167aeee4bc
Refactored CameraTcpClient to CameraTcpServer (to send images we connect to find_object, instead of connecting find_object to an image server), removed parameter CameraIP git-svn-id: http://find-object.googlecode.com/svn/trunk/find_object@364 620bd6b2-0a58-f614-fd9a-1bd335dccda9
416 lines
10 KiB
C++
416 lines
10 KiB
C++
/*
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* Copyright (C) 2011, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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*/
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#include "find_object/Camera.h"
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#include "find_object/Settings.h"
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#include "find_object/utilite/ULogger.h"
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#include "find_object/ObjWidget.h"
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#include "find_object/QtOpenCV.h"
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#include "AddObjectDialog.h"
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#include "ui_addObjectDialog.h"
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#include "KeypointItem.h"
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#include "ObjSignature.h"
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#include <stdio.h>
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#include <QtGui/QGraphicsScene>
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#include <QtGui/QGraphicsPixmapItem>
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#include <QtGui/QMessageBox>
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#include <opencv2/imgproc/imgproc.hpp>
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#include <opencv2/highgui/highgui.hpp>
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AddObjectDialog::AddObjectDialog(Camera * camera, const cv::Mat & image, bool mirrorView, QWidget * parent, Qt::WindowFlags f) :
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QDialog(parent, f),
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camera_(camera),
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objWidget_(0),
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objSignature_(0)
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{
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ui_ = new Ui_addObjectDialog();
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ui_->setupUi(this);
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detector_ = Settings::createKeypointDetector();
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extractor_ = Settings::createDescriptorExtractor();
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Q_ASSERT(detector_ != 0 && extractor_ != 0);
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connect(ui_->pushButton_cancel, SIGNAL(clicked()), this, SLOT(cancel()));
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connect(ui_->pushButton_back, SIGNAL(clicked()), this, SLOT(back()));
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connect(ui_->pushButton_next, SIGNAL(clicked()), this, SLOT(next()));
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connect(ui_->pushButton_takePicture, SIGNAL(clicked()), this, SLOT(takePicture()));
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connect(ui_->comboBox_selection, SIGNAL(currentIndexChanged(int)), this, SLOT(changeSelectionMode()));
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connect(ui_->cameraView, SIGNAL(selectionChanged()), this, SLOT(updateNextButton()));
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connect(ui_->cameraView, SIGNAL(roiChanged(const cv::Rect &)), this, SLOT(updateNextButton(const cv::Rect &)));
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ui_->cameraView->setMirrorView(mirrorView);
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if((camera_ && camera_->isRunning()) || image.empty())
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{
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this->setState(kTakePicture);
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}
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else if(!image.empty())
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{
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update(image);
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this->setState(kSelectFeatures);
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}
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}
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AddObjectDialog::~AddObjectDialog()
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{
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delete detector_;
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delete extractor_;
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if(objWidget_)
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{
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delete objWidget_;
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objWidget_ = 0;
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}
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if(objSignature_)
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{
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delete objSignature_;
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objSignature_ = 0;
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}
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delete ui_;
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}
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void AddObjectDialog::retrieveObject(ObjWidget ** widget, ObjSignature ** signature)
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{
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*widget = objWidget_;
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objWidget_= 0;
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*signature = objSignature_;
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objSignature_ = 0;
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}
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void AddObjectDialog::closeEvent(QCloseEvent* event)
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{
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if(camera_)
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{
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disconnect(camera_, SIGNAL(imageReceived(const cv::Mat &)), this, SLOT(update(const cv::Mat &)));
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}
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QDialog::closeEvent(event);
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}
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void AddObjectDialog::next()
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{
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setState(state_+1);
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}
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void AddObjectDialog::back()
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{
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setState(state_-1);
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}
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void AddObjectDialog::cancel()
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{
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this->reject();
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}
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void AddObjectDialog::takePicture()
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{
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next();
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}
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void AddObjectDialog::updateNextButton()
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{
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updateNextButton(cv::Rect());
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}
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void AddObjectDialog::updateNextButton(const cv::Rect & rect)
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{
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roi_ = rect;
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if(roi_.height && roi_.width && cameraImage_.cols)
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{
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//clip roi
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if( roi_.x >= cameraImage_.cols ||
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roi_.x+roi_.width <= 0 ||
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roi_.y >= cameraImage_.rows ||
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roi_.y+roi_.height <= 0)
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{
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//Not valid...
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roi_ = cv::Rect();
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}
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else
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{
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if(roi_.x < 0)
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{
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roi_.x = 0;
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}
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if(roi_.x + roi_.width > cameraImage_.cols)
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{
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roi_.width = cameraImage_.cols - roi_.x;
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}
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if(roi_.y < 0)
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{
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roi_.y = 0;
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}
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if(roi_.y + roi_.height > cameraImage_.rows)
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{
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roi_.height = cameraImage_.rows - roi_.y;
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}
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}
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}
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if(state_ == kSelectFeatures)
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{
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if(ui_->comboBox_selection->currentIndex() == 1)
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{
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if(ui_->cameraView->selectedItems().size() > 0)
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{
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ui_->pushButton_next->setEnabled(true);
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}
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else
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{
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ui_->pushButton_next->setEnabled(false);
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}
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}
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else
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{
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if(roi_.width == 0 || roi_.height == 0)
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{
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ui_->pushButton_next->setEnabled(false);
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}
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else
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{
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ui_->pushButton_next->setEnabled(true);
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}
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}
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}
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}
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void AddObjectDialog::changeSelectionMode()
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{
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this->setState(kSelectFeatures);
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}
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void AddObjectDialog::setState(int state)
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{
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state_ = state;
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if(state == kTakePicture)
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{
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ui_->pushButton_cancel->setEnabled(true);
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ui_->pushButton_back->setEnabled(false);
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ui_->pushButton_next->setEnabled(false);
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ui_->pushButton_takePicture->setEnabled(true);
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ui_->label_instruction->setText(tr("Place the object in front of the camera and click \"Take picture\"."));
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ui_->pushButton_next->setText(tr("Next"));
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ui_->cameraView->setVisible(true);
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ui_->cameraView->clearRoiSelection();
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ui_->objectView->setVisible(false);
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ui_->cameraView->setGraphicsViewMode(false);
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ui_->comboBox_selection->setVisible(false);
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if(!camera_ || !camera_->start())
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{
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QMessageBox::critical(this, tr("Camera error"), tr("Camera is not started!"));
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ui_->pushButton_takePicture->setEnabled(false);
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}
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else
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{
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connect(camera_, SIGNAL(imageReceived(const cv::Mat &)), this, SLOT(update(const cv::Mat &)));
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}
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}
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else if(state == kSelectFeatures)
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{
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if(camera_)
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{
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disconnect(camera_, SIGNAL(imageReceived(const cv::Mat &)), this, SLOT(update(const cv::Mat &)));
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camera_->pause();
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}
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ui_->pushButton_cancel->setEnabled(true);
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ui_->pushButton_back->setEnabled(camera_);
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ui_->pushButton_next->setEnabled(false);
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ui_->pushButton_takePicture->setEnabled(false);
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ui_->pushButton_next->setText(tr("Next"));
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ui_->cameraView->setVisible(true);
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ui_->cameraView->clearRoiSelection();
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ui_->objectView->setVisible(false);
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ui_->comboBox_selection->setVisible(true);
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if(ui_->comboBox_selection->currentIndex() == 1)
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{
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ui_->label_instruction->setText(tr("Select features representing the object."));
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ui_->cameraView->setGraphicsViewMode(true);
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}
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else
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{
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ui_->label_instruction->setText(tr("Select region representing the object."));
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ui_->cameraView->setGraphicsViewMode(false);
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}
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updateNextButton(cv::Rect());
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}
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else if(state == kVerifySelection)
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{
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if(camera_)
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{
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disconnect(camera_, SIGNAL(imageReceived(const cv::Mat &)), this, SLOT(update(const cv::Mat &)));
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camera_->pause();
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}
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ui_->pushButton_cancel->setEnabled(true);
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ui_->pushButton_back->setEnabled(true);
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ui_->pushButton_takePicture->setEnabled(false);
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ui_->pushButton_next->setText(tr("End"));
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ui_->cameraView->setVisible(true);
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ui_->objectView->setVisible(true);
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ui_->objectView->setMirrorView(ui_->cameraView->isMirrorView());
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ui_->objectView->setSizedFeatures(ui_->cameraView->isSizedFeatures());
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ui_->comboBox_selection->setVisible(false);
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if(ui_->comboBox_selection->currentIndex() == 1)
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{
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ui_->cameraView->setGraphicsViewMode(true);
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}
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else
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{
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ui_->cameraView->setGraphicsViewMode(false);
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}
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std::vector<cv::KeyPoint> selectedKeypoints = ui_->cameraView->selectedKeypoints();
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// Select keypoints
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if(!cameraImage_.empty() &&
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((ui_->comboBox_selection->currentIndex() == 1 && selectedKeypoints.size()) ||
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(ui_->comboBox_selection->currentIndex() == 0 && roi_.width && roi_.height)))
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{
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if(ui_->comboBox_selection->currentIndex() == 1)
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{
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roi_ = computeROI(selectedKeypoints);
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}
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cv::Mat imgRoi(cameraImage_, roi_);
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if(ui_->comboBox_selection->currentIndex() == 1)
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{
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if(roi_.x != 0 || roi_.y != 0)
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{
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for(unsigned int i=0; i<selectedKeypoints.size(); ++i)
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{
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selectedKeypoints.at(i).pt.x -= roi_.x;
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selectedKeypoints.at(i).pt.y -= roi_.y;
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}
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}
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}
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else
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{
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// Extract keypoints
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selectedKeypoints.clear();
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detector_->detect(imgRoi, selectedKeypoints);
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}
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ui_->objectView->setData(selectedKeypoints, cvtCvMat2QImage(imgRoi.clone()));
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ui_->objectView->setMinimumSize(roi_.width, roi_.height);
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ui_->objectView->update();
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ui_->pushButton_next->setEnabled(true);
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}
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else
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{
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UINFO("Please select items");
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ui_->pushButton_next->setEnabled(false);
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}
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ui_->label_instruction->setText(tr("Selection : %1 features").arg(selectedKeypoints.size()));
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}
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else if(state == kClosing)
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{
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std::vector<cv::KeyPoint> keypoints = ui_->objectView->keypoints();
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if((ui_->comboBox_selection->currentIndex() == 1 && keypoints.size()) ||
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(ui_->comboBox_selection->currentIndex() == 0 && roi_.width && roi_.height))
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{
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cv::Mat descriptors;
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cv::Mat imgRoi(cameraImage_, roi_);
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if(keypoints.size())
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{
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// Extract descriptors
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extractor_->compute(imgRoi, keypoints, descriptors);
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if(keypoints.size() != (unsigned int)descriptors.rows)
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{
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UERROR("keypoints=%d != descriptors=%d", (int)keypoints.size(), descriptors.rows);
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}
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}
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if(objWidget_)
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{
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delete objWidget_;
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objWidget_ = 0;
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}
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if(objSignature_)
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{
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delete objSignature_;
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objSignature_ = 0;
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}
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objSignature_ = new ObjSignature(0, imgRoi.clone());
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objSignature_->setData(keypoints, descriptors, Settings::currentDetectorType(), Settings::currentDescriptorType());
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objWidget_ = new ObjWidget(0, keypoints, cvtCvMat2QImage(imgRoi.clone()));
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this->accept();
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}
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}
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}
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void AddObjectDialog::update(const cv::Mat & image)
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{
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cameraImage_ = cv::Mat();
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if(!image.empty())
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{
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// convert to grayscale
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if(image.channels() != 1 || image.depth() != CV_8U)
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{
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cv::cvtColor(image, cameraImage_, CV_BGR2GRAY);
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}
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else
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{
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cameraImage_ = image.clone();
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}
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// Extract keypoints
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cv::vector<cv::KeyPoint> keypoints;
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detector_->detect(cameraImage_, keypoints);
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ui_->cameraView->setData(keypoints, cvtCvMat2QImage(cameraImage_));
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ui_->cameraView->update();
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}
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else
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{
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UWARN("Camera cannot get more images (maybe the end of stream is reached)...");
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camera_->stop();
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}
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}
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cv::Rect AddObjectDialog::computeROI(const std::vector<cv::KeyPoint> & kpts)
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{
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cv::Rect roi(0,0,0,0);
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int x1=0,x2=0,h1=0,h2=0;
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for(unsigned int i=0; i<kpts.size(); ++i)
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{
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float radius = kpts.at(i).size / 2;
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if(i==0)
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{
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x1 = int(kpts.at(i).pt.x - radius);
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x2 = int(kpts.at(i).pt.x + radius);
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h1 = int(kpts.at(i).pt.y - radius);
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h2 = int(kpts.at(i).pt.y + radius);
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}
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else
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{
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if(x1 > int(kpts.at(i).pt.x - radius))
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{
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x1 = int(kpts.at(i).pt.x - radius);
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}
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else if(x2 < int(kpts.at(i).pt.x + radius))
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{
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x2 = int(kpts.at(i).pt.x + radius);
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}
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if(h1 > int(kpts.at(i).pt.y - radius))
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{
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h1 = int(kpts.at(i).pt.y - radius);
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}
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else if(h2 < int(kpts.at(i).pt.y + radius))
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{
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h2 = int(kpts.at(i).pt.y + radius);
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}
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}
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roi.x = x1;
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roi.y = h1;
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roi.width = x2-x1;
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roi.height = h2-h1;
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//UINFO("ptx=%d, pty=%d", (int)kpts.at(i).pt.x, (int)kpts.at(i).pt.y);
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//UINFO("x=%d, y=%d, w=%d, h=%d", roi.x, roi.y, roi.width, roi.height);
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}
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return roi;
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}
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