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Moved all non-gui stuff outside the GUI

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Added FindObject and ObjSignature classes
Added ULogger from utilite for pretty log

git-svn-id: http://find-object.googlecode.com/svn/trunk/find_object@356 620bd6b2-0a58-f614-fd9a-1bd335dccda9
This commit is contained in:
matlabbe
2014-07-31 19:02:31 +00:00
parent 79b4f319f1
commit 680b1740b1
33 changed files with 3364 additions and 1447 deletions
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app/CMakeLists.txt
+5
View File
@@ -5,7 +5,9 @@ SET(headers_ui
../src/MainWindow.h
../src/AddObjectDialog.h
../src/ObjWidget.h
../src/FindObject.h
../src/Camera.h
../src/CameraTcpClient.h
../src/ParametersToolBox.h
../src/AboutDialog.h
../src/TcpServer.h
@@ -43,12 +45,15 @@ SET(SRC_FILES
../src/RectItem.cpp
../src/QtOpenCV.cpp
../src/Camera.cpp
../src/CameraTcpClient.cpp
../src/ParametersToolBox.cpp
../src/Settings.cpp
../src/ObjWidget.cpp
../src/FindObject.cpp
../src/AboutDialog.cpp
../src/TcpServer.cpp
../src/Vocabulary.cpp
../src/utilite/ULogger.cpp
../src/utilite/UPlot.cpp
../src/utilite/UDirectory.cpp
../src/utilite/UFile.cpp
app/main.cpp
+109 -38
View File
@@ -3,6 +3,12 @@
#include <QtCore/QFile>
#include "MainWindow.h"
#include "Settings.h"
#include "FindObject.h"
#include "Camera.h"
#include "TcpServer.h"
#include "utilite/ULogger.h"
bool running = true;
#ifdef WIN32
#include <windows.h>
@@ -11,19 +17,47 @@ BOOL WINAPI my_handler(DWORD signal)
if (signal == CTRL_C_EVENT)
{
printf("\nCtrl-C caught! Quitting application...\n");
QApplication::quit();
QCoreApplication::quit();
}
return TRUE;
running = false;
}
#else
#include <signal.h>
void my_handler(int s)
{
printf("\nCtrl-C caught! Quitting application...\n");
QApplication::quit();
QCoreApplication::quit();
running = false;
}
inline void Sleep(unsigned int ms)
{
struct timespec req;
struct timespec rem;
req.tv_sec = ms / 1000;
req.tv_nsec = (ms - req.tv_sec * 1000) * 1000 * 1000;
nanosleep (&req, &rem);
}
#endif
void setupQuitSignal()
{
// Catch ctrl-c to close Qt
#ifdef WIN32
if (!SetConsoleCtrlHandler(my_handler, TRUE))
{
printf("\nERROR: Could not set control handler");
return 1;
}
#else
struct sigaction sigIntHandler;
sigIntHandler.sa_handler = my_handler;
sigemptyset(&sigIntHandler.sa_mask);
sigIntHandler.sa_flags = 0;
sigaction(SIGINT, &sigIntHandler, NULL);
#endif
}
void showUsage()
{
printf("\nUsage:\n"
@@ -44,9 +78,14 @@ void showUsage()
int main(int argc, char* argv[])
{
QApplication app(argc, argv);
ULogger::setType(ULogger::kTypeConsole);
ULogger::setLevel(ULogger::kInfo);
ULogger::setPrintWhere(false);
ULogger::setPrintTime(false);
// parse options
//////////////////////////
// parse options BEGIN
//////////////////////////
bool guiMode = true;
QString objectsPath = "";
QString configPath = Settings::iniDefaultPath();
@@ -65,7 +104,7 @@ int main(int argc, char* argv[])
}
if(!QDir(objectsPath).exists())
{
printf("[ERROR] Path not valid : %s\n", objectsPath.toStdString().c_str());
UERROR("Path not valid : %s", objectsPath.toStdString().c_str());
showUsage();
}
}
@@ -87,7 +126,7 @@ int main(int argc, char* argv[])
}
if(!QFile::exists(configPath))
{
printf("[ERROR] Configuration file doesn't exist : %s\n", configPath.toStdString().c_str());
UERROR("Configuration file doesn't exist : %s", configPath.toStdString().c_str());
showUsage();
}
}
@@ -107,61 +146,93 @@ int main(int argc, char* argv[])
showUsage();
}
printf("[ERROR] Unrecognized option : %s\n", argv[i]);
UERROR("Unrecognized option : %s", argv[i]);
showUsage();
}
printf("Options:\n");
printf(" GUI mode = %s\n", guiMode?"true":"false");
printf(" Objects path: \"%s\"\n", objectsPath.toStdString().c_str());
printf(" Settings path: \"%s\"\n", configPath.toStdString().c_str());
UINFO("Options:");
UINFO(" GUI mode = %s", guiMode?"true":"false");
UINFO(" Objects path: \"%s\"", objectsPath.toStdString().c_str());
UINFO(" Settings path: \"%s\"", configPath.toStdString().c_str());
//////////////////////////
// parse options END
//////////////////////////
MainWindow mainWindow(0, configPath);
// Load settings, should be loaded before creating other objects
Settings::init(configPath);
// Create FindObject
FindObject * findObject = new FindObject();
// Load objects if path is set
int objectsLoaded = 0;
if(!objectsPath.isEmpty())
{
objectsLoaded = mainWindow.loadObjects(objectsPath);
objectsLoaded = findObject->loadObjects(objectsPath);
if(!objectsLoaded)
{
printf("[WARNING] No objects loaded from \"%s\"\n", objectsPath.toStdString().c_str());
UWARN("No objects loaded from \"%s\"", objectsPath.toStdString().c_str());
}
}
if(objectsLoaded == 0 && !guiMode)
{
printf("[ERROR] In console mode, at least one object must be loaded! See -console option.\n");
showUsage();
}
if(guiMode)
{
QApplication app(argc, argv);
MainWindow mainWindow(findObject, 0); // ownership transfered
app.connect( &app, SIGNAL( lastWindowClosed() ), &app, SLOT( quit() ) );
mainWindow.show();
app.exec();
}
else
{
mainWindow.startProcessing();
}
if(!guiMode)
{
// Catch ctrl-c to close the gui
#ifdef WIN32
if (!SetConsoleCtrlHandler(my_handler, TRUE))
if(objectsLoaded == 0)
{
printf("\nERROR: Could not set control handler");
return 1;
UERROR("In console mode, at least one object must be loaded! See -console option.");
delete findObject;
showUsage();
}
#else
struct sigaction sigIntHandler;
sigIntHandler.sa_handler = my_handler;
sigemptyset(&sigIntHandler.sa_mask);
sigIntHandler.sa_flags = 0;
sigaction(SIGINT, &sigIntHandler, NULL);
#endif
QCoreApplication app(argc, argv);
Camera camera;
TcpServer tcpServer(Settings::getGeneral_port());
printf("IP: %s\nport: %d\n", tcpServer.getHostAddress().toString().toStdString().c_str(), tcpServer.getPort());
// connect stuff:
// [Camera] ---Image---> [FindObject] ---ObjectsDetected---> [TcpServer]
QObject::connect(&camera, SIGNAL(imageReceived(const cv::Mat &)), findObject, SLOT(detect(const cv::Mat &)));
QObject::connect(findObject, SIGNAL(objectsFound(QMultiMap<int,QPair<QRect,QTransform> >)), &tcpServer, SLOT(publishObjects(QMultiMap<int,QPair<QRect,QTransform> >)));
setupQuitSignal();
// start processing!
while(running && !camera.start())
{
if(Settings::getCamera_6useTcpCamera())
{
UWARN("Camera initialization failed! (with server %s:%d) Trying again in 1 second...",
Settings::getCamera_7IP().toStdString().c_str(), Settings::getCamera_8port());
Sleep(1000);
}
else
{
UERROR("Camera initialization failed!");
running = false;
}
}
if(running)
{
app.exec();
}
// cleanup
camera.stop();
delete findObject;
tcpServer.close();
}
return app.exec();
// Save settings
Settings::saveSettings();
}