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Created a library find_object for convenience

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Updated version to 0.5.0

git-svn-id: http://find-object.googlecode.com/svn/trunk/find_object@357 620bd6b2-0a58-f614-fd9a-1bd335dccda9
This commit is contained in:
matlabbe 2014-07-31 20:11:46 +00:00
parent 680b1740b1
commit 9bc7c15abc
38 changed files with 356 additions and 211 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

68
CMakeLists.txt
View File

@ -13,7 +13,7 @@ ENDIF(NOT WIN32)
#######################
# VERSION
#######################
SET(PROJECT_VERSION "0.4.6")
SET(PROJECT_VERSION "0.5.0")
ADD_DEFINITIONS(-DPROJECT_VERSION="${PROJECT_VERSION}")
STRING(REGEX MATCHALL "[0-9]" PROJECT_VERSION_PARTS "${PROJECT_VERSION}")
@ -34,11 +34,46 @@ ENDIF(${CMAKE_GENERATOR} MATCHES ".*Makefiles")
SET(CMAKE_DEBUG_POSTFIX "d")
####### Build libraries as shared or static #######
OPTION( BUILD_SHARED_LIBS "Set to OFF to build static libraries" ON )
####### SET RPATH #########
# When RPATH is activated (supported on most UNIX systems),
# the user doesn't need to change LD_LIBRARY_PATH
# use, i.e. don't skip the full RPATH for the build tree
SET(CMAKE_SKIP_BUILD_RPATH FALSE)
# when building, don't use the install RPATH already
# (but later on when installing)
SET(CMAKE_BUILD_WITH_INSTALL_RPATH FALSE)
# the RPATH to be used when installing
SET(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib/${PROJECT_PREFIX}-${PROJECT_VERSION_MAJOR}.${PROJECT_VERSION_MINOR}")
# add the automatically determined parts of the RPATH
# which point to directories outside the build tree to the install RPATH
SET(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
####### OUTPUT DIR #######
SET(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/bin)
SET(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/bin)
SET(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib)
####### INSTALL DIR #######
# Offer the user the choice of overriding the installation directories
set(INSTALL_LIB_DIR lib/${PROJECT_PREFIX}-${PROJECT_VERSION_MAJOR}.${PROJECT_VERSION_MINOR} CACHE PATH "Installation directory for libraries")
set(INSTALL_BIN_DIR bin CACHE PATH "Installation directory for executables")
set(INSTALL_INCLUDE_DIR include/${PROJECT_PREFIX}-${PROJECT_VERSION_MAJOR}.${PROJECT_VERSION_MINOR} CACHE PATH
"Installation directory for header files")
if(WIN32 AND NOT CYGWIN)
set(DEF_INSTALL_CMAKE_DIR CMake)
else()
set(DEF_INSTALL_CMAKE_DIR lib/${PROJECT_PREFIX}-${PROJECT_VERSION_MAJOR}.${PROJECT_VERSION_MINOR})
endif()
set(INSTALL_CMAKE_DIR ${DEF_INSTALL_CMAKE_DIR} CACHE PATH
"Installation directory for CMake files")
####### DEPENDENCIES #######
FIND_PACKAGE(OpenCV REQUIRED) # tested on 2.3.1
FIND_PACKAGE(Qt4 COMPONENTS QtCore QtGui QtNetwork) # tested on Qt4.7
@ -63,6 +98,7 @@ IF(APPLE AND BUILD_AS_BUNDLE)
ENDIF(APPLE AND BUILD_AS_BUNDLE)
####### SOURCES (Projects) #######
ADD_SUBDIRECTORY( src )
ADD_SUBDIRECTORY( app )
ADD_SUBDIRECTORY( example )
ADD_SUBDIRECTORY( tcpClient )
@ -82,6 +118,36 @@ CONFIGURE_FILE(
ADD_CUSTOM_TARGET(uninstall
"${CMAKE_COMMAND}" -P "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake")
#######################
# Setup FindObjectConfig.cmake
#######################
# Create the FindObjectConfig.cmake and FindObjectConfigVersion files
file(RELATIVE_PATH REL_INCLUDE_DIR "${CMAKE_INSTALL_PREFIX}/${INSTALL_CMAKE_DIR}" "${CMAKE_INSTALL_PREFIX}/${INSTALL_INCLUDE_DIR}")
file(RELATIVE_PATH REL_LIB_DIR "${CMAKE_INSTALL_PREFIX}/${INSTALL_CMAKE_DIR}" "${CMAKE_INSTALL_PREFIX}/${INSTALL_LIB_DIR}")
# ... for the build tree
set(CONF_INCLUDE_DIRS "${PROJECT_SOURCE_DIR}/include")
set(CONF_LIB_DIR "${CMAKE_ARCHIVE_OUTPUT_DIRECTORY}")
configure_file(FindObjectConfig.cmake.in
"${PROJECT_BINARY_DIR}/FindObjectConfig.cmake" @ONLY)
# ... for the install tree
set(CONF_INCLUDE_DIRS "\${FindObject_CMAKE_DIR}/${REL_INCLUDE_DIR}")
set(CONF_LIB_DIR "\${FindObject_CMAKE_DIR}/${REL_LIB_DIR}")
configure_file(FindObjectConfig.cmake.in
"${PROJECT_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/FindObjectConfig.cmake" @ONLY)
# ... for both
configure_file(FindObjectConfigVersion.cmake.in
"${PROJECT_BINARY_DIR}/FindObjectConfigVersion.cmake" @ONLY)
# Install the FindObjectConfig.cmake and FindObjectConfigVersion.cmake
install(FILES
"${PROJECT_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/FindObjectConfig.cmake"
"${PROJECT_BINARY_DIR}/FindObjectConfigVersion.cmake"
DESTINATION "${INSTALL_CMAKE_DIR}" COMPONENT devel)
####
#######################
# CPACK (Packaging)
#######################

10
FindObjectConfig.cmake.in Normal file
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@ -0,0 +1,10 @@
# - Config file for the FindObject package
# It defines the following variables
# FindObject_INCLUDE_DIRS - include directories for FindObject
# FindObject_LIBRARIES - libraries to link against
# Compute paths
get_filename_component(FindObject_CMAKE_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH)
set(FindObject_INCLUDE_DIRS "@CONF_INCLUDE_DIRS@")
find_library(FindObject_LIBRARIES NAMES find_object NO_DEFAULT_PATH HINTS "@CONF_LIB_DIR@")

11
FindObjectConfigVersion.cmake.in Normal file
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@ -0,0 +1,11 @@
set(PACKAGE_VERSION "@PROJECT_VERSION@")
# Check whether the requested PACKAGE_FIND_VERSION is compatible
if("${PACKAGE_VERSION}" VERSION_LESS "${PACKAGE_FIND_VERSION}")
set(PACKAGE_VERSION_COMPATIBLE FALSE)
else()
set(PACKAGE_VERSION_COMPATIBLE TRUE)
if ("${PACKAGE_VERSION}" VERSION_EQUAL "${PACKAGE_FIND_VERSION}")
set(PACKAGE_VERSION_EXACT TRUE)
endif()
endif()

84
app/CMakeLists.txt
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@ -1,74 +1,8 @@
### Qt Gui stuff ###
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
../src/RectItem.h
../src/utilite/UPlot.h
../src/rtabmap/PdfPlot.h
)
SET(uis
../src/ui/mainWindow.ui
../src/ui/addObjectDialog.ui
../src/ui/aboutDialog.ui
)
SET(qrc
../src/resources.qrc
)
# generate rules for building source files from the resources
QT4_ADD_RESOURCES(srcs_qrc ${qrc})
#Generate .h files from the .ui files
QT4_WRAP_UI(moc_uis ${uis})
#This will generate moc_* for Qt
QT4_WRAP_CPP(moc_srcs ${headers_ui})
### Qt Gui stuff end###
SET(SRC_FILES
./main.cpp
../src/MainWindow.cpp
../src/AddObjectDialog.cpp
../src/KeypointItem.cpp
../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
../src/utilite/UConversion.cpp
../src/rtabmap/PdfPlot.cpp
${moc_srcs}
${moc_uis}
${srcs_qrc}
)
SET(INCLUDE_DIRS
${CMAKE_CURRENT_SOURCE_DIR}/../src
${CMAKE_CURRENT_SOURCE_DIR}/../include
${CMAKE_CURRENT_SOURCE_DIR}
${OpenCV_INCLUDE_DIRS}
${CMAKE_CURRENT_BINARY_DIR} # for qt ui generated in binary dir
)
INCLUDE(${QT_USE_FILE})
@ -106,30 +40,30 @@ ENDIF(WIN32)
# create an executable file
IF(APPLE AND BUILD_AS_BUNDLE)
ADD_EXECUTABLE(find_object MACOSX_BUNDLE ${SRC_FILES})
ADD_EXECUTABLE(find_object_app MACOSX_BUNDLE main.cpp)
ELSEIF(MINGW)
ADD_EXECUTABLE(find_object WIN32 ${SRC_FILES})
ADD_EXECUTABLE(find_object_app WIN32 main.cpp)
ELSE()
ADD_EXECUTABLE(find_object ${SRC_FILES})
ADD_EXECUTABLE(find_object_app main.cpp)
ENDIF()
# Linking with Qt libraries
TARGET_LINK_LIBRARIES(find_object ${LIBRARIES})
TARGET_LINK_LIBRARIES(find_object_app find_object ${LIBRARIES})
IF(APPLE AND BUILD_AS_BUNDLE)
SET_TARGET_PROPERTIES(find_object PROPERTIES
SET_TARGET_PROPERTIES(find_object_app PROPERTIES
OUTPUT_NAME ${CMAKE_BUNDLE_NAME})
ELSEIF(WIN32)
SET_TARGET_PROPERTIES(find_object PROPERTIES
SET_TARGET_PROPERTIES(find_object_app PROPERTIES
OUTPUT_NAME ${PROJECT_NAME})
ELSE()
SET_TARGET_PROPERTIES(find_object PROPERTIES
SET_TARGET_PROPERTIES(find_object_app PROPERTIES
OUTPUT_NAME ${PROJECT_PREFIX})
ENDIF()
#---------------------------
# Installation stuff
#---------------------------
INSTALL(TARGETS find_object
INSTALL(TARGETS find_object_app
RUNTIME DESTINATION bin COMPONENT runtime
BUNDLE DESTINATION "${CMAKE_BUNDLE_LOCATION}" COMPONENT runtime)

12
app/main.cpp
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@ -1,12 +1,12 @@
#include <QtGui/QApplication>
#include <QtCore/QDir>
#include <QtCore/QFile>
#include "MainWindow.h"
#include "Settings.h"
#include "FindObject.h"
#include "Camera.h"
#include "TcpServer.h"
#include "utilite/ULogger.h"
#include "find_object/MainWindow.h"
#include "find_object/Settings.h"
#include "find_object/FindObject.h"
#include "find_object/Camera.h"
#include "find_object/TcpServer.h"
#include "find_object/utilite/ULogger.h"
bool running = true;

24
example/CMakeLists.txt
View File

@ -1,32 +1,12 @@
### Qt Gui stuff ###
SET(headers_ui
../src/ObjWidget.h
../src/Camera.h
../src/CameraTcpClient.h
)
#This will generate moc_* for Qt
QT4_WRAP_CPP(moc_srcs ${headers_ui})
### Qt Gui stuff end###
SET(SRC_FILES
main.cpp
../src/ObjWidget.cpp
../src/KeypointItem.cpp
../src/QtOpenCV.cpp
../src/Settings.cpp
../src/Camera.cpp
../src/CameraTcpClient.cpp
../src/utilite/UDirectory.cpp
../src/utilite/UFile.cpp
../src/utilite/ULogger.cpp
../src/utilite/UConversion.cpp
${moc_srcs}
)
SET(INCLUDE_DIRS
${CMAKE_CURRENT_SOURCE_DIR}
${OpenCV_INCLUDE_DIRS}
${CMAKE_CURRENT_SOURCE_DIR}/../src
${CMAKE_CURRENT_SOURCE_DIR}/../include
)
INCLUDE(${QT_USE_FILE})
@ -42,7 +22,7 @@ INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
# Add binary called "example" that is built from the source file "main.cpp".
# The extension is automatically found.
ADD_EXECUTABLE(example ${SRC_FILES})
TARGET_LINK_LIBRARIES(example ${LIBRARIES})
TARGET_LINK_LIBRARIES(example find_object ${LIBRARIES})
SET_TARGET_PROPERTIES( example
PROPERTIES OUTPUT_NAME ${PROJECT_PREFIX}-example)

6
example/main.cpp
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@ -19,9 +19,9 @@
#include <opencv2/nonfree/features2d.hpp>
#include <opencv2/calib3d/calib3d.hpp> // for homography
// From this project (see src folder)
#include "ObjWidget.h"
#include "QtOpenCV.h"
// From this project
#include "find_object/ObjWidget.h"
#include "find_object/QtOpenCV.h"
void showUsage()
{

14
imagesTcpServer/CMakeLists.txt
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@ -1,7 +1,5 @@
### Qt Gui stuff ###
SET(headers_ui
../src/Camera.h
../src/CameraTcpClient.h
ImagesTcpServer.h
)
#This will generate moc_* for Qt
@ -9,23 +7,15 @@ QT4_WRAP_CPP(moc_srcs ${headers_ui})
### Qt Gui stuff end###
SET(SRC_FILES
../src/Camera.cpp
../src/CameraTcpClient.cpp
../src/Settings.cpp
../src/QtOpenCV.cpp
../src/utilite/UDirectory.cpp
../src/utilite/UFile.cpp
../src/utilite/ULogger.cpp
../src/utilite/UConversion.cpp
ImagesTcpServer.cpp
main.cpp
${moc_srcs}
)
SET(INCLUDE_DIRS
${CMAKE_CURRENT_SOURCE_DIR}/../include
${CMAKE_CURRENT_SOURCE_DIR}
${OpenCV_INCLUDE_DIRS}
../src
)
INCLUDE(${QT_USE_FILE})
@ -41,7 +31,7 @@ INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
# Add binary called "example" that is built from the source file "main.cpp".
# The extension is automatically found.
ADD_EXECUTABLE(imagesTcpServer ${SRC_FILES})
TARGET_LINK_LIBRARIES(imagesTcpServer ${LIBRARIES})
TARGET_LINK_LIBRARIES(imagesTcpServer find_object ${LIBRARIES})
SET_TARGET_PROPERTIES( imagesTcpServer
PROPERTIES OUTPUT_NAME ${PROJECT_PREFIX}-imagesTcpServer)

5
imagesTcpServer/ImagesTcpServer.cpp
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@ -5,13 +5,14 @@
* Author: mathieu
*/
#include "find_object/Settings.h"
#include "find_object/QtOpenCV.h"
#include "ImagesTcpServer.h"
#include <QtNetwork/QNetworkInterface>
#include <QtNetwork/QTcpSocket>
#include <QtGui/QTransform>
#include "Settings.h"
#include "QtOpenCV.h"
ImagesTcpServer::ImagesTcpServer(float hz, const QString & path, QObject * parent) :
QTcpServer(parent)

2
imagesTcpServer/ImagesTcpServer.h
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@ -8,7 +8,7 @@
#ifndef TCPCLIENT_H_
#define TCPCLIENT_H_
#include "Camera.h"
#include "find_object/Camera.h"
#include <QtNetwork/QTcpServer>
class ImagesTcpServer : public QTcpServer

9
src/Camera.h → include/find_object/Camera.h
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@ -5,13 +5,16 @@
#ifndef CAMERA_H_
#define CAMERA_H_
#include "find_object/FindObjectExp.h" // DLL export/import defines
#include <opencv2/highgui/highgui.hpp>
#include <QtCore/QObject>
#include <QtCore/QTimer>
#include <QtGui/QImage>
#include "CameraTcpClient.h"
class Camera : public QObject {
class CameraTcpClient;
class FINDOBJECT_EXP Camera : public QObject {
Q_OBJECT
public:
Camera(QObject * parent = 0);
@ -42,7 +45,7 @@ private:
QTimer cameraTimer_;
QList<std::string> images_;
unsigned int currentImageIndex_;
CameraTcpClient cameraTcpClient_;
CameraTcpClient * cameraTcpClient_;
};
#endif /* CAMERA_H_ */

4
src/FindObject.h → include/find_object/FindObject.h
View File

@ -8,6 +8,8 @@
#ifndef FINDOBJECT_H_
#define FINDOBJECT_H_
#include "find_object/FindObjectExp.h" // DLL export/import defines
#include <QtCore/QObject>
#include <QtCore/QString>
#include <QtCore/QMap>
@ -24,7 +26,7 @@ class Vocabulary;
class KeypointDetector;
class DescriptorExtractor;
class FindObject : public QObject
class FINDOBJECT_EXP FindObject : public QObject
{
Q_OBJECT;

33
include/find_object/FindObjectExp.h Normal file
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@ -0,0 +1,33 @@
/*
* Copyright (C) 2010-2011, Mathieu Labbe and IntRoLab - Universite de Sherbrooke
*
* This file is part of RTAB-Map.
*
* RTAB-Map is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* RTAB-Map is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with RTAB-Map. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef FINDOBJECTEXP_H
#define FINDOBJECTEXP_H
#if defined(_WIN32)
#if defined(find_object_EXPORTS)
#define FINDOBJECT_EXP __declspec( dllexport )
#else
#define FINDOBJECT_EXP __declspec( dllimport )
#endif
#else
#define FINDOBJECT_EXP
#endif
#endif // RTABMAPEXP_H

4
src/MainWindow.h → include/find_object/MainWindow.h
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@ -5,6 +5,8 @@
#ifndef MAINWINDOW_H_
#define MAINWINDOW_H_
#include "find_object/FindObjectExp.h" // DLL export/import defines
#include <QtGui/QMainWindow>
#include <QtCore/QSet>
#include <QtCore/QTimer>
@ -31,7 +33,7 @@ namespace rtabmap
class PdfPlotCurve;
}
class MainWindow : public QMainWindow
class FINDOBJECT_EXP MainWindow : public QMainWindow
{
Q_OBJECT

4
src/ObjWidget.h → include/find_object/ObjWidget.h
View File

@ -5,6 +5,8 @@
#ifndef OBJWIDGET_H_
#define OBJWIDGET_H_
#include "find_object/FindObjectExp.h" // DLL export/import defines
#include <opencv2/features2d/features2d.hpp>
#include <QtGui/QWidget>
#include <QtCore/QMultiMap>
@ -19,7 +21,7 @@ class QGraphicsRectItem;
class QGraphicsItem;
class QLabel;
class ObjWidget : public QWidget
class FINDOBJECT_EXP ObjWidget : public QWidget
{
Q_OBJECT

25
include/find_object/QtOpenCV.h Normal file
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@ -0,0 +1,25 @@
/*
* Copyright (C) 2011, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
*/
#ifndef QTOPENCV_H
#define QTOPENCV_H
#include "find_object/FindObjectExp.h" // DLL export/import defines
#include <QtGui/QImage>
#include <opencv2/core/core.hpp>
// Convert OpenCV matrix to QImage
QImage FINDOBJECT_EXP cvtCvMat2QImage(const cv::Mat & image, bool isBgr = true);
// Convert QImage to OpenCV matrix
cv::Mat FINDOBJECT_EXP cvtQImage2CvMat(const QImage & image);
// Convert IplImage to QImage
QImage FINDOBJECT_EXP cvtIplImage2QImage(const IplImage * image);
// Convert QImage to IplImage
IplImage * FINDOBJECT_EXP cvtQImage2IplImage(const QImage & image);
#endif // QTOPENCV_H

4
src/Settings.h → include/find_object/Settings.h
View File

@ -5,6 +5,8 @@
#ifndef SETTINGS_H_
#define SETTINGS_H_
#include "find_object/FindObjectExp.h" // DLL export/import defines
#include <QtCore/QMap>
#include <QtCore/QVariant>
#include <QtCore/QByteArray>
@ -55,7 +57,7 @@ typedef unsigned int uint;
Dummy##PREFIX##_##NAME dummy##PREFIX##_##NAME;
// MACRO END
class Settings
class FINDOBJECT_EXP Settings
{
PARAMETER(Camera, 1deviceId, int, 0, "Device ID (default 0).");
PARAMETER(Camera, 2imageWidth, int, 640, "Image width (0 means default width from camera).");

4
src/TcpServer.h → include/find_object/TcpServer.h
View File

@ -8,11 +8,13 @@
#ifndef TCPSERVER_H_
#define TCPSERVER_H_
#include "find_object/FindObjectExp.h" // DLL export/import defines
#include <QtNetwork/QTcpServer>
class QNetworkSession;
class TcpServer : public QTcpServer
class FINDOBJECT_EXP TcpServer : public QTcpServer
{
Q_OBJECT

0
src/utilite/UDestroyer.h → include/find_object/utilite/UDestroyer.h
View File

8
src/utilite/ULogger.h → include/find_object/utilite/ULogger.h
View File

@ -20,10 +20,10 @@
#ifndef ULOGGER_H
#define ULOGGER_H
//#include "utilite/UtiLiteExp.h" // DLL export/import defines
#include "find_object/FindObjectExp.h" // DLL export/import defines
#include "utilite/UMutex.h"
#include "utilite/UDestroyer.h"
#include "find_object/utilite/UMutex.h"
#include "find_object/utilite/UDestroyer.h"
#include <stdio.h>
#include <time.h>
@ -190,7 +190,7 @@
* @see UDEBUG(), UINFO(), UWARN(), UERROR(), UFATAL()
*
*/
class ULogger
class FINDOBJECT_EXP ULogger
{
public:

2
src/utilite/UMutex.h → include/find_object/utilite/UMutex.h
View File

@ -23,7 +23,7 @@
#include <errno.h>
#ifdef WIN32
#include "utilite/UWin32.h"
#include "find_object/utilite/UWin32.h"
#else
#include <pthread.h>
#endif

2
src/utilite/UWin32.h → include/find_object/utilite/UWin32.h
View File

@ -9,8 +9,6 @@
#ifndef _U_Win32_
#define _U_Win32_
#include "utilite/UtiLiteExp.h"
#if !defined(_WINDOWS_)
// WIN32 Excludes
#ifdef WIN32_LEAN_AND_MEAN

11
src/AddObjectDialog.cpp
View File

@ -2,15 +2,16 @@
* Copyright (C) 2011, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
*/
#include "find_object/Camera.h"
#include "find_object/Settings.h"
#include "find_object/utilite/ULogger.h"
#include "find_object/ObjWidget.h"
#include "find_object/QtOpenCV.h"
#include "AddObjectDialog.h"
#include "ui_addObjectDialog.h"
#include "ObjWidget.h"
#include "KeypointItem.h"
#include "Camera.h"
#include "QtOpenCV.h"
#include "Settings.h"
#include "ObjSignature.h"
#include "utilite/ULogger.h"
#include <stdio.h>

95
src/CMakeLists.txt Normal file
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@ -0,0 +1,95 @@
### Qt Gui stuff ###
SET(headers_ui
../include/${PROJECT_PREFIX}/MainWindow.h
../include/${PROJECT_PREFIX}/FindObject.h
../include/${PROJECT_PREFIX}/Camera.h
../include/${PROJECT_PREFIX}/TcpServer.h
../include/${PROJECT_PREFIX}/ObjWidget.h
./AddObjectDialog.h
./CameraTcpClient.h
./ParametersToolBox.h
./AboutDialog.h
./RectItem.h
./rtabmap/PdfPlot.h
./utilite/UPlot.h
)
SET(uis
./ui/mainWindow.ui
./ui/addObjectDialog.ui
./ui/aboutDialog.ui
)
SET(qrc
./resources.qrc
)
# generate rules for building source files from the resources
QT4_ADD_RESOURCES(srcs_qrc ${qrc})
#Generate .h files from the .ui files
QT4_WRAP_UI(moc_uis ${uis})
#This will generate moc_* for Qt
QT4_WRAP_CPP(moc_srcs ${headers_ui})
### Qt Gui stuff end###
SET(SRC_FILES
./MainWindow.cpp
./AddObjectDialog.cpp
./KeypointItem.cpp
./RectItem.cpp
./QtOpenCV.cpp
./Camera.cpp
./CameraTcpClient.cpp
./ParametersToolBox.cpp
./Settings.cpp
./ObjWidget.cpp
./FindObject.cpp
./AboutDialog.cpp
./TcpServer.cpp
./Vocabulary.cpp
./utilite/ULogger.cpp
./utilite/UPlot.cpp
./utilite/UDirectory.cpp
./utilite/UFile.cpp
./utilite/UConversion.cpp
./rtabmap/PdfPlot.cpp
${moc_srcs}
${moc_uis}
${srcs_qrc}
)
SET(INCLUDE_DIRS
${CMAKE_CURRENT_SOURCE_DIR}/../include
${CMAKE_CURRENT_SOURCE_DIR}
${OpenCV_INCLUDE_DIRS}
${CMAKE_CURRENT_BINARY_DIR} # for qt ui generated in binary dir
)
INCLUDE(${QT_USE_FILE})
SET(LIBRARIES
${QT_LIBRARIES}
${OpenCV_LIBS}
)
#include files
INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
# create a library from the source files
ADD_LIBRARY(find_object ${SRC_FILES})
# Linking with Qt libraries
TARGET_LINK_LIBRARIES(find_object ${LIBRARIES})
INSTALL(TARGETS find_object
RUNTIME DESTINATION "${INSTALL_BIN_DIR}" COMPONENT runtime
LIBRARY DESTINATION "${INSTALL_LIB_DIR}" COMPONENT devel
ARCHIVE DESTINATION "${INSTALL_LIB_DIR}" COMPONENT devel)
install(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/../include/ DESTINATION "${INSTALL_INCLUDE_DIR}" COMPONENT devel FILES_MATCHING PATTERN "*.h" PATTERN ".svn" EXCLUDE)

39
src/Camera.cpp
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@ -2,18 +2,21 @@
* Copyright (C) 2011, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
*/
#include "Camera.h"
#include "find_object/Camera.h"
#include "find_object/Settings.h"
#include "find_object/utilite/ULogger.h"
#include "find_object/QtOpenCV.h"
#include <stdio.h>
#include <opencv2/imgproc/imgproc.hpp>
#include "Settings.h"
#include <QtCore/QFile>
#include "utilite/UDirectory.h"
#include "utilite/ULogger.h"
#include "QtOpenCV.h"
#include "CameraTcpClient.h"
Camera::Camera(QObject * parent) :
QObject(parent),
currentImageIndex_(0)
currentImageIndex_(0),
cameraTcpClient_(new CameraTcpClient(this))
{
qRegisterMetaType<cv::Mat>("cv::Mat");
connect(&cameraTimer_, SIGNAL(timeout()), this, SLOT(takeImage()));
@ -30,7 +33,7 @@ void Camera::stop()
capture_.release();
images_.clear();
currentImageIndex_ = 0;
cameraTcpClient_.close();
cameraTcpClient_->close();
}
void Camera::pause()
@ -92,24 +95,24 @@ void Camera::takeImage()
}
else
{
img = cameraTcpClient_.getImage();
if(cameraTcpClient_.imagesBuffered() > 0 && Settings::getCamera_9queueSize() == 0)
img = cameraTcpClient_->getImage();
if(cameraTcpClient_->imagesBuffered() > 0 && Settings::getCamera_9queueSize() == 0)
{
UWARN("%d images buffered so far...", cameraTcpClient_.imagesBuffered());
UWARN("%d images buffered so far...", cameraTcpClient_->imagesBuffered());
}
while(img.empty() && cameraTcpClient_.waitForReadyRead())
while(img.empty() && cameraTcpClient_->waitForReadyRead())
{
img = cameraTcpClient_.getImage();
img = cameraTcpClient_->getImage();
}
if(img.empty())
{
if(!cameraTcpClient_.waitForConnected())
if(!cameraTcpClient_->waitForConnected())
{
UWARN("Connection is lost, trying to reconnect to server (%s:%d)... (at the rate of the camera: %d ms)",
Settings::getCamera_7IP().toStdString().c_str(),
Settings::getCamera_8port(),
cameraTimer_.interval());
cameraTcpClient_.connectToHost(Settings::getCamera_7IP(), Settings::getCamera_8port());
cameraTcpClient_->connectToHost(Settings::getCamera_7IP(), Settings::getCamera_8port());
}
}
}
@ -143,17 +146,17 @@ void Camera::takeImage()
bool Camera::start()
{
if(!capture_.isOpened() && images_.empty() && !cameraTcpClient_.isOpen())
if(!capture_.isOpened() && images_.empty() && !cameraTcpClient_->isOpen())
{
if(Settings::getCamera_6useTcpCamera())
{
cameraTcpClient_.connectToHost(Settings::getCamera_7IP(), Settings::getCamera_8port());
if(!cameraTcpClient_.waitForConnected())
cameraTcpClient_->connectToHost(Settings::getCamera_7IP(), Settings::getCamera_8port());
if(!cameraTcpClient_->waitForConnected())
{
UWARN("Camera: Cannot connect to server \"%s:%d\"",
Settings::getCamera_7IP().toStdString().c_str(),
Settings::getCamera_8port());
cameraTcpClient_.close();
cameraTcpClient_->close();
}
}
else
@ -212,7 +215,7 @@ bool Camera::start()
}
}
}
if(!capture_.isOpened() && images_.empty() && !cameraTcpClient_.isOpen())
if(!capture_.isOpened() && images_.empty() && !cameraTcpClient_->isOpen())
{
UERROR("Camera: Failed to open a capture object!");
return false;

5
src/CameraTcpClient.cpp
View File

@ -5,9 +5,10 @@
* Author: mathieu
*/
#include "find_object/Settings.h"
#include "find_object/utilite/ULogger.h"
#include "CameraTcpClient.h"
#include "Settings.h"
#include "utilite/ULogger.h"
CameraTcpClient::CameraTcpClient(QObject *parent) :
QTcpSocket(parent),

7
src/FindObject.cpp
View File

@ -5,11 +5,12 @@
* Author: mathieu
*/
#include "FindObject.h"
#include "find_object/FindObject.h"
#include "find_object/Settings.h"
#include "find_object/utilite/ULogger.h"
#include "ObjSignature.h"
#include "Settings.h"
#include "utilite/UDirectory.h"
#include "utilite/ULogger.h"
#include "Vocabulary.h"
#include <QtCore/QThread>

17
src/MainWindow.cpp
View File

@ -2,21 +2,23 @@
* Copyright (C) 2011, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
*/
#include "MainWindow.h"
#include "find_object/MainWindow.h"
#include "find_object/Camera.h"
#include "find_object/Settings.h"
#include "find_object/TcpServer.h"
#include "find_object/FindObject.h"
#include "find_object/utilite/ULogger.h"
#include "find_object/ObjWidget.h"
#include "find_object/QtOpenCV.h"
#include "AddObjectDialog.h"
#include "ui_mainWindow.h"
#include "QtOpenCV.h"
#include "KeypointItem.h"
#include "RectItem.h"
#include "ObjWidget.h"
#include "Camera.h"
#include "Settings.h"
#include "ParametersToolBox.h"
#include "AboutDialog.h"
#include "TcpServer.h"
#include "rtabmap/PdfPlot.h"
#include "Vocabulary.h"
#include "FindObject.h"
#include "ObjSignature.h"
#include <iostream>
@ -44,7 +46,6 @@
#include <QtGui/QInputDialog>
#include "utilite/UDirectory.h"
#include "utilite/ULogger.h"
// Camera ownership transferred
MainWindow::MainWindow(FindObject * findObject, Camera * camera, QWidget * parent) :

9
src/ObjWidget.cpp
View File

@ -2,11 +2,12 @@
* Copyright (C) 2011, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
*/
#include "ObjWidget.h"
#include "find_object/Settings.h"
#include "find_object/utilite/ULogger.h"
#include "find_object/ObjWidget.h"
#include "find_object/QtOpenCV.h"
#include "KeypointItem.h"
#include "QtOpenCV.h"
#include "Settings.h"
#include "utilite/ULogger.h"
#include <opencv2/highgui/highgui.hpp>

3
src/ParametersToolBox.cpp
View File

@ -2,8 +2,9 @@
* Copyright (C) 2011, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
*/
#include "find_object/Settings.h"
#include "ParametersToolBox.h"
#include "Settings.h"
#include <QtGui/QComboBox>
#include <QtGui/QDoubleSpinBox>
#include <QtGui/QLineEdit>

2
src/QtOpenCV.cpp
View File

@ -2,7 +2,7 @@
* Copyright (C) 2011, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
*/
#include "QtOpenCV.h"
#include "find_object/QtOpenCV.h"
#include <opencv2/core/core_c.h>
#include <stdio.h>

23
src/QtOpenCV.h
View File

@ -1,23 +0,0 @@
/*
* Copyright (C) 2011, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
*/
#ifndef QTOPENCV_H
#define QTOPENCV_H
#include <QtGui/QImage>
#include <opencv2/core/core.hpp>
// Convert OpenCV matrix to QImage
QImage cvtCvMat2QImage(const cv::Mat & image, bool isBgr = true);
// Convert QImage to OpenCV matrix
cv::Mat cvtQImage2CvMat(const QImage & image);
// Convert IplImage to QImage
QImage cvtIplImage2QImage(const IplImage * image);
// Convert QImage to IplImage
IplImage * cvtQImage2IplImage(const QImage & image);
#endif // QTOPENCV_H

7
src/Settings.cpp
View File

@ -2,9 +2,10 @@
* Copyright (C) 2011, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
*/
#include "Settings.h"
#include "Camera.h"
#include "utilite/ULogger.h"
#include "find_object/Camera.h"
#include "find_object/Settings.h"
#include "find_object/utilite/ULogger.h"
#include <QtCore/QSettings>
#include <QtCore/QStringList>
#include <QtCore/QDir>

4
src/TcpServer.cpp
View File

@ -5,8 +5,8 @@
* Author: mathieu
*/
#include "TcpServer.h"
#include "utilite/ULogger.h"
#include "find_object/TcpServer.h"
#include "find_object/utilite/ULogger.h"
#include <QtNetwork/QNetworkInterface>
#include <QtNetwork/QTcpSocket>

3
src/Vocabulary.cpp
View File

@ -5,8 +5,9 @@
* Author: mathieu
*/
#include "find_object/Settings.h"
#include "Vocabulary.h"
#include "Settings.h"
#include <QtCore/QVector>
#include <stdio.h>

2
src/ui/addObjectDialog.ui
View File

@ -100,7 +100,7 @@
<customwidget>
<class>ObjWidget</class>
<extends>QWidget</extends>
<header>ObjWidget.h</header>
<header>find_object/ObjWidget.h</header>
<container>1</container>
</customwidget>
</customwidgets>

2
src/ui/mainWindow.ui
View File

@ -775,7 +775,7 @@
<customwidget>
<class>ObjWidget</class>
<extends>QWidget</extends>
<header>ObjWidget.h</header>
<header>find_object/ObjWidget.h</header>
<container>1</container>
</customwidget>
<customwidget>

3
src/utilite/ULogger.cpp
View File

@ -17,7 +17,8 @@
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "utilite/ULogger.h"
#include "find_object/utilite/ULogger.h"
#include "utilite/UConversion.h"
#include "utilite/UFile.h"
#include "utilite/UStl.h"