New camera interface using signals/slots (for ROS nodes)

git-svn-id: http://find-object.googlecode.com/svn/trunk/find_object@34 620bd6b2-0a58-f614-fd9a-1bd335dccda9

src/AddObjectDialog.cpp

@@ -5,6 +5,7 @@
 #include "KeypointItem.h"
 #include "Camera.h"
 #include "qtipl.h"
+#include "Settings.h"
 
 #include <stdio.h>
 
@@ -15,19 +16,15 @@
 #include <opencv2/imgproc/imgproc_c.h>
 #include <opencv2/highgui/highgui_c.h>
 
-AddObjectDialog::AddObjectDialog(QList<ObjWidget*> * objects, QWidget * parent, Qt::WindowFlags f) :
+AddObjectDialog::AddObjectDialog(Camera * camera, QList<ObjWidget*> * objects, QWidget * parent, Qt::WindowFlags f) :
 		QDialog(parent, f),
-		camera_(0),
+		camera_(camera),
 		objects_(objects),
 		cvImage_(0)
 {
 	ui_ = new Ui_addObjectDialog();
 	ui_->setupUi(this);
 
-	camera_ = Settings::createCamera();
-
-	connect(&cameraTimer_, SIGNAL(timeout()), this, SLOT(update()));
-
 	connect(ui_->pushButton_cancel, SIGNAL(clicked()), this, SLOT(cancel()));
 	connect(ui_->pushButton_back, SIGNAL(clicked()), this, SLOT(back()));
 	connect(ui_->pushButton_next, SIGNAL(clicked()), this, SLOT(next()));
@@ -44,15 +41,12 @@ AddObjectDialog::~AddObjectDialog()
 	{
 		cvReleaseImage(&cvImage_);
 	}
-	if(camera_)
-	{
-		delete camera_;
-	}
 	delete ui_;
 }
 
 void AddObjectDialog::closeEvent(QCloseEvent* event)
 {
+	disconnect(camera_, SIGNAL(imageReceived(const cv::Mat &)), this, SLOT(update(const cv::Mat &)));
 	QDialog::closeEvent(event);
 }
 
@@ -102,20 +96,20 @@ void AddObjectDialog::setState(int state)
 		ui_->cameraView->setVisible(true);
 		ui_->objectView->setVisible(false);
 		ui_->cameraView->setGraphicsViewMode(false);
-		if(!camera_->init())
+		if(!camera_ || !camera_->start())
 		{
-			QMessageBox::critical(this, tr("Camera error"), tr("Camera initialization failed! (with device %1)").arg(Settings::getCamera_deviceId().toInt()));
+			QMessageBox::critical(this, tr("Camera error"), tr("Camera is not started!"));
 			ui_->pushButton_takePicture->setEnabled(false);
 		}
 		else
 		{
-			cameraTimer_.start(1000/Settings::getCamera_imageRate().toInt());
+			connect(camera_, SIGNAL(imageReceived(const cv::Mat &)), this, SLOT(update(const cv::Mat &)));
 		}
 	}
 	else if(state == kSelectFeatures)
 	{
-		cameraTimer_.stop();
+		disconnect(camera_, SIGNAL(imageReceived(const cv::Mat &)), this, SLOT(update(const cv::Mat &)));
-		camera_->close();
+		camera_->stop();
 
 		ui_->pushButton_cancel->setEnabled(true);
 		ui_->pushButton_back->setEnabled(true);
@@ -130,8 +124,8 @@ void AddObjectDialog::setState(int state)
 	}
 	else if(state == kVerifySelection)
 	{
-		cameraTimer_.stop();
+		disconnect(camera_, SIGNAL(imageReceived(const cv::Mat &)), this, SLOT(update(const cv::Mat &)));
-		camera_->close();
+		camera_->stop();
 
 		ui_->pushButton_cancel->setEnabled(true);
 		ui_->pushButton_back->setEnabled(true);
@@ -204,14 +198,15 @@ void AddObjectDialog::setState(int state)
 	}
 }
 
-void AddObjectDialog::update()
+void AddObjectDialog::update(const cv::Mat & image)
 {
 	if(cvImage_)
 	{
 		cvReleaseImage(&cvImage_);
 		cvImage_ = 0;
 	}
-	cvImage_ = camera_->takeImage();
+	IplImage iplImage = image;
+	cvImage_ = cvCloneImage(& iplImage);
 	if(cvImage_)
 	{
 		// convert to grayscale

src/AddObjectDialog.h

@@ -16,11 +16,11 @@ class AddObjectDialog : public QDialog {
 	Q_OBJECT
 
 public:
-	AddObjectDialog(QList<ObjWidget*> * objects, QWidget * parent = 0, Qt::WindowFlags f = 0);
+	AddObjectDialog(Camera * camera, QList<ObjWidget*> * objects, QWidget * parent = 0, Qt::WindowFlags f = 0);
 	virtual ~AddObjectDialog();
 
 private slots:
-	void update();
+	void update(const cv::Mat &);
 	void next();
 	void back();
 	void cancel();
@@ -36,7 +36,6 @@ private:
 private:
 	Ui_addObjectDialog * ui_;
 	Camera * camera_;
-	QTimer cameraTimer_;
 	QList<ObjWidget*> * objects_;
 	IplImage * cvImage_;
 

src/Camera.cpp

@@ -8,45 +8,23 @@
 #include "Camera.h"
 #include <stdio.h>
 #include <opencv2/imgproc/imgproc_c.h>
+#include "Settings.h"
 
-Camera::Camera(int deviceId,
+Camera::Camera(QObject * parent) :
-		int imageWidth,
-		int imageHeight,
-		QObject * parent) :
 	QObject(parent),
-	capture_(0),
+	capture_(0)
-	deviceId_(deviceId),
-	imageWidth_(imageWidth),
-	imageHeight_(imageHeight)
 {
+	connect(&cameraTimer_, SIGNAL(timeout()), this, SLOT(takeImage()));
 }
 
 Camera::~Camera()
 {
-	this->close();
+	this->stop();
 }
 
-bool Camera::init()
+void Camera::stop()
-{
-	if(!capture_)
-	{
-		capture_ = cvCaptureFromCAM(deviceId_);
-		if(capture_)
-		{
-			cvSetCaptureProperty(capture_, CV_CAP_PROP_FRAME_WIDTH, double(imageWidth_));
-			cvSetCaptureProperty(capture_, CV_CAP_PROP_FRAME_HEIGHT, double(imageHeight_));
-		}
-	}
-	if(!capture_)
-	{
-		printf("Failed to create a capture object!\n");
-		return false;
-	}
-	return true;
-}
-
-void Camera::close()
 {
+	cameraTimer_.stop();
 	if(capture_)
 	{
 		cvReleaseCapture(&capture_);
@@ -54,11 +32,11 @@ void Camera::close()
 	}
 }
 
-IplImage * Camera::takeImage()
+void Camera::takeImage()
 {
-	IplImage * img = 0;
 	if(capture_)
 	{
+		IplImage * img = 0;
 		if(cvGrabFrame(capture_)) // capture a frame
 		{
 			img = cvRetrieveFrame(capture_); // retrieve the captured frame
@@ -67,29 +45,57 @@ IplImage * Camera::takeImage()
 		{
 			printf("CameraVideo: Could not grab a frame, the end of the feed may be reached...\n");
 		}
-	}
 
 		//resize
 		if(img &&
-		imageWidth_ &&
+			Settings::getCamera_imageWidth().toInt() &&
-		imageHeight_ &&
+			Settings::getCamera_imageHeight().toInt() &&
-		imageWidth_ != (unsigned int)img->width &&
+			Settings::getCamera_imageWidth().toInt() != (unsigned int)img->width &&
-		imageHeight_ != (unsigned int)img->height)
+			Settings::getCamera_imageHeight().toInt() != (unsigned int)img->height)
 		{
 			// declare a destination IplImage object with correct size, depth and channels
-		IplImage * resampledImg = cvCreateImage( cvSize(imageWidth_, imageHeight_),
+			cv::Mat imgMat(cvSize(Settings::getCamera_imageWidth().toInt(), Settings::getCamera_imageHeight().toInt()),
 						   img->depth,
 						   img->nChannels );
 
 			//use cvResize to resize source to a destination image (linear interpolation)
-		cvResize(img, resampledImg);
+			IplImage resampledImg = imgMat;
-		img = resampledImg;
+			cvResize(img, &resampledImg);
+			emit imageReceived(imgMat);
 		}
-	else if(img)
+		else
 		{
-		img = cvCloneImage(img);
+			emit imageReceived(cv::Mat(img, true));
+		}
+	}
 }
 
-	return img;
+bool Camera::start()
+{
+	if(!capture_)
+	{
+		if(!capture_)
+		{
+			capture_ = cvCaptureFromCAM(Settings::getCamera_deviceId().toInt());
+			if(capture_)
+			{
+				cvSetCaptureProperty(capture_, CV_CAP_PROP_FRAME_WIDTH, double(Settings::getCamera_imageWidth().toInt()));
+				cvSetCaptureProperty(capture_, CV_CAP_PROP_FRAME_HEIGHT, double(Settings::getCamera_imageHeight().toInt()));
+			}
+		}
+		if(!capture_)
+		{
+			printf("Failed to create a capture object!\n");
+			return false;
+		}
+	}
+
+	cameraTimer_.start(1000/Settings::getCamera_imageRate().toInt());
+	return true;
+}
+
+void Camera::updateImageRate()
+{
+	cameraTimer_.setInterval(1000/Settings::getCamera_imageRate().toInt());
 }
 

src/Camera.h

@@ -10,38 +10,29 @@
 
 #include <opencv2/highgui/highgui.hpp>
 #include <QtCore/QObject>
-#include "Settings.h"
+#include <QtCore/QTimer>
 
 class Camera : public QObject {
 	Q_OBJECT
 public:
-	Camera(int deviceId = Settings::defaultCamera_deviceId(),
+	Camera(QObject * parent = 0);
-			int width = Settings::defaultCamera_imageWidth(),
-			int height = Settings::defaultCamera_imageHeight(),
-			QObject * parent = 0);
 	virtual ~Camera();
 
-	void setDeviceId(int deviceId) {deviceId_=deviceId;}
+	virtual bool start();
-	void setImageWidth(int imageWidth) {imageWidth_=imageWidth;}
+	virtual void stop();
-	void setImageHeight(int imageHeight) {imageHeight_=imageHeight;}
-
-	int getDeviceId() const {return deviceId_;}
-	int getImageWidth() const {return imageWidth_;}
-	int getImageHeight() const {return imageHeight_;}
 
 signals:
-	void ready();
+	void imageReceived(const cv::Mat & image);
 
-public:
+public slots:
-	bool init();
+	void updateImageRate();
-	void close();
+
-	IplImage * takeImage();
+private slots:
+	void takeImage();
 
 private:
 	CvCapture * capture_;
-	int deviceId_;
+	QTimer cameraTimer_;
-	int imageWidth_;
-	int imageHeight_;
 };
 
 #endif /* CAMERA_H_ */

src/MainWindow.cpp

@@ -21,21 +21,34 @@
 #include <QtGui/QMessageBox>
 #include <QtGui/QGraphicsScene>
 #include <QtGui/QGraphicsRectItem>
+#include <QtGui/QSpinBox>
 
-MainWindow::MainWindow(QWidget * parent) :
+// Camera ownership transferred
+MainWindow::MainWindow(Camera * camera, QWidget * parent) :
 	QMainWindow(parent),
-	camera_(0)
+	camera_(camera)
 {
 	ui_ = new Ui_mainWindow();
 	ui_->setupUi(this);
 
-	connect(&cameraTimer_, SIGNAL(timeout()), this, SLOT(update()));
+	if(!camera_)
+	{
+		camera_ = new Camera(this);
+	}
+	else
+	{
+		camera_->setParent(this);
+	}
 
 	QByteArray geometry;
 	Settings::loadSettings(Settings::iniDefaultPath(), &geometry);
 	this->restoreGeometry(geometry);
 
 	ui_->toolBox->setupUi();
+	connect((QSpinBox*)ui_->toolBox->getParameterWidget(Settings::kCamera_imageRate()),
+			SIGNAL(editingFinished()),
+			camera_,
+			SLOT(updateImageRate()));
 	ui_->dockWidget_parameters->hide();
 	ui_->menuView->addAction(ui_->dockWidget_parameters->toggleViewAction());
 	ui_->menuView->addAction(ui_->dockWidget_objects->toggleViewAction());
@@ -59,12 +72,8 @@ MainWindow::MainWindow(QWidget * parent) :
 
 MainWindow::~MainWindow()
 {
-	this->stopCamera();
+	disconnect(camera_, SIGNAL(imageReceived(const cv::Mat &)), this, SLOT(update(const cv::Mat &)));
-	if(camera_)
+	camera_->stop();
-	{
-		delete camera_;
-		camera_ = 0;
-	}
 	dataTree_ = cv::Mat();
 	qDeleteAll(objects_.begin(), objects_.end());
 	objects_.clear();
@@ -145,7 +154,7 @@ void MainWindow::removeObject(ObjWidget * object)
 void MainWindow::addObject()
 {
 	this->stopCamera();
-	AddObjectDialog dialog(&objects_, this);
+	AddObjectDialog dialog(camera_, &objects_, this);
 	if(dialog.exec() == QDialog::Accepted)
 	{
 		showObject(objects_.last());
@@ -248,16 +257,9 @@ void MainWindow::updateData()
 
 void MainWindow::startCamera()
 {
-	if(camera_)
+	if(camera_->start())
 	{
-		camera_->close();
+		connect(camera_, SIGNAL(imageReceived(const cv::Mat &)), this, SLOT(update(const cv::Mat &)));
-		delete camera_;
-	}
-	camera_ = Settings::createCamera();
-	connect(camera_, SIGNAL(ready()), this, SLOT(update()));
-	if(camera_->init())
-	{
-		cameraTimer_.start(1000/Settings::getCamera_imageRate().toInt());
 		ui_->actionStop_camera->setEnabled(true);
 		ui_->actionStart_camera->setEnabled(false);
 	}
@@ -271,16 +273,14 @@ void MainWindow::stopCamera()
 {
 	if(camera_)
 	{
-		cameraTimer_.stop();
+		disconnect(camera_, SIGNAL(imageReceived(const cv::Mat &)), this, SLOT(update(const cv::Mat &)));
-		camera_->close();
+		camera_->stop();
-		delete camera_;
-		camera_ = 0;
 	}
 	ui_->actionStop_camera->setEnabled(false);
 	ui_->actionStart_camera->setEnabled(true);
 }
 
-void MainWindow::update()
+void MainWindow::update(const cv::Mat & image)
 {
 	// reset objects color
 	for(int i=0; i<objects_.size(); ++i)
@@ -288,20 +288,19 @@ void MainWindow::update()
 		objects_[i]->resetKptsColor();
 	}
 
-	if(camera_)
+	if(!image.empty())
-	{
-		IplImage * cvImage = camera_->takeImage();
-		if(cvImage)
 	{
+		IplImage iplImage = image;
+
 		QTime time;
 		time.start();
 
 		//Convert to grayscale
 		IplImage * imageGrayScale = 0;
-			if(cvImage->nChannels != 1 || cvImage->depth != IPL_DEPTH_8U)
+		if(iplImage.nChannels != 1 || iplImage.depth != IPL_DEPTH_8U)
 		{
-				imageGrayScale = cvCreateImage(cvSize(cvImage->width,cvImage->height), IPL_DEPTH_8U, 1);
+			imageGrayScale = cvCreateImage(cvSize(iplImage.width,iplImage.height), IPL_DEPTH_8U, 1);
-				cvCvtColor(cvImage, imageGrayScale, CV_BGR2GRAY);
+			cvCvtColor(&iplImage, imageGrayScale, CV_BGR2GRAY);
 		}
 		cv::Mat img;
 		if(imageGrayScale)
@@ -310,7 +309,7 @@ void MainWindow::update()
 		}
 		else
 		{
-				img =  cv::Mat(cvImage);
+			img =  cv::Mat(&iplImage);
 		}
 
 		// EXTRACT KEYPOINTS
@@ -355,7 +354,7 @@ void MainWindow::update()
 
 
 			// PROCESS RESULTS
-				ui_->imageView_source->setData(keypoints, cv::Mat(), cvImage);
+			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;
@@ -454,7 +453,7 @@ void MainWindow::update()
 		}
 		else
 		{
-				ui_->imageView_source->setData(keypoints, cv::Mat(), cvImage);
+			ui_->imageView_source->setData(keypoints, cv::Mat(), &iplImage);
 		}
 
 		//Update object pictures
@@ -466,10 +465,7 @@ void MainWindow::update()
 		ui_->label_nfeatures->setText(QString::number(keypoints.size()));
 		ui_->imageView_source->update();
 		ui_->label_timeGui->setText(QString::number(time.restart()));
-
-			cvReleaseImage(&cvImage);
-		}
 	}
 	ui_->label_detectorDescriptorType->setText(QString("%1/%2").arg(Settings::currentDetectorType()).arg(Settings::currentDescriptorType()));
-	ui_->label_timeRefreshRate->setText(QString("(%1 Hz - %2 Hz)").arg(QString::number(1000/cameraTimer_.interval())).arg(QString::number(int(1000.0f/(float)(updateRate_.restart()) + 1))));
+	ui_->label_timeRefreshRate->setText(QString("(%1 Hz - %2 Hz)").arg(QString::number(Settings::getCamera_imageRate().toInt())).arg(QString::number(int(1000.0f/(float)(updateRate_.restart()) + 1))));
 }

src/MainWindow.h

@@ -23,7 +23,7 @@ class MainWindow : public QMainWindow
 	Q_OBJECT
 
 public:
-	MainWindow(QWidget * parent = 0);
+	MainWindow(Camera * camera = 0, QWidget * parent = 0);
 	virtual ~MainWindow();
 
 protected:
@@ -35,7 +35,7 @@ private slots:
 	void stopCamera();
 	void loadObjects();
 	void saveObjects();
-	void update();
+	void update(const cv::Mat & image);
 	void updateData();
 	void removeObject(ObjWidget * object);
 
@@ -46,7 +46,6 @@ private:
 	Ui_mainWindow * ui_;
 	Camera * camera_;
 	QList<ObjWidget*> objects_;
-	QTimer cameraTimer_;
 	cv::Mat dataTree_;
 	QList<int> dataRange_;
 	QTime updateRate_;

src/ObjWidget.cpp

@@ -1,17 +1,3 @@
-/*
- * Object.cpp
- *
- *  Created on: 2011-10-23
- *      Author: matlab
- */
-
-
-/*
- * VisualObject.h
- *
- *  Created on: 2011-10-21
- *      Author: matlab
- */
 
 #include "ObjWidget.h"
 #include "KeypointItem.h"

src/ParametersToolBox.cpp

@@ -25,6 +25,11 @@ ParametersToolBox::~ParametersToolBox()
 {
 }
 
+QWidget * ParametersToolBox::getParameterWidget(const QString & key)
+{
+	return this->findChild<QWidget*>(key);
+}
+
 void ParametersToolBox::resetCurrentPage()
 {
 	const QObjectList & children = this->widget(this->currentIndex())->children();

src/ParametersToolBox.h

@@ -22,6 +22,7 @@ public:
 	virtual ~ParametersToolBox();
 
 	void setupUi();
+	QWidget * getParameterWidget(const QString & key);
 
 private:
 	void addParameter(QVBoxLayout * layout, const QString & key, const QVariant & value);
@@ -36,7 +37,6 @@ private slots:
 	void changeParameter(const QString & value);
 	void changeParameter(const int & value);
 	void resetCurrentPage();
-
 };
 
 #endif /* PARAMETERSTOOLBOX_H_ */

src/Settings.cpp

@@ -291,14 +291,6 @@ cv::DescriptorExtractor * Settings::createDescriptorsExtractor()
 	return extractor;
 }
 
-Camera * Settings::createCamera()
-{
-	return new Camera(
-			getCamera_deviceId().toInt(),
-			getCamera_imageWidth().toInt(),
-			getCamera_imageHeight().toInt());
-}
-
 QString Settings::currentDetectorType()
 {
 	int index = Settings::getDetector_Type().toString().split(':').first().toInt();

src/Settings.h

@@ -136,8 +136,6 @@ public:
 	static QString currentDescriptorType();
 	static QString currentDetectorType();
 
-	static Camera * createCamera();
-
 private:
 	Settings(){}