = saveObjects(dirPath);
00532                 if(count)
00533                 {
00534                         QMessageBox::information(this, tr("Saving..."), tr("%1 objects saved to \"%2\".").arg(count).arg(dirPath));
00535                 }
00536                 else
00537                 {
00538                         QMessageBox::warning(this, tr("Saving..."), tr("No objects saved to %1!").arg(dirPath));
00539                 }
00540                 return count > 0;
00541         }
00542         return false;
00543 }
00544 
00545 void MainWindow::removeObject(find_object::ObjWidget * object)
00546 {
00547         if(object)
00548         {
00549                 objWidgets_.remove(object->id());
00550                 if(objWidgets_.size() == 0)
00551                 {
00552                         ui_->actionSave_objects->setEnabled(false);
00553                         ui_->actionSave_session->setEnabled(false);
00554                 }
00555                 findObject_->removeObject(object->id());
00556                 object->deleteLater();
00557                 if(Settings::getGeneral_autoUpdateObjects())
00558                 {
00559                         this->updateVocabulary();
00560                 }
00561                 if(!camera_->isRunning() && !sceneImage_.empty())
00562                 {
00563                         this->update(sceneImage_);
00564                 }
00565         }
00566 }
00567 
00568 void MainWindow::removeObject(int id)
00569 {
00570         if(objWidgets_.contains(id))
00571         {
00572                 removeObject(objWidgets_[id]);
00573         }
00574         else
00575         {
00576                 UERROR("Remove object: Object %d not found!", id);
00577         }
00578 }
00579 
00580 void MainWindow::removeAllObjects()
00581 {
00582         qDeleteAll(objWidgets_);
00583         objWidgets_.clear();
00584         ui_->actionSave_objects->setEnabled(false);
00585         findObject_->removeAllObjects();
00586         if(!camera_->isRunning() && !sceneImage_.empty())
00587         {
00588                 this->update(sceneImage_);
00589         }
00590 }
00591 
00592 void MainWindow::updateObjectsSize()
00593 {
00594         for(QMap<int, ObjWidget*>::iterator iter=objWidgets_.begin(); iter!=objWidgets_.end(); ++iter)
00595         {
00596                 updateObjectSize(iter.value());
00597         }
00598 }
00599 
00600 void MainWindow::updateObjectSize(ObjWidget * obj)
00601 {
00602         if(obj)
00603         {
00604                 int value = ui_->horizontalSlider_objectsSize->value();
00605                 if((obj->pixmap().width()*value)/100 > 4 && (obj->pixmap().height()*value)/100 > 4)
00606                 {
00607                         obj->setVisible(true);
00608                         obj->setMinimumSize((obj->pixmap().width()*value)/100, (obj->pixmap().height())*value/100);
00609                 }
00610                 else
00611                 {
00612                         obj->setVisible(false);
00613                 }
00614         }
00615 }
00616 
00617 void MainWindow::updateMirrorView()
00618 {
00619         bool mirrorView = Settings::getGeneral_mirrorView();
00620         ui_->imageView_source->setMirrorView(mirrorView);
00621         for(QMap<int, ObjWidget*>::iterator iter=objWidgets_.begin(); iter!=objWidgets_.end(); ++iter)
00622         {
00623                 iter.value()->setMirrorView(mirrorView);
00624         }
00625 }
00626 
00627 void MainWindow::showHideControls()
00628 {
00629         ui_->widget_controls->setVisible(Settings::getGeneral_controlsShown());
00630 }
00631 
00632 void MainWindow::showObjectsFeatures()
00633 {
00634         for(QMap<int, ObjWidget*>::iterator iter=objWidgets_.begin(); iter!=objWidgets_.end(); ++iter)
00635         {
00636                 iter.value()->setFeaturesShown(true);
00637         }
00638 }
00639 
00640 void MainWindow::hideObjectsFeatures()
00641 {
00642         for(QMap<int, ObjWidget*>::iterator iter=objWidgets_.begin(); iter!=objWidgets_.end(); ++iter)
00643         {
00644                 iter.value()->setFeaturesShown(false);
00645         }
00646 }
00647 
00648 void MainWindow::addObjectFromScene()
00649 {
00650         disconnect(camera_, SIGNAL(imageReceived(const cv::Mat &)), this, SLOT(update(const cv::Mat &)));
00651         disconnect(camera_, SIGNAL(finished()), this, SLOT(stopProcessing()));
00652         AddObjectDialog * dialog;
00653         bool resumeCamera = camera_->isRunning();
00654         if(camera_->isRunning() || sceneImage_.empty())
00655         {
00656                 dialog = new AddObjectDialog(camera_, cv::Mat(), ui_->imageView_source->isMirrorView(), this);
00657         }
00658         else
00659         {
00660                 dialog = new AddObjectDialog(0, sceneImage_, ui_->imageView_source->isMirrorView(), this);
00661         }
00662         if(dialog->exec() == QDialog::Accepted)
00663         {
00664                 ObjWidget * obj = 0;
00665                 ObjSignature * signature = 0;
00666                 dialog->retrieveObject(&obj, &signature);
00667                 UASSERT(obj!=0 && signature!=0);
00668                 findObject_->addObject(signature);
00669                 obj->setId(signature->id());
00670                 objWidgets_.insert(obj->id(), obj);
00671                 ui_->actionSave_objects->setEnabled(true);
00672                 ui_->actionSave_session->setEnabled(true);
00673                 showObject(obj);
00674                 updateVocabulary();
00675                 objectsModified_ = true;
00676         }
00677         if(resumeCamera || sceneImage_.empty())
00678         {
00679                 this->startProcessing();
00680         }
00681         else
00682         {
00683                 connect(camera_, SIGNAL(imageReceived(const cv::Mat &)), this, SLOT(update(const cv::Mat &)), Qt::UniqueConnection);
00684                 connect(camera_, SIGNAL(finished()), this, SLOT(stopProcessing()), Qt::UniqueConnection);
00685                 if(!sceneImage_.empty())
00686                 {
00687                         this->update(sceneImage_);
00688                 }
00689         }
00690         delete dialog;
00691 }
00692 
00693 void MainWindow::addObjectsFromFiles(const QStringList & fileNames)
00694 {
00695         if(fileNames.size())
00696         {
00697                 QList<int> ids;
00698                 for(int i=0; i<fileNames.size(); ++i)
00699                 {
00700                         int id = this->addObjectFromFile(fileNames.at(i));
00701                         if(id >= 0)
00702                         {
00703                                 ids.push_back(id);
00704                         }
00705                 }
00706                 if(ids.size())
00707                 {
00708                         objectsModified_ = true;
00709                         updateObjects(ids);
00710                 }
00711         }
00712 }
00713 
00714 void MainWindow::addObjectsFromFiles()
00715 {
00716         addObjectsFromFiles(QFileDialog::getOpenFileNames(this, tr("Add objects..."), Settings::workingDirectory(), tr("Image Files (%1)").arg(Settings::getGeneral_imageFormats())));
00717 }
00718 
00719 int MainWindow::addObjectFromFile(const QString & filePath)
00720 {
00721         const ObjSignature * s = findObject_->addObject(filePath);
00722         if(s)
00723         {
00724                 ObjWidget * obj = new ObjWidget(s->id(), std::vector<cv::KeyPoint>(), cvtCvMat2QImage(s->image()));
00725                 objWidgets_.insert(obj->id(), obj);
00726                 ui_->actionSave_objects->setEnabled(true);
00727                 ui_->actionSave_session->setEnabled(true);
00728                 this->showObject(obj);
00729                 return s->id();
00730         }
00731         else
00732         {
00733                 QMessageBox::critical(this, tr("Error adding object"), tr("Failed to add object from \"%1\"").arg(filePath));
00734                 return -1;
00735         }
00736 }
00737 
00738 void MainWindow::addObjectFromTcp(const cv::Mat & image, int id, const QString & filePath)
00739 {
00740         if(objWidgets_.contains(id))
00741         {
00742                 UERROR("Add Object: Object %d is already added.", id);
00743         }
00744         const ObjSignature * s = findObject_->addObject(image, id, filePath);
00745         if(s)
00746         {
00747                 ObjWidget * obj = new ObjWidget(s->id(), std::vector<cv::KeyPoint>(), cvtCvMat2QImage(s->image()));
00748                 objWidgets_.insert(obj->id(), obj);
00749                 ui_->actionSave_objects->setEnabled(true);
00750                 ui_->actionSave_session->setEnabled(true);
00751                 this->showObject(obj);
00752                 QList<int> ids;
00753                 ids.push_back(obj->id());
00754                 updateObjects(ids);
00755         }
00756         else
00757         {
00758                 UERROR("Add Object: Error adding object %d.", id);
00759         }
00760 }
00761 
00762 void MainWindow::loadSceneFromFile(const QStringList & fileNames)
00763 {
00764         //take the first
00765         if(fileNames.size())
00766         {
00767                 cv::Mat img = cv::imread(fileNames.first().toStdString().c_str());
00768                 if(!img.empty())
00769                 {
00770                         this->update(img);
00771                         ui_->label_timeRefreshRate->setVisible(false);
00772                 }
00773         }
00774 }
00775 
00776 void MainWindow::loadSceneFromFile()
00777 {
00778         QString fileName = QFileDialog::getOpenFileName(this, tr("Load scene..."), Settings::workingDirectory(), tr("Image Files (%1)").arg(Settings::getGeneral_imageFormats()));
00779         if(!fileName.isEmpty())
00780         {
00781                 cv::Mat img = cv::imread(fileName.toStdString().c_str());
00782                 if(!img.empty())
00783                 {
00784                         this->update(img);
00785                         ui_->label_timeRefreshRate->setVisible(false);
00786                 }
00787         }
00788 }
00789 
00790 void MainWindow::setupCameraFromVideoFile()
00791 {
00792         if(!ui_->actionCamera_from_video_file->isChecked())
00793         {
00794                 Settings::setCamera_5mediaPath("");
00795                 ui_->toolBox->updateParameter(Settings::kCamera_5mediaPath());
00796         }
00797         else
00798         {
00799                 QString fileName = QFileDialog::getOpenFileName(this, tr("Setup camera from video file..."), Settings::workingDirectory(), tr("Video Files (%1)").arg(Settings::getGeneral_videoFormats()));
00800                 if(!fileName.isEmpty())
00801                 {
00802                         Settings::setCamera_6useTcpCamera(false);
00803                         ui_->toolBox->updateParameter(Settings::kCamera_6useTcpCamera());
00804 
00805                         Settings::setCamera_5mediaPath(fileName);
00806                         ui_->toolBox->updateParameter(Settings::kCamera_5mediaPath());
00807                         if(camera_->isRunning())
00808                         {
00809                                 this->stopProcessing();
00810                                 this->startProcessing();
00811                         }
00812                         Settings::setGeneral_controlsShown(true);
00813                         ui_->toolBox->updateParameter(Settings::kGeneral_controlsShown());
00814                 }
00815         }
00816         ui_->actionCamera_from_video_file->setChecked(!Settings::getCamera_5mediaPath().isEmpty());
00817         ui_->actionCamera_from_directory_of_images->setChecked(false);
00818         ui_->actionCamera_from_TCP_IP->setChecked(false);
00819 }
00820 
00821 void MainWindow::setupCameraFromImagesDirectory()
00822 {
00823         if(!ui_->actionCamera_from_directory_of_images->isChecked())
00824         {
00825                 Settings::setCamera_5mediaPath("");
00826                 ui_->toolBox->updateParameter(Settings::kCamera_5mediaPath());
00827         }
00828         else
00829         {
00830                 QString directory = QFileDialog::getExistingDirectory(this, tr("Setup camera from directory of images..."), Settings::workingDirectory());
00831                 if(!directory.isEmpty())
00832                 {
00833                         Settings::setCamera_6useTcpCamera(false);
00834                         ui_->toolBox->updateParameter(Settings::kCamera_6useTcpCamera());
00835 
00836                         Settings::setCamera_5mediaPath(directory);
00837                         ui_->toolBox->updateParameter(Settings::kCamera_5mediaPath());
00838                         if(camera_->isRunning())
00839                         {
00840                                 this->stopProcessing();
00841                                 this->startProcessing();
00842                         }
00843                         Settings::setGeneral_controlsShown(true);
00844                         ui_->toolBox->updateParameter(Settings::kGeneral_controlsShown());
00845                 }
00846         }
00847         ui_->actionCamera_from_directory_of_images->setChecked(!Settings::getCamera_5mediaPath().isEmpty());
00848         ui_->actionCamera_from_video_file->setChecked(false);
00849         ui_->actionCamera_from_TCP_IP->setChecked(false);
00850 }
00851 
00852 void MainWindow::setupCameraFromTcpIp()
00853 {
00854         if(!ui_->actionCamera_from_TCP_IP->isChecked())
00855         {
00856                 Settings::setCamera_6useTcpCamera(false);
00857                 ui_->toolBox->updateParameter(Settings::kCamera_6useTcpCamera());
00858         }
00859         else
00860         {
00861                 bool ok;
00862                 int port = QInputDialog::getInteger(this, tr("Server port..."), "Port: ", Settings::getCamera_8port(), 1, USHRT_MAX, 1, &ok);
00863 
00864                 if(ok)
00865                 {
00866                         int queue = QInputDialog::getInteger(this, tr("Queue size..."), "Images buffer size (0 means infinite): ", Settings::getCamera_9queueSize(), 0, 2147483647, 1, &ok);
00867                         if(ok)
00868                         {
00869                                 Settings::setCamera_6useTcpCamera(true);
00870                                 ui_->toolBox->updateParameter(Settings::kCamera_6useTcpCamera());
00871                                 Settings::setCamera_8port(port);
00872                                 ui_->toolBox->updateParameter(Settings::kCamera_8port());
00873                                 Settings::setCamera_9queueSize(queue);
00874                                 ui_->toolBox->updateParameter(Settings::kCamera_9queueSize());
00875                                 if(camera_->isRunning())
00876                                 {
00877                                         this->stopProcessing();
00878                                 }
00879                                 this->startProcessing();
00880                         }
00881                 }
00882         }
00883         ui_->actionCamera_from_directory_of_images->setChecked(false);
00884         ui_->actionCamera_from_video_file->setChecked(false);
00885         ui_->actionCamera_from_TCP_IP->setChecked(Settings::getCamera_6useTcpCamera());
00886 }
00887 
00888 void MainWindow::showObject(ObjWidget * obj)
00889 {
00890         if(obj)
00891         {
00892                 obj->setGraphicsViewMode(false);
00893                 obj->setMirrorView(ui_->imageView_source->isMirrorView());
00894                 QList<ObjWidget*> objs = ui_->objects_area->findChildren<ObjWidget*>();
00895                 QVBoxLayout * vLayout = new QVBoxLayout();
00896                 ui_->toolBox->updateParameter(Settings::kGeneral_nextObjID());
00897 
00898                 QLabel * title = new QLabel(QString("%1 (%2)").arg(obj->id()).arg(obj->keypoints().size()), this);
00899                 QLabel * detectedLabel = new QLabel(this);
00900                 title->setObjectName(QString("%1title").arg(obj->id()));
00901                 detectedLabel->setObjectName(QString("%1detection").arg(obj->id()));
00902                 QHBoxLayout * hLayout = new QHBoxLayout();
00903                 hLayout->addWidget(title);
00904                 hLayout->addStretch(1);
00905                 hLayout->addStretch(1);
00906                 hLayout->addWidget(detectedLabel);
00907                 vLayout->addLayout(hLayout);
00908                 vLayout->addWidget(obj);
00909                 obj->setDeletable(true);
00910                 connect(obj, SIGNAL(removalTriggered(find_object::ObjWidget*)), this, SLOT(removeObject(find_object::ObjWidget*)));
00911                 connect(obj, SIGNAL(destroyed(QObject *)), title, SLOT(deleteLater()));
00912                 connect(obj, SIGNAL(destroyed(QObject *)), detectedLabel, SLOT(deleteLater()));
00913                 connect(obj, SIGNAL(destroyed(QObject *)), vLayout, SLOT(deleteLater()));
00914                 ui_->verticalLayout_objects->insertLayout(ui_->verticalLayout_objects->count()-1, vLayout);
00915 
00916                 QByteArray ba;
00917                 QBuffer buffer(&ba);
00918                 buffer.open(QIODevice::WriteOnly);
00919                 obj->pixmap().scaledToWidth(128).save(&buffer, "JPEG"); // writes image into JPEG format
00920                 imagesMap_.insert(obj->id(), ba);
00921 
00922                 // update objects size slider
00923                 int objectsPanelWidth = ui_->dockWidget_objects->width();
00924                 if(objectsPanelWidth > 0 && (obj->pixmap().width()*ui_->horizontalSlider_objectsSize->value()) / 100 > objectsPanelWidth)
00925                 {
00926                         ui_->horizontalSlider_objectsSize->setValue((objectsPanelWidth * 100) / obj->pixmap().width());
00927                 }
00928                 else
00929                 {
00930                         updateObjectSize(obj);
00931                 }
00932         }
00933 }
00934 
00935 void MainWindow::updateObjects(const QList<int> & ids)
00936 {
00937         if(ids.size())
00938         {
00939                 this->statusBar()->showMessage(tr("Updating %1 objects...").arg(ids.size()));
00940                 QApplication::processEvents();
00941 
00942                 findObject_->updateObjects(ids);
00943 
00944                 updateVocabulary();
00945 
00946                 QList<ObjSignature*> signatures = findObject_->objects().values();
00947                 for(int i=0; i<signatures.size(); ++i)
00948                 {
00949                         if(ids.contains(signatures[i]->id()))
00950                         {
00951                                 objWidgets_.value(signatures[i]->id())->setData(signatures[i]->keypoints(), cvtCvMat2QImage(signatures[i]->image()));
00952 
00953                                 //update object labels
00954                                 QLabel * title = qFindChild<QLabel*>(this, QString("%1title").arg(signatures[i]->id()));
00955                                 title->setText(QString("%1 (%2)").arg(signatures[i]->id()).arg(QString::number(signatures[i]->keypoints().size())));
00956                         }
00957                 }
00958 
00959                 if(!camera_->isRunning() && !sceneImage_.empty())
00960                 {
00961                         this->update(sceneImage_);
00962                 }
00963                 this->statusBar()->clearMessage();
00964         }
00965 }
00966 
00967 void MainWindow::updateObjects()
00968 {
00969         updateObjects(objWidgets_.keys());
00970 }
00971 
00972 void MainWindow::updateVocabulary()
00973 {
00974         this->statusBar()->showMessage(tr("Updating vocabulary..."));
00975         QApplication::processEvents();
00976 
00977         QTime time;
00978         time.start();
00979         findObject_->updateVocabulary();
00980 
00981         if(findObject_->vocabulary()->size())
00982         {
00983                 ui_->label_timeIndexing->setNum(time.elapsed());
00984                 ui_->label_vocabularySize->setNum(findObject_->vocabulary()->size());
00985         }
00986         lastObjectsUpdateParameters_ = Settings::getParameters();
00987         this->statusBar()->clearMessage();
00988 }
00989 
00990 void MainWindow::startProcessing()
00991 {
00992         UINFO("Starting camera...");
00993         bool updateStatusMessage = this->statusBar()->currentMessage().isEmpty();
00994         if(updateStatusMessage)
00995         {
00996                 this->statusBar()->showMessage(tr("Starting camera..."));
00997         }
00998         if(camera_->start())
00999         {
01000                 connect(camera_, SIGNAL(imageReceived(const cv::Mat &)), this, SLOT(update(const cv::Mat &)), Qt::UniqueConnection);
01001                 connect(camera_, SIGNAL(finished()), this, SLOT(stopProcessing()), Qt::UniqueConnection);
01002                 ui_->actionStop_camera->setEnabled(true);
01003                 ui_->actionPause_camera->setEnabled(true);
01004                 ui_->actionStart_camera->setEnabled(false);
01005                 ui_->actionLoad_scene_from_file->setEnabled(false);
01006                 ui_->actionCamera_from_directory_of_images->setEnabled(false);
01007                 ui_->actionCamera_from_video_file->setEnabled(false);
01008                 ui_->actionCamera_from_TCP_IP->setEnabled(false);
01009                 ui_->label_timeRefreshRate->setVisible(true);
01010 
01011                 //update control bar
01012                 ui_->pushButton_play->setVisible(false);
01013                 ui_->pushButton_pause->setVisible(true);
01014                 ui_->pushButton_stop->setEnabled(true);
01015                 int totalFrames = camera_->getTotalFrames();
01016                 if(totalFrames>0)
01017                 {
01018                         ui_->label_frame->setVisible(true);
01019                         ui_->horizontalSlider_frames->setEnabled(true);
01020                         ui_->horizontalSlider_frames->setMaximum(totalFrames-1);
01021                 }
01022 
01023                 //update camera port if TCP is used
01024                 ui_->label_port_image->setText("-");
01025                 if(Settings::getCamera_6useTcpCamera() && camera_->getPort())
01026                 {
01027                         ui_->label_port_image->setNum(camera_->getPort());
01028                 }
01029 
01030                 if(updateStatusMessage)
01031                 {
01032                         this->statusBar()->showMessage(tr("Camera started."), 2000);
01033                 }
01034         }
01035         else
01036         {
01037                 if(updateStatusMessage)
01038                 {
01039                         this->statusBar()->clearMessage();
01040                 }
01041 
01042                 if(Settings::getCamera_6useTcpCamera())
01043                 {
01044                         QMessageBox::critical(this, tr("Camera error"), tr("Camera initialization failed! (with port %1)").arg(Settings::getCamera_8port()));
01045                 }
01046                 else
01047                 {
01048                         QMessageBox::critical(this, tr("Camera error"), tr("Camera initialization failed! (with device %1)").arg(Settings::getCamera_1deviceId()));
01049                 }
01050         }
01051 }
01052 
01053 void MainWindow::stopProcessing()
01054 {
01055         if(camera_)
01056         {
01057                 disconnect(camera_, SIGNAL(imageReceived(const cv::Mat &)), this, SLOT(update(const cv::Mat &)));
01058                 disconnect(camera_, SIGNAL(finished()), this, SLOT(stopProcessing()));
01059                 camera_->stop();
01060         }
01061         ui_->actionStop_camera->setEnabled(false);
01062         ui_->actionPause_camera->setEnabled(false);
01063         ui_->actionStart_camera->setEnabled(true);
01064         ui_->actionLoad_scene_from_file->setEnabled(true);
01065         ui_->actionCamera_from_directory_of_images->setEnabled(true);
01066         ui_->actionCamera_from_video_file->setEnabled(true);
01067         ui_->actionCamera_from_TCP_IP->setEnabled(true);
01068         ui_->pushButton_play->setVisible(true);
01069         ui_->pushButton_pause->setVisible(false);
01070         ui_->pushButton_stop->setEnabled(false);
01071         ui_->horizontalSlider_frames->setEnabled(false);
01072         ui_->horizontalSlider_frames->setValue(0);
01073         ui_->label_frame->setVisible(false);
01074         ui_->label_port_image->setText("-");
01075 }
01076 
01077 void MainWindow::pauseProcessing()
01078 {
01079         ui_->actionStop_camera->setEnabled(true);
01080         ui_->actionPause_camera->setEnabled(true);
01081         ui_->actionStart_camera->setEnabled(false);
01082         if(camera_->isRunning())
01083         {
01084                 ui_->pushButton_play->setVisible(true);
01085                 ui_->pushButton_pause->setVisible(false);
01086                 camera_->pause();
01087         }
01088         else
01089         {
01090                 ui_->pushButton_play->setVisible(false);
01091                 ui_->pushButton_pause->setVisible(true);
01092                 camera_->start();
01093         }
01094 }
01095 
01096 void MainWindow::moveCameraFrame(int frame)
01097 {
01098         if(ui_->horizontalSlider_frames->isEnabled())
01099         {
01100                 camera_->moveToFrame(frame);
01101                 if(!camera_->isRunning())
01102                 {
01103                         camera_->takeImage();
01104                 }
01105         }
01106 }
01107 
01108 void MainWindow::rectHovered(int objId)
01109 {
01110         if(objId>=0 && Settings::getGeneral_autoScroll())
01111         {
01112                 QLabel * label = ui_->dockWidget_objects->findChild<QLabel*>(QString("%1title").arg(objId));
01113                 if(label)
01114                 {
01115                         ui_->objects_area->verticalScrollBar()->setValue(label->pos().y());
01116                 }
01117         }
01118 }
01119 
01120 void MainWindow::update(const cv::Mat & image)
01121 {
01122         if(image.empty())
01123         {
01124                 UWARN("The image received is empty...");
01125                 return;
01126         }
01127         sceneImage_ = image.clone();
01128 
01129         // reset objects color
01130         for(QMap<int, ObjWidget*>::iterator iter=objWidgets_.begin(); iter!=objWidgets_.end(); ++iter)
01131         {
01132                 iter.value()->resetKptsColor();
01133         }
01134 
01135         QTime guiRefreshTime;
01136 
01137         DetectionInfo info;
01138         if(findObject_->detect(sceneImage_, info))
01139         {
01140                 guiRefreshTime.start();
01141                 ui_->label_timeDetection->setNum(info.timeStamps_.value(DetectionInfo::kTimeKeypointDetection, 0));
01142                 ui_->label_timeSkewAffine->setNum(info.timeStamps_.value(DetectionInfo::kTimeSkewAffine, 0));
01143                 ui_->label_timeExtraction->setNum(info.timeStamps_.value(DetectionInfo::kTimeDescriptorExtraction, 0));
01144                 ui_->imageView_source->setData(info.sceneKeypoints_, cvtCvMat2QImage(sceneImage_));
01145                 if(!findObject_->vocabulary()->size())
01146                 {
01147                         ui_->label_timeIndexing->setNum(info.timeStamps_.value(DetectionInfo::kTimeIndexing, 0));
01148                 }
01149                 ui_->label_timeMatching->setNum(info.timeStamps_.value(DetectionInfo::kTimeMatching, 0));
01150                 ui_->label_timeHomographies->setNum(info.timeStamps_.value(DetectionInfo::kTimeHomography, 0));
01151 
01152                 ui_->label_vocabularySize->setNum(findObject_->vocabulary()->size());
01153 
01154                 // Colorize features matched
01155                 const QMap<int, QMultiMap<int, int> > & matches = info.matches_;
01156                 QMap<int, int> scores;
01157                 int maxScoreId = -1;
01158                 int maxScore = 0;
01159                 for(QMap<int, QMultiMap<int, int> >::const_iterator jter=matches.constBegin(); jter!=matches.end();++jter)
01160                 {
01161                         scores.insert(jter.key(), jter.value().size());
01162                         if(maxScoreId == -1 || maxScore < jter.value().size())
01163                         {
01164                                 maxScoreId = jter.key();
01165                                 maxScore = jter.value().size();
01166                         }
01167 
01168                         int id = jter.key();
01169                         QLabel * label = ui_->dockWidget_objects->findChild<QLabel*>(QString("%1detection").arg(id));
01170                         if(!Settings::getHomography_homographyComputed())
01171                         {
01172                                 label->setText(QString("%1 matches").arg(jter.value().size()));
01173 
01174                                 ObjWidget * obj = objWidgets_.value(id);
01175                                 UASSERT(obj != 0);
01176 
01177                                 for(QMultiMap<int, int>::const_iterator iter = jter.value().constBegin(); iter!= jter.value().constEnd(); ++iter)
01178                                 {
01179                                         obj->setKptColor(iter.key(), obj->color());
01180                                         ui_->imageView_source->setKptColor(iter.value(), obj->color());
01181                                 }
01182                         }
01183                         else if(!info.objDetected_.contains(id))
01184                         {
01185                                 // Homography could not be computed...
01186                                 QLabel * label = ui_->dockWidget_objects->findChild<QLabel*>(QString("%1detection").arg(id));
01187                                 QMultiMap<int, int> rejectedInliers = info.rejectedInliers_.value(id);
01188                                 QMultiMap<int, int> rejectedOutliers = info.rejectedOutliers_.value(id);
01189                                 int rejectedCode = info.rejectedCodes_.value(id);
01190                                 if(rejectedCode == DetectionInfo::kRejectedLowMatches)
01191                                 {
01192                                         label->setText(QString("Too low matches (%1)").arg(jter.value().size()));
01193                                 }
01194                                 else if(rejectedCode == DetectionInfo::kRejectedAllInliers)
01195                                 {
01196                                         label->setText(QString("Ignored, all inliers (%1 in %2 out)").arg(rejectedInliers.size()).arg(rejectedOutliers.size()));
01197                                 }
01198                                 else if(rejectedCode == DetectionInfo::kRejectedNotValid)
01199                                 {
01200                                         label->setText(QString("Not valid homography (%1 in %2 out)").arg(rejectedInliers.size()).arg(rejectedOutliers.size()));
01201                                 }
01202                                 else if(rejectedCode == DetectionInfo::kRejectedLowInliers)
01203                                 {
01204                                         label->setText(QString("Too low inliers (%1 in %2 out)").arg(rejectedInliers.size()).arg(rejectedOutliers.size()));
01205                                 }
01206                                 else if(rejectedCode == DetectionInfo::kRejectedCornersOutside)
01207                                 {
01208                                         label->setText(QString("Corners not visible (%1 in %2 out)").arg(rejectedInliers.size()).arg(rejectedOutliers.size()));
01209                                 }
01210                                 else if(rejectedCode == DetectionInfo::kRejectedByAngle)
01211                                 {
01212                                         label->setText(QString("Angle too small (%1 in %2 out)").arg(rejectedInliers.size()).arg(rejectedOutliers.size()));
01213                                 }
01214                         }
01215                 }
01216 
01217                 if(camera_->isRunning() && Settings::getGeneral_autoPauseOnDetection() && info.objDetected_.size())
01218                 {
01219                         this->pauseProcessing();
01220                 }
01221 
01222                 // Add homography rectangles when homographies are computed
01223                 QMultiMap<int, QMultiMap<int,int> >::const_iterator inliersIter = info.objDetectedInliers_.constBegin();
01224                 QMultiMap<int, QMultiMap<int,int> >::const_iterator outliersIter = info.objDetectedOutliers_.constBegin();
01225                 for(QMultiMap<int,QTransform>::iterator iter = info.objDetected_.begin();
01226                                 iter!=info.objDetected_.end();
01227                                 ++iter, ++inliersIter, ++outliersIter)
01228                 {
01229                         int id = iter.key();
01230                         ObjWidget * obj = objWidgets_.value(id);
01231                         UASSERT(obj != 0);
01232 
01233                         // COLORIZE (should be done in the GUI thread)
01234                         QTransform hTransform = iter.value();
01235 
01236                         QRect rect = obj->pixmap().rect();
01237                         // add rectangle
01238                         QPen rectPen(obj->color());
01239                         rectPen.setWidth(Settings::getHomography_rectBorderWidth());
01240                         RectItem * rectItemScene = new RectItem(id, rect);
01241                         connect(rectItemScene, SIGNAL(hovered(int)), this, SLOT(rectHovered(int)));
01242                         rectItemScene->setPen(rectPen);
01243                         rectItemScene->setTransform(hTransform);
01244                         ui_->imageView_source->addRect(rectItemScene);
01245 
01246                         QGraphicsRectItem * rectItemObj = new QGraphicsRectItem(rect);
01247                         rectItemObj->setPen(rectPen);
01248                         obj->addRect(rectItemObj);
01249 
01250                         for(QMultiMap<int, int>::const_iterator iter = inliersIter.value().constBegin(); iter!= inliersIter.value().constEnd(); ++iter)
01251                         {
01252                                 obj->setKptColor(iter.key(), obj->color());
01253                                 ui_->imageView_source->setKptColor(iter.value(), obj->color());
01254                         }
01255 
01256                         QLabel * label = ui_->dockWidget_objects->findChild<QLabel*>(QString("%1detection").arg(id));
01257                         if(info.objDetected_.count(id) > 1)
01258                         {
01259                                 // if a homography is already found, set the objects count
01260                                 label->setText(QString("%1 objects found").arg(info.objDetected_.count(id)));
01261                         }
01262                         else
01263                         {
01264                                 label->setText(QString("%1 in %2 out").arg(inliersIter.value().size()).arg(outliersIter.value().size()));
01265                         }
01266                 }
01267 
01268 
01269                 //update likelihood plot
01270                 likelihoodCurve_->setData(scores, QMap<int, int>());
01271                 QMap<int, int> inlierScores;
01272                 for(QMap<int, int>::iterator iter=scores.begin(); iter!=scores.end(); ++iter)
01273                 {
01274                         QList<QMultiMap<int, int> > values = info.objDetectedInliers_.values(iter.key());
01275                         int maxValue = 0;
01276                         if(values.size())
01277                         {
01278                                 maxValue = values[0].size();
01279                                 for(int i=1; i<values.size(); ++i)
01280                                 {
01281                                         if(maxValue < values[i].size())
01282                                         {
01283                                                 maxValue = values[i].size();
01284                                         }
01285                                 }
01286                         }
01287                         inlierScores.insert(iter.key(), maxValue);
01288                 }
01289                 inliersCurve_->setData(inlierScores, QMap<int, int>());
01290                 if(ui_->likelihoodPlot->isVisible())
01291                 {
01292                         ui_->likelihoodPlot->update();
01293                 }
01294 
01295                 ui_->label_minMatchedDistance->setNum(info.minMatchedDistance_);
01296                 ui_->label_maxMatchedDistance->setNum(info.maxMatchedDistance_);
01297 
01298                 //Scroll objects slider to the best score
01299                 if(maxScoreId>=0 && Settings::getGeneral_autoScroll())
01300                 {
01301                         QLabel * label = ui_->dockWidget_objects->findChild<QLabel*>(QString("%1title").arg(maxScoreId));
01302                         if(label)
01303                         {
01304                                 ui_->objects_area->verticalScrollBar()->setValue(label->pos().y());
01305                         }
01306                 }
01307 
01308                 // Emit homographies
01309                 if(info.objDetected_.size() > 1)
01310                 {
01311                         UINFO("(%s) %d objects detected!",
01312                                         QTime::currentTime().toString("HH:mm:ss.zzz").toStdString().c_str(),
01313                                         (int)info.objDetected_.size());
01314                 }
01315                 else if(info.objDetected_.size() == 1)
01316                 {
01317                         UINFO("(%s) Object %d detected!",
01318                                         QTime::currentTime().toString("HH:mm:ss.zzz").toStdString().c_str(),
01319                                         (int)info.objDetected_.begin().key());
01320                 }
01321                 else if(Settings::getGeneral_sendNoObjDetectedEvents())
01322                 {
01323                         UINFO("(%s) No objects detected.",
01324                                         QTime::currentTime().toString("HH:mm:ss.zzz").toStdString().c_str());
01325                 }
01326 
01327                 if(info.objDetected_.size() > 0 || Settings::getGeneral_sendNoObjDetectedEvents())
01328                 {
01329                         Q_EMIT objectsFound(info);
01330                 }
01331                 ui_->label_objectsDetected->setNum(info.objDetected_.size());
01332         }
01333         else
01334         {
01335                 guiRefreshTime.start();
01336 
01337                 if(findObject_->vocabulary()->size())
01338                 {
01339                         this->statusBar()->showMessage(tr("Cannot search, objects must be updated!"));
01340                 }
01341                 ui_->label_timeDetection->setNum(info.timeStamps_.value(DetectionInfo::kTimeKeypointDetection, 0));
01342                 ui_->label_timeSkewAffine->setNum(info.timeStamps_.value(DetectionInfo::kTimeSkewAffine, 0));
01343                 ui_->label_timeExtraction->setNum(info.timeStamps_.value(DetectionInfo::kTimeDescriptorExtraction, 0));
01344                 ui_->imageView_source->setData(info.sceneKeypoints_, cvtCvMat2QImage(sceneImage_));
01345         }
01346 
01347 
01348         //Update object pictures
01349         for(QMap<int, ObjWidget*>::iterator iter=objWidgets_.begin(); iter!=objWidgets_.end(); ++iter)
01350         {
01351                 iter.value()->update();
01352         }
01353 
01354         ui_->label_nfeatures->setNum((int)info.sceneKeypoints_.size());
01355         ui_->imageView_source->update();
01356 
01357         ui_->label_detectorDescriptorType->setText(QString("%1/%2").arg(Settings::currentDetectorType()).arg(Settings::currentDescriptorType()));
01358 
01359         //update slider
01360         if(ui_->horizontalSlider_frames->isEnabled())
01361         {
01362                 ui_->horizontalSlider_frames->blockSignals(true);
01363                 ui_->horizontalSlider_frames->setValue(camera_->getCurrentFrameIndex()-1);
01364                 ui_->label_frame->setNum(camera_->getCurrentFrameIndex()-1);
01365                 ui_->horizontalSlider_frames->blockSignals(false);
01366         }
01367 
01368         ui_->label_timeTotal->setNum(info.timeStamps_.value(DetectionInfo::kTimeTotal, 0));
01369         int refreshRate = qRound(1000.0f/float(updateRate_.restart()));
01370         if(refreshRate > 0 && refreshRate < lowestRefreshRate_)
01371         {
01372                 lowestRefreshRate_ = refreshRate;
01373         }
01374         // Refresh the label only after each 1000 ms
01375         if(refreshStartTime_.elapsed() > 1000)
01376         {
01377                 if(Settings::getCamera_4imageRate()>0.0)
01378                 {
01379                         ui_->label_timeRefreshRate->setText(QString("(%1 Hz - %2 Hz)").arg(QString::number(Settings::getCamera_4imageRate())).arg(QString::number(lowestRefreshRate_)));
01380                 }
01381                 else
01382                 {
01383                         ui_->label_timeRefreshRate->setText(QString("(%2 Hz)").arg(QString::number(lowestRefreshRate_)));
01384                 }
01385                 lowestRefreshRate_ = 99;
01386                 refreshStartTime_.start();
01387         }
01388 
01389         ui_->label_timeRefreshGUI->setNum(guiRefreshTime.elapsed());
01390 }
01391 
01392 void MainWindow::notifyParametersChanged(const QStringList & paramChanged)
01393 {
01394         //Selective update (to not update all objects for a simple camera's parameter modification)
01395         bool detectorDescriptorParamsChanged = false;
01396         bool nearestNeighborParamsChanged = false;
01397         bool parameterChanged = false;
01398         for(QStringList::const_iterator iter = paramChanged.begin(); iter!=paramChanged.end(); ++iter)
01399         {
01400                 if(lastObjectsUpdateParameters_.value(*iter) != Settings::getParameter(*iter))
01401                 {
01402                         lastObjectsUpdateParameters_[*iter] = Settings::getParameter(*iter);
01403                         parameterChanged = true;
01404                         UINFO("Parameter changed: %s -> \"%s\"", iter->toStdString().c_str(), Settings::getParameter(*iter).toString().toStdString().c_str());
01405 
01406                         if(iter->contains("Feature2D"))
01407                         {
01408                                 detectorDescriptorParamsChanged = true;
01409                         }
01410                         else if( (iter->contains("NearestNeighbor") && Settings::getGeneral_invertedSearch()) ||
01411                                           iter->compare(Settings::kGeneral_invertedSearch()) == 0 ||
01412                                           (iter->compare(Settings::kGeneral_vocabularyIncremental()) == 0 && Settings::getGeneral_invertedSearch()) ||
01413                                           (iter->compare(Settings::kGeneral_threads()) == 0 && !Settings::getGeneral_invertedSearch()) )
01414                         {
01415                                 nearestNeighborParamsChanged = true;
01416                         }
01417 
01418                         if(iter->compare(Settings::kGeneral_port()) == 0 &&
01419                            Settings::getGeneral_port() != ui_->label_port->text().toInt() &&
01420                            Settings::getGeneral_port() != 0)
01421                         {
01422                                 setupTCPServer();
01423                         }
01424                 }
01425         }
01426 
01427         if(detectorDescriptorParamsChanged)
01428         {
01429                 //Re-init detector and extractor
01430                 findObject_->updateDetectorExtractor();
01431         }
01432 
01433         if(Settings::getGeneral_autoUpdateObjects())
01434         {
01435                 if(detectorDescriptorParamsChanged)
01436                 {
01437                         this->updateObjects(objWidgets_.keys());
01438                 }
01439                 else if(nearestNeighborParamsChanged)
01440                 {
01441                         this->updateVocabulary();
01442                 }
01443         }
01444         else if(objWidgets_.size() && (detectorDescriptorParamsChanged || nearestNeighborParamsChanged))
01445         {
01446                 this->statusBar()->showMessage(tr("A parameter has changed... \"Update objects\" may be required."));
01447         }
01448         if(parameterChanged && !camera_->isRunning() && !sceneImage_.empty())
01449         {
01450                 this->update(sceneImage_);
01451                 ui_->label_timeRefreshRate->setVisible(false);
01452         }
01453 
01454         ui_->actionCamera_from_video_file->setChecked(!Settings::getCamera_5mediaPath().isEmpty() && !UDirectory::exists(Settings::getCamera_5mediaPath().toStdString()) && !Settings::getCamera_6useTcpCamera());
01455         ui_->actionCamera_from_directory_of_images->setChecked(!Settings::getCamera_5mediaPath().isEmpty() && UDirectory::exists(Settings::getCamera_5mediaPath().toStdString()) && !Settings::getCamera_6useTcpCamera());
01456         ui_->actionCamera_from_TCP_IP->setChecked(Settings::getCamera_6useTcpCamera());
01457 }
01458 
01459 } // namespace find_object


find_object_2d
Author(s): Mathieu Labbe
autogenerated on Fri Feb 12 2016 01:18:17