17873bacfa
git-svn-id: http://find-object.googlecode.com/svn/trunk/find_object@277 620bd6b2-0a58-f614-fd9a-1bd335dccda9
111 lines
2.6 KiB
C++
111 lines
2.6 KiB
C++
/*
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* Copyright (C) 2011, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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*/
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#ifndef MAINWINDOW_H_
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#define MAINWINDOW_H_
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#include <QtGui/QMainWindow>
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#include <QtCore/QSet>
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#include <QtCore/QTimer>
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#include <QtCore/QTime>
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#include <QtCore/QMap>
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#include <QtCore/QByteArray>
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#include <opencv2/core/core.hpp>
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#include <opencv2/features2d/features2d.hpp>
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#include <opencv2/imgproc/imgproc_c.h>
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#include "Vocabulary.h"
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class Ui_mainWindow;
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class ObjWidget;
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class Camera;
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class ParametersToolBox;
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class QLabel;
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class AboutDialog;
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class TcpServer;
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namespace rtabmap
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{
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class PdfPlotCurve;
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}
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class MainWindow : public QMainWindow
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{
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Q_OBJECT
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public:
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MainWindow(Camera * camera = 0, const QString & settings = "", QWidget * parent = 0);
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virtual ~MainWindow();
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bool loadSettings(const QString & path);
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bool saveSettings(const QString & path);
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int loadObjects(const QString & dirPath);
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void saveObjects(const QString & dirPath);
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ParametersToolBox * parametersToolBox() const;
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void setSourceImageText(const QString & text);
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protected:
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virtual void closeEvent(QCloseEvent * event);
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public slots:
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void startProcessing();
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void stopProcessing();
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void pauseProcessing();
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private slots:
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void loadSettings();
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void saveSettings();
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void loadObjects();
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bool saveObjects();
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void addObjectFromScene();
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void addObjectsFromFiles();
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void loadSceneFromFile();
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void setupCameraFromVideoFile();
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void setupCameraFromImagesDirectory();
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void removeObject(ObjWidget * object);
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void removeAllObjects();
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void updateObjectsSize();
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void updateMirrorView();
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void showHideControls();
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void update(const cv::Mat & image);
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void updateObjects();
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void notifyParametersChanged(const QStringList & param);
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void moveCameraFrame(int frame);
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void rectHovered(int objId);
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signals:
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void objectsFound(const QMultiMap<int, QPair<QRect, QTransform> > &);
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private:
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void setupTCPServer();
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void addObjectFromFile(const QString & filePath);
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void showObject(ObjWidget * obj);
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void updateData();
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void updateObjectSize(ObjWidget * obj);
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private:
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Ui_mainWindow * ui_;
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Camera * camera_;
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QString settings_;
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rtabmap::PdfPlotCurve * likelihoodCurve_;
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rtabmap::PdfPlotCurve * inliersCurve_;
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AboutDialog * aboutDialog_;
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QList<ObjWidget*> objects_;
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std::vector<cv::Mat> objectsDescriptors_;
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Vocabulary vocabulary_;
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QMap<int, int> dataRange_; // <last id of object's descriptor, id>
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QTime updateRate_;
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QTime refreshStartTime_;
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int lowestRefreshRate_;
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bool objectsModified_;
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QMap<int, QByteArray> imagesMap_;
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TcpServer * tcpServer_;
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QMap<QString, QVariant> lastObjectsUpdateParameters_; // ParametersMap
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};
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#endif /* MainWindow_H_ */
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