New feature: we can setup the camera to use a video file intead of the webcam.

Fixed a crash when user did "Update Objects" with loaded objects.

git-svn-id: http://find-object.googlecode.com/svn/trunk/find_object@76 620bd6b2-0a58-f614-fd9a-1bd335dccda9

src/AddObjectDialog.cpp

@@ -142,7 +142,7 @@ void AddObjectDialog::setState(int state)
 	else if(state == kSelectFeatures)
 	{
 		disconnect(camera_, SIGNAL(imageReceived(const cv::Mat &)), this, SLOT(update(const cv::Mat &)));
-		camera_->stop();
+		camera_->pause();
 
 		ui_->pushButton_cancel->setEnabled(true);
 		ui_->pushButton_back->setEnabled(true);
@@ -169,7 +169,7 @@ void AddObjectDialog::setState(int state)
 	else if(state == kVerifySelection)
 	{
 		disconnect(camera_, SIGNAL(imageReceived(const cv::Mat &)), this, SLOT(update(const cv::Mat &)));
-		camera_->stop();
+		camera_->pause();
 
 		ui_->pushButton_cancel->setEnabled(true);
 		ui_->pushButton_back->setEnabled(true);

src/Camera.cpp

@@ -6,6 +6,7 @@
 #include <stdio.h>
 #include <opencv2/imgproc/imgproc_c.h>
 #include "Settings.h"
+#include <QtCore/QFile>
 
 Camera::Camera(QObject * parent) :
 	QObject(parent),
@@ -30,6 +31,11 @@ void Camera::stop()
 	}
 }
 
+void Camera::pause()
+{
+	stopTimer();
+}
+
 void Camera::takeImage()
 {
 	if(capture_)
@@ -71,15 +77,27 @@ void Camera::takeImage()
 
 bool Camera::start()
 {
+	if(!capture_)
+	{
+		QString videoFile = Settings::getCamera_videoFilePath();
+		if(QFile::exists(videoFile))
+		{
+			capture_ = cvCaptureFromAVI(videoFile.toStdString().c_str());
+			if(!capture_)
+			{
+				printf("WARNING: Cannot open file \"%s\". If you want to disable loading automatically this video file, clear the Camera/videoFilePath parameter. By default, webcam will be used instead of the file.\n", videoFile.toStdString().c_str());
+			}
+		}
 		if(!capture_)
 		{
 			capture_ = cvCaptureFromCAM(Settings::getCamera_deviceId());
-		if(capture_)
+			if(capture_ && Settings::getCamera_imageWidth() && Settings::getCamera_imageHeight())
 			{
 				cvSetCaptureProperty(capture_, CV_CAP_PROP_FRAME_WIDTH, double(Settings::getCamera_imageWidth()));
 				cvSetCaptureProperty(capture_, CV_CAP_PROP_FRAME_HEIGHT, double(Settings::getCamera_imageHeight()));
 			}
 		}
+	}
 	if(!capture_)
 	{
 		printf("Failed to create a capture object!\n");

src/Camera.h

@@ -19,6 +19,8 @@ public:
 	virtual void stop();
 	virtual bool isRunning() {return cameraTimer_.isActive();}
 
+	void pause();
+
 signals:
 	void imageReceived(const cv::Mat & image);
 

src/MainWindow.cpp

@@ -71,6 +71,7 @@ MainWindow::MainWindow(Camera * camera, QWidget * parent) :
 	connect(ui_->pushButton_updateObjects, SIGNAL(clicked()), this, SLOT(updateObjects()));
 
 	ui_->actionStop_camera->setEnabled(false);
+	ui_->actionPause_camera->setEnabled(false);
 	ui_->actionSave_objects->setEnabled(false);
 
 	// Actions
@@ -79,12 +80,20 @@ MainWindow::MainWindow(Camera * camera, QWidget * parent) :
 	connect(ui_->actionLoad_scene_from_file, SIGNAL(triggered()), this, SLOT(loadSceneFromFile()));
 	connect(ui_->actionStart_camera, SIGNAL(triggered()), this, SLOT(startProcessing()));
 	connect(ui_->actionStop_camera, SIGNAL(triggered()), this, SLOT(stopProcessing()));
+	connect(ui_->actionPause_camera, SIGNAL(triggered()), this, SLOT(pauseProcessing()));
 	connect(ui_->actionExit, SIGNAL(triggered()), this, SLOT(close()));
 	connect(ui_->actionSave_objects, SIGNAL(triggered()), this, SLOT(saveObjects()));
 	connect(ui_->actionLoad_objects, SIGNAL(triggered()), this, SLOT(loadObjects()));
+	connect(ui_->actionSetup_camera_from_video_file, SIGNAL(triggered()), this, SLOT(setupCameraFromVideoFile()));
+	connect(ui_->actionSetup_camera_from_video_file_2, SIGNAL(triggered()), this, SLOT(setupCameraFromVideoFile()));
 	connect(ui_->actionAbout, SIGNAL(triggered()), aboutDialog_ , SLOT(exec()));
 	connect(ui_->actionRestore_all_default_settings, SIGNAL(triggered()), ui_->toolBox, SLOT(resetAllPages()));
 
+	ui_->actionSetup_camera_from_video_file->setCheckable(true);
+	ui_->actionSetup_camera_from_video_file_2->setCheckable(true);
+	ui_->actionSetup_camera_from_video_file->setChecked(!Settings::getCamera_videoFilePath().isEmpty());
+	ui_->actionSetup_camera_from_video_file_2->setChecked(!Settings::getCamera_videoFilePath().isEmpty());
+
 	if(Settings::getGeneral_autoStartCamera())
 	{
 		// Set 1 msec to see state on the status bar.
@@ -237,6 +246,21 @@ void MainWindow::loadSceneFromFile()
 	}
 }
 
+void MainWindow::setupCameraFromVideoFile()
+{
+	QString fileName = QFileDialog::getOpenFileName(this, tr("Setup camera from video file..."), Settings::workingDirectory(), tr("Video Files (*.avi *.m4v)"));
+	if(!fileName.isEmpty())
+	{
+		Settings::setCamera_videoFilePath(fileName);
+		ui_->toolBox->updateParameter(Settings::kCamera_videoFilePath());
+		if(camera_->isRunning())
+		{
+			this->stopProcessing();
+			this->startProcessing();
+		}
+	}
+}
+
 void MainWindow::showObject(ObjWidget * obj)
 {
 	if(obj)
@@ -257,6 +281,7 @@ void MainWindow::showObject(ObjWidget * obj)
 			id = obj->id()+1;
 			Settings::setGeneral_nextObjID(id);
 		}
+		ui_->toolBox->updateParameter(Settings::kGeneral_nextObjID());
 
 		QLabel * title = new QLabel(QString("%1 (%2)").arg(obj->id()).arg(QString::number(obj->keypoints().size())), this);
 		QLabel * detectorDescriptorType = new QLabel(QString("%1/%2").arg(obj->detectorType()).arg(obj->descriptorType()), this);
@@ -345,14 +370,28 @@ void MainWindow::updateData()
 	for(int i=0; i<objects_.size(); ++i)
 	{
 		if(dim >= 0 && objects_.at(i)->descriptors().cols != dim)
+		{
+			if(this->isVisible())
 			{
 				QMessageBox::critical(this, tr("Error"), tr("Descriptors of the objects are not all the same size!\nObjects opened must have all the same size (and from the same descriptor extractor)."));
+			}
+			else
+			{
+				printf("ERROR: Descriptors of the objects are not all the same size! Objects opened must have all the same size (and from the same descriptor extractor).");
+			}
 			return;
 		}
 		dim = objects_.at(i)->descriptors().cols;
 		if(type >= 0 && objects_.at(i)->descriptors().type() != type)
+		{
+			if(this->isVisible())
 			{
 				QMessageBox::critical(this, tr("Error"), tr("Descriptors of the objects are not all the same type!\nObjects opened must have been processed by the same descriptor extractor."));
+			}
+			else
+			{
+				printf("ERROR: Descriptors of the objects are not all the same type! Objects opened must have been processed by the same descriptor extractor.");
+			}
 			return;
 		}
 		type = objects_.at(i)->descriptors().type();
@@ -383,6 +422,7 @@ void MainWindow::startProcessing()
 	{
 		connect(camera_, SIGNAL(imageReceived(const cv::Mat &)), this, SLOT(update(const cv::Mat &)));
 		ui_->actionStop_camera->setEnabled(true);
+		ui_->actionPause_camera->setEnabled(true);
 		ui_->actionStart_camera->setEnabled(false);
 		ui_->actionLoad_scene_from_file->setEnabled(false);
 		ui_->label_timeRefreshRate->setVisible(true);
@@ -391,8 +431,15 @@ void MainWindow::startProcessing()
 	else
 	{
 		this->statusBar()->clearMessage();
+		if(this->isVisible())
+		{
 			QMessageBox::critical(this, tr("Camera error"), tr("Camera initialization failed! (with device %1)").arg(Settings::getCamera_deviceId()));
 		}
+		else
+		{
+			printf("ERROR: Camera initialization failed! (with device %d)", Settings::getCamera_deviceId());
+		}
+	}
 }
 
 void MainWindow::stopProcessing()
@@ -403,10 +450,26 @@ void MainWindow::stopProcessing()
 		camera_->stop();
 	}
 	ui_->actionStop_camera->setEnabled(false);
+	ui_->actionPause_camera->setEnabled(false);
 	ui_->actionStart_camera->setEnabled(true);
 	ui_->actionLoad_scene_from_file->setEnabled(true);
 }
 
+void MainWindow::pauseProcessing()
+{
+	ui_->actionStop_camera->setEnabled(true);
+	ui_->actionPause_camera->setEnabled(true);
+	ui_->actionStart_camera->setEnabled(false);
+	if(camera_->isRunning())
+	{
+		camera_->pause();
+	}
+	else
+	{
+		camera_->start();
+	}
+}
+
 void MainWindow::update(const cv::Mat & image)
 {
 	// reset objects color
@@ -707,4 +770,7 @@ void MainWindow::notifyParametersChanged()
 		this->update(image);
 		ui_->label_timeRefreshRate->setVisible(false);
 	}
+
+	ui_->actionSetup_camera_from_video_file->setChecked(!Settings::getCamera_videoFilePath().isEmpty());
+	ui_->actionSetup_camera_from_video_file_2->setChecked(!Settings::getCamera_videoFilePath().isEmpty());
 }

src/MainWindow.h

@@ -40,6 +40,7 @@ protected:
 public slots:
 	void startProcessing();
 	void stopProcessing();
+	void pauseProcessing();
 
 private slots:
 	void loadObjects();
@@ -47,6 +48,7 @@ private slots:
 	void addObject();
 	void addObjectsFromFiles();
 	void loadSceneFromFile();
+	void setupCameraFromVideoFile();
 	void removeObject(ObjWidget * object);
 	void update(const cv::Mat & image);
 	void updateObjects();

src/ObjWidget.cpp

@@ -403,6 +403,12 @@ void ObjWidget::load(QDataStream & streamPtr)
 	descriptors = cv::Mat(rows, cols, type, data.data()).clone();
 	streamPtr >> image_;
 	this->setData(kpts, descriptors, 0, detectorType, descriptorType);
+	if(iplImage_)
+	{
+		cvReleaseImage(&iplImage_);
+		iplImage_ = 0;
+	}
+	iplImage_ = QImage2Ipl(image_.toImage());
 	//this->setMinimumSize(image_.size());
 }
 

src/ParametersToolBox.cpp

@@ -123,6 +123,36 @@ void ParametersToolBox::setupUi()
 	}
 }
 
+void ParametersToolBox::updateParameter(const QString & key)
+{
+	QWidget * widget = this->findChild<QWidget*>(key);
+	QString type = Settings::getParametersType().value(key);
+	if(type.compare("QString") == 0)
+	{
+		((QLineEdit*)widget)->setText(Settings::getParameter(key).toString());
+	}
+	else if(type.compare("int") == 0)
+	{
+		((QSpinBox*)widget)->setValue(Settings::getParameter(key).toInt());
+	}
+	else if(type.compare("uint") == 0)
+	{
+		((QSpinBox*)widget)->setValue(Settings::getParameter(key).toInt());
+	}
+	else if(type.compare("double") == 0)
+	{
+		((QDoubleSpinBox*)widget)->setValue(Settings::getParameter(key).toDouble());
+	}
+	else if(type.compare("float") == 0)
+	{
+		((QDoubleSpinBox*)widget)->setValue(Settings::getParameter(key).toDouble());
+	}
+	else if(type.compare("bool") == 0)
+	{
+		((QCheckBox*)widget)->setChecked(Settings::getParameter(key).toBool());
+	}
+}
+
 void ParametersToolBox::addParameter(QVBoxLayout * layout,
 		const QString & key,
 		const QVariant & value)
@@ -216,11 +246,11 @@ void ParametersToolBox::addParameter(QVBoxLayout * layout,
 
 	if(def>0)
 	{
-		widget->setMaximum(def*10);
+		widget->setMaximum(def*1000000);
 	}
 	else if(def<0)
 	{
-		widget->setMinimum(def*10);
+		widget->setMinimum(def*1000000);
 		widget->setMaximum(0);
 	}
 	widget->setValue(value);
@@ -253,6 +283,7 @@ void ParametersToolBox::changeParameter(const QString & value)
 	if(sender())
 	{
 		Settings::setParameter(sender()->objectName(), value);
+		emit parametersChanged();
 	}
 }
 void ParametersToolBox::changeParameter()

src/ParametersToolBox.h

@@ -20,6 +20,7 @@ public:
 
 	void setupUi();
 	QWidget * getParameterWidget(const QString & key);
+	void updateParameter(const QString & key);
 
 private:
 	void addParameter(QVBoxLayout * layout, const QString & key, const QVariant & value);

src/Settings.h

@@ -56,6 +56,7 @@ class Settings
 	PARAMETER(Camera, imageWidth, int, 640);
 	PARAMETER(Camera, imageHeight, int, 480);
 	PARAMETER(Camera, imageRate, int, 2); // Hz
+	PARAMETER(Camera, videoFilePath, QString, "");
 
 	//List format : [Index:item0;item1;item3;...]
 	PARAMETER(Detector, Type, QString, "7:Dense;Fast;GoodFeaturesToTrack;Mser;Orb;Sift;Star;Surf");

src/qtipl.cpp

@@ -15,10 +15,10 @@ QImage Ipl2QImage(const IplImage *newImage)
 		int y;
 		char* data = newImage->imageData;
 		
-		qtemp= QImage(newImage->width, newImage->height,QImage::Format_RGB32 );
+		qtemp= QImage(newImage->width, newImage->height,QImage::Format_RGB32);
-		for( y = 0; y < newImage->height; y++, data +=newImage->widthStep )
+		for( y = 0; y < newImage->height; ++y, data +=newImage->widthStep )
 		{
-			for( x = 0; x < newImage->width; x++)
+			for( x = 0; x < newImage->width; ++x)
 			{
 				uint *p = (uint*)qtemp.scanLine (y) + x;
 				*p = qRgb(data[x * newImage->nChannels+2], data[x * newImage->nChannels+1],data[x * newImage->nChannels]);
@@ -31,3 +31,33 @@ QImage Ipl2QImage(const IplImage *newImage)
 	}
  return qtemp;	
 }
+
+IplImage * QImage2Ipl(const QImage & image)
+{
+	IplImage * iplTmp = 0;
+	if(!image.isNull() && image.depth() == 32 && image.format() == QImage::Format_RGB32)
+	{
+		int x;
+		int y;
+
+		// assume RGB (3 channels)
+		int channels = 3;
+		iplTmp = cvCreateImage(cvSize(image.width(), image.height()), IPL_DEPTH_8U, channels);
+		char* data = iplTmp->imageData;
+		for( y = 0; y < image.height(); ++y, data+=iplTmp->widthStep)
+		{
+			for( x = 0; x < image.width(); ++x)
+			{
+				QRgb rgb = image.pixel(x, y);
+				data[x * channels+2] = qRed(rgb); //r
+				data[x * channels+1] = qGreen(rgb); //g
+				data[x * channels] = qBlue(rgb); //b
+			}
+		}
+	}
+	else
+	{
+		printf("failed to convert image : depth=%d(!=32) format=%d(!=%d)\n", image.depth(), image.format(), QImage::Format_RGB32);
+	}
+	return iplTmp;
+}

src/qtipl.h

@@ -8,6 +8,10 @@
 #include <QtGui/QImage>
 #include <opencv2/core/core.hpp>
 
+// IplImage to QImage
 QImage Ipl2QImage(const IplImage *newImage);
 
+// QImage to IplImage
+IplImage * QImage2Ipl(const QImage & image);
+
 #endif

src/ui/mainWindow.ui

@@ -153,8 +153,12 @@
     <addaction name="actionLoad_scene_from_file"/>
     <addaction name="separator"/>
     <addaction name="actionStart_camera"/>
+    <addaction name="actionPause_camera"/>
     <addaction name="actionStop_camera"/>
     <addaction name="separator"/>
+    <addaction name="actionSetup_camera_from_video_file"/>
+    <addaction name="actionSetup_camera_from_video_file_2"/>
+    <addaction name="separator"/>
     <addaction name="actionRestore_all_default_settings"/>
    </widget>
    <widget class="QMenu" name="menuView">
@@ -495,6 +499,21 @@
     <string>Load scene from file...</string>
    </property>
   </action>
+  <action name="actionPause_camera">
+   <property name="text">
+    <string>Pause camera</string>
+   </property>
+  </action>
+  <action name="actionSetup_camera_from_video_file">
+   <property name="text">
+    <string>Setup camera from video file...</string>
+   </property>
+  </action>
+  <action name="actionSetup_camera_from_video_file_2">
+   <property name="text">
+    <string>Setup camera from video file...</string>
+   </property>
+  </action>
  </widget>
  <customwidgets>
   <customwidget>