apoorva/greenhouse
2
1
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Added signal when an object is detected (id + pos)

Browse Source 
git-svn-id: http://find-object.googlecode.com/svn/trunk/find_object@39 620bd6b2-0a58-f614-fd9a-1bd335dccda9
This commit is contained in:
matlabbe 2011-11-23 18:58:55 +00:00
parent 541558a57a
commit 13f493aa5c
2 changed files with 108 additions and 69 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

77
src/MainWindow.cpp
View File

@ -64,7 +64,7 @@ MainWindow::MainWindow(Camera * camera, QWidget * parent) :
// Actions
connect(ui_->actionAdd_object, SIGNAL(triggered()), this, SLOT(addObject()));
connect(ui_->actionStart_camera, SIGNAL(triggered()), this, SLOT(startCamera()));
connect(ui_->actionStop_camera, SIGNAL(triggered()), this, SLOT(stopCamera()));
connect(ui_->actionStop_camera, SIGNAL(triggered()), this, SLOT(stopProcessing()));
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()));
@ -86,11 +86,8 @@ void MainWindow::closeEvent(QCloseEvent * event)
QMainWindow::closeEvent(event);
}
void MainWindow::loadObjects()
void MainWindow::loadObjects(const QString & fileName)
{
QString fileName = QFileDialog::getOpenFileName(this, tr("Load objects..."), Settings::workingDirectory(), "*.obj");
if(!fileName.isEmpty())
{
QFile file(fileName);
file.open(QIODevice::ReadOnly);
QDataStream in(&file);
@ -118,6 +115,26 @@ void MainWindow::loadObjects()
}
}
file.close();
}
void MainWindow::saveObjects(const QString & fileName)
{
QFile file(fileName);
file.open(QIODevice::WriteOnly);
QDataStream out(&file);
for(int i=0; i<objects_.size(); ++i)
{
objects_.at(i)->save(out);
}
file.close();
}
void MainWindow::loadObjects()
{
QString fileName = QFileDialog::getOpenFileName(this, tr("Load objects..."), Settings::workingDirectory(), "*.obj");
if(!fileName.isEmpty())
{
loadObjects(fileName);
}
}
void MainWindow::saveObjects()
@ -129,15 +146,7 @@ void MainWindow::saveObjects()
{
fileName.append(".obj");//default
}
QFile file(fileName);
file.open(QIODevice::WriteOnly);
QDataStream out(&file);
for(int i=0; i<objects_.size(); ++i)
{
objects_.at(i)->save(out);
}
file.close();
saveObjects(fileName);
}
}
@ -153,7 +162,7 @@ void MainWindow::removeObject(ObjWidget * object)
void MainWindow::addObject()
{
this->stopCamera();
this->stopProcessing();
AddObjectDialog dialog(camera_, &objects_, this);
if(dialog.exec() == QDialog::Accepted)
{
@ -255,7 +264,7 @@ void MainWindow::updateData()
}
}
void MainWindow::startCamera()
void MainWindow::startProcessing()
{
if(camera_->start())
{
@ -269,7 +278,7 @@ void MainWindow::startCamera()
}
}
void MainWindow::stopCamera()
void MainWindow::stopProcessing()
{
if(camera_)
{
@ -354,11 +363,15 @@ void MainWindow::update(const cv::Mat & image)
// PROCESS RESULTS
if(this->isVisible())
{
ui_->imageView_source->setData(keypoints, cv::Mat(), &iplImage);
}
int j=0;
std::vector<cv::Point2f> mpts_1, mpts_2;
std::vector<int> indexes_1, indexes_2;
std::vector<uchar> outlier_mask;
QMap<int, QPoint> objectsPos;
for(int i=0; i<dataTree_.rows; ++i)
{
// Check if this descriptor matches with those of the objects
@ -375,7 +388,7 @@ void MainWindow::update(const cv::Mat & image)
mpts_1.push_back(objects_.at(j)->keypoints().at(i).pt);
indexes_1.push_back(i);
}
mpts_2.push_back(ui_->imageView_source->keypoints().at(results.at<int>(i,0)).pt);
mpts_2.push_back(keypoints.at(results.at<int>(i,0)).pt);
indexes_2.push_back(results.at<int>(i,0));
}
@ -406,6 +419,8 @@ void MainWindow::update(const cv::Mat & image)
// COLORIZE
if(inliers >= Settings::getHomography_minimumInliers().toInt())
{
if(this->isVisible())
{
for(unsigned int k=0; k<mpts_1.size();++k)
{
@ -419,19 +434,29 @@ void MainWindow::update(const cv::Mat & image)
objects_.at(j)->setKptColor(indexes_1.at(k), QColor(0,0,0,alpha));
}
}
}
label->setText(QString("%1 in %2 out").arg(inliers).arg(outliers));
QTransform hTransform(
H.at<double>(0,0), H.at<double>(1,0), H.at<double>(2,0),
H.at<double>(0,1), H.at<double>(1,1), H.at<double>(2,1),
H.at<double>(0,2), H.at<double>(1,2), H.at<double>(2,2));
// find center of object
QRect rect = objects_.at(j)->image().rect();
QPoint pos(rect.width()/2, rect.height()/2);
objectsPos.insert(objects_.at(j)->id(), hTransform.map(pos));
// add rectangle
if(this->isVisible())
{
label->setText(QString("%1 in %2 out").arg(inliers).arg(outliers));
QPen rectPen(color);
rectPen.setWidth(4);
QGraphicsRectItem * rectItem = new QGraphicsRectItem(objects_.at(j)->image().rect());
QGraphicsRectItem * rectItem = new QGraphicsRectItem(rect);
rectItem->setPen(rectPen);
rectItem->setTransform(hTransform);
ui_->imageView_source->addRect(rectItem);
}
}
else
{
@ -450,17 +475,25 @@ void MainWindow::update(const cv::Mat & image)
++j;
}
}
if(objectsPos.size())
{
emit objectsFound(objectsPos);
}
else
}
else if(this->isVisible())
{
ui_->imageView_source->setData(keypoints, cv::Mat(), &iplImage);
}
if(this->isVisible())
{
//Update object pictures
for(int i=0; i<objects_.size(); ++i)
{
objects_[i]->update();
}
}
ui_->label_nfeatures->setText(QString::number(keypoints.size()));
ui_->imageView_source->update();

16
src/MainWindow.h
View File

@ -26,21 +26,27 @@ public:
MainWindow(Camera * camera = 0, QWidget * parent = 0);
virtual ~MainWindow();
void loadObjects(const QString & fileName);
void saveObjects(const QString & fileName);
void startProcessing();
void stopProcessing();
protected:
virtual void closeEvent(QCloseEvent * event);
private slots:
void addObject();
void startCamera();
void stopCamera();
void loadObjects();
void saveObjects();
void update(const cv::Mat & image);
void updateData();
void removeObject(ObjWidget * object);
void update(const cv::Mat & image);
signals:
void objectsFound(const QMap<int, QPoint> &);
private:
void addObject();
void showObject(ObjWidget * obj);
void updateData();
private:
Ui_mainWindow * ui_;