/**
* Constructs the widget. Sets all information from the given parameters.
* Calculates the textcolor and sets the stylesheet.
*
* @brief EntryWidget::EntryWidget
* @param parent
* @param date
* @param name
* @param pattern
* @param lang
*/
EntryWidget::EntryWidget(QWidget *parent, QString date, QString name, QString pattern, QString lang) :
QWidget(parent),
ui(new Ui::EntryWidget)
{
EntryEntity entryEntity;
this->entity = entryEntity;
this->entity.setEntryDate(date);
this->entity.setEntryName(name);
this->entity.setPattern(pattern);
this->entity.setLanguage(lang);
ui->setupUi(this);
setupColor();
QString textStyle = QString("color: ");
QColor textColor = MainWindow::calculateTextColor(this->langColor);
textStyle.append(textColor.name());
ui->lblHeader->setText(date);
ui->lblLang->setText(lang);
ui->lblName->setText(name);
ui->lblPattern->setText(pattern);
this->setStyleSheet(textStyle);
}
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
// Set up the dialog box to reflect the appropriate processing function
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//! \brief set up the dialog box to reflect the appropriate processing function
//! \param[in] f enum that indicates which operation to perform
//! \param[in] img target image
void IPDialog::setup(IP_Function f, QImage img)
{
m_retProcImg = img; // original unscaled copy; used when user is satisfied
m_origImg = img.scaled(128, 128, Qt::KeepAspectRatio); // for display purpose; show original
m_resultImg = img.scaled(128, 128, Qt::KeepAspectRatio); // for display purpose; show result
m_currentFuct = f; // current processing function
clearOptLay (); // clear IP options layout
m_dispResult ->setChecked(true);
switch(m_currentFuct)
{
case COLOR:
m_boxOpt->setTitle(tr("Color"));
setupColor(); // set up layout
m_ip ->processImg(IP::Red, m_resultImg); // default is red
break;
case THRESHOLD:
m_boxOpt->setTitle(tr("Threshold"));
setupThres();
m_ip ->lookUpTable(128); // default threshold level is 128
m_ip ->processImg(IP::IndThres, m_resultImg); // default is threshold individual band
break;
case EDGE:
m_boxOpt->setTitle(tr("Edge detection"));
setupEdge();
m_ip ->prewittMask(m_resultImg, m_origImg, 128); // default is prewitt mask with threshold level = 128
break;
default:
break;
}
m_ipDisplay ->storeImage(tr("Result"), m_resultImg); // display the result
}
void XtionGrabber::onInit()
{
ros::NodeHandle& nh = getMTPrivateNodeHandle();
std::string depthDevice;
std::string colorDevice;
if(!nh.getParam("depth_device", depthDevice)
|| !nh.getParam("color_device", colorDevice))
{
ROS_FATAL("depth_device and color_device parameters are mandatory!");
throw std::runtime_error("depth_device and color_device parameters are mandatory!");
}
nh.param("depth_width", m_depthWidth, 640);
nh.param("depth_height", m_depthHeight, 480);
nh.param("color_width", m_colorWidth, 1280);
nh.param("color_height", m_colorHeight, 1024);
m_deviceName = getPrivateNodeHandle().getNamespace();
if(!setupColor(colorDevice))
throw std::runtime_error("Could not setup color channel");
if(!setupDepth(depthDevice))
throw std::runtime_error("Could not setup depth channel");
m_colorFocalLength = 525.0f * m_colorWidth / 640;
// The depth sensor actually has a different focal length, but since
// we are using hw registration, the rgb focal length applies.
m_depthFocalLength = 525.0f * m_depthWidth / 640;
m_cloudGenerator.init(m_depthWidth, m_depthHeight, m_depthFocalLength);
m_filledCloudGenerator.init(1280, 960, 525.0f * 1280 / 640);
setupRGBInfo();
setupDepthInfo();
m_pub_cloud = nh.advertise<sensor_msgs::PointCloud2>("cloud", 1);
m_pub_filledCloud = nh.advertise<sensor_msgs::PointCloud2>("cloud_filled", 1);
NODELET_INFO("Starting streaming...");
m_thread = boost::thread(boost::bind(&XtionGrabber::read_thread, this));
}
/**
* Constructs the widget. Sets all information from the given EntryEntity and calculates the textcolor.
*
* @brief EntryWidget::EntryWidget
* @param entity
* @param parent
*/
EntryWidget::EntryWidget(EntryEntity entity, QWidget *parent) :
QWidget(parent),
ui(new Ui::EntryWidget)
{
this->entity = entity;
setupColor();
QString textStyle = QString("color: ");
QColor textColor = MainWindow::calculateTextColor(this->langColor);
textStyle.append(textColor.name()).append(";");
ui->setupUi(this);
ui->lblHeader->setText(entity.getEntryDate());
ui->lblLang->setText(entity.getLanguage());
ui->lblName->setText(entity.getEntryName());
ui->lblPattern->setText(entity.getPattern());
this->setStyleSheet(textStyle);
}
// ----------------------------------------------------------------------------------------
SColorPicker::SColorPicker(eColor color, QWidget *parent, const char *name):QWidget(parent)
, mpLayout(NULL)
, mpIndicator(NULL)
, mpColorValue(NULL)
, mSettingValue(false)
{
setObjectName(name);
mpLayout = new QHBoxLayout();
mpLayout->setContentsMargins(0, 0, 0, 0);
setLayout(mpLayout);
mpIndicator = new QLabel(this);
mpIndicator->setObjectName(ON_SETTINGS_LABEL);
mpLayout->addWidget(mpIndicator, 0);
mpColorValue = new SSlider(Qt::Horizontal, this);
mpColorValue->setMinimum(0);
mpColorValue->setMaximum(255);
mpLayout->addWidget(mpColorValue, 1);
setupColor(color);
connect(mpColorValue, SIGNAL(valueChanged(int)), this, SLOT(onValueChanged(int)));
}
CVoid DebugRenderer::renderData(const NxDebugRenderable& data) const
{
glUseProgram(0);
glPushAttrib( GL_ENABLE_BIT | GL_CURRENT_BIT );
glDisable(GL_LIGHTING);
glDisable( GL_TEXTURE_2D );
glEnable( GL_CULL_FACE );
glLineWidth(1.0f);
glMatrixMode(GL_MODELVIEW);
// Render points
NxU32 NbPoints = data.getNbPoints();
if(NbPoints)
{
const NxDebugPoint* Points = data.getPoints();
glBegin(GL_POINTS);
while(NbPoints--)
{
setupColor(Points->color);
glVertex3fv(&Points->p.x);
Points++;
}
glEnd();
}
// Render lines
NxU32 NbLines = data.getNbLines();
if(NbLines)
{
const NxDebugLine* Lines = data.getLines();
glBegin(GL_LINES);
while(NbLines--)
{
setupColor(Lines->color);
glVertex3fv(&Lines->p0.x);
glVertex3fv(&Lines->p1.x);
Lines++;
}
glEnd();
}
// Render triangles
NxU32 NbTris = data.getNbTriangles();
if(NbTris)
{
const NxDebugTriangle* Triangles = data.getTriangles();
glBegin(GL_TRIANGLES);
while(NbTris--)
{
setupColor(Triangles->color);
glVertex3fv(&Triangles->p0.x);
glVertex3fv(&Triangles->p1.x);
glVertex3fv(&Triangles->p2.x);
Triangles++;
}
glEnd();
}
glPopAttrib();
}
