apoorva
fabea45044
git-subtree-dir: find-object git-subtree-mainline: 9bd639e88c266d990f53b2799ba476d34cfc9c89 git-subtree-split: 635efcd6220cabc258b88c54b1ae4279035bbe31
153 lines
4.9 KiB
C++
153 lines
4.9 KiB
C++
/*
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Copyright (c) 2011-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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* Neither the name of the Universite de Sherbrooke nor the
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names of its contributors may be used to endorse or promote products
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derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
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DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#ifndef MAINWINDOW_H_
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#define MAINWINDOW_H_
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#include "find_object/FindObjectExp.h" // DLL export/import defines
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#include "find_object/DetectionInfo.h"
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#include "find_object/Header.h"
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#include <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/opencv.hpp>
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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 Ui_mainWindow;
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class QLabel;
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namespace find_object {
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class ObjWidget;
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class Camera;
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class ParametersToolBox;
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class AboutDialog;
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class TcpServer;
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class KeypointDetector;
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class DescriptorExtractor;
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class Vocabulary;
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class FindObject;
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class FINDOBJECT_EXP MainWindow : public QMainWindow
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{
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Q_OBJECT
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public:
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MainWindow(find_object::FindObject * findObject, find_object::Camera * camera = 0, QWidget * parent = 0);
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virtual ~MainWindow();
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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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virtual void keyPressEvent(QKeyEvent *event);
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public Q_SLOTS:
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void startProcessing();
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void stopProcessing();
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void pauseProcessing();
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void update(const cv::Mat & image);
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void update(const cv::Mat & image, const find_object::Header & header, const cv::Mat & depth, float depthConstant);
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private Q_SLOTS:
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void loadSession();
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void saveSession();
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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 loadVocabulary();
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void saveVocabulary();
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void addObjectFromScene();
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void addObjectsFromFiles(const QStringList & fileNames);
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void addObjectsFromFiles();
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void addObjectFromTcp(const cv::Mat & image, int id, const QString & filePath);
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void loadSceneFromFile(const QStringList & fileNames);
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void loadSceneFromFile();
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void setupCameraFromVideoFile();
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void setupCameraFromImagesDirectory();
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void setupCameraFromTcpIp();
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void removeObject(find_object::ObjWidget * object);
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void removeObject(int id);
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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 showObjectsFeatures();
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void hideObjectsFeatures();
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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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Q_SIGNALS:
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void objectsFound(const find_object::DetectionInfo &, const find_object::Header & header, const cv::Mat & depth, float depthConstant);
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private:
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bool loadSettings(const QString & path);
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bool saveSettings(const QString & path) const;
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int loadObjects(const QString & dirPath, bool recursive = false);
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int saveObjects(const QString & dirPath);
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void setupTCPServer();
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int addObjectFromFile(const QString & filePath);
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void showObject(find_object::ObjWidget * obj);
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void updateObjectSize(find_object::ObjWidget * obj);
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void updateVocabulary(const QList<int> & ids = QList<int>());
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void updateObjects(const QList<int> & ids);
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private:
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Ui_mainWindow * ui_;
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Camera * camera_;
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FindObject * findObject_;
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rtabmap::PdfPlotCurve * likelihoodCurve_;
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rtabmap::PdfPlotCurve * inliersCurve_;
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AboutDialog * aboutDialog_;
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QMap<int, find_object::ObjWidget*> objWidgets_;
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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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QMap<QString, QVariant> lastObjectsUpdateParameters_; // ParametersMap
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TcpServer * tcpServer_;
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cv::Mat sceneImage_;
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};
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} // namespace find_object
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#endif /* MainWindow_H_ */
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