void MainWindow::on_AdelgazamientoBT_clicked()
{
dstImageAdelgazada = Mat::zeros(dstImageClose.size(), CV_8UC1);
dstImageClose.copyTo(dstImageAdelgazada);
ControlPreprocesamiento::adelgazamiento(dstImageAdelgazada);
dstImageAdelgazada.copyTo(dstImageRectanguloEnvolvente);
//Se suman 3 pixeles de distancia a las medidas del rectangulo para darle espacio
//alalgoritmo de busqueda de end-points
// Rect rect = boundingRect(dstImageAdelgazada);
// if(dstRectanguloEnvolvente.x <= 5 || dstRectanguloEnvolvente.y <= 5 ) continue;
dstRectanguloEnvolvente.height += 10;
dstRectanguloEnvolvente.width += 10;
dstRectanguloEnvolvente.x -= 5;
dstRectanguloEnvolvente.y -= 5;
rectangle(dstImageRectanguloEnvolvente,dstRectanguloEnvolvente,Scalar(255));
//Convertir imagenes y transformarlas para mostrar en la UI
QImage RectanguloEnvolventeImage = Mat2QImage(dstImageRectanguloEnvolvente);
ui->RectanguloEnvolventeLB->setPixmap(QPixmap::fromImage(RectanguloEnvolventeImage));
QImage adelgazamientoImage = Mat2QImage(dstImageAdelgazada);
ui->AdelgazamientoLB->setPixmap(QPixmap::fromImage(adelgazamientoImage));
//Habilitar el boton de Caracteristicas
ui->CaracteristicasBT->setEnabled(true);
}
void MainWindow::putImage(const Mat& src,int windowID){
switch(windowID){
case LEFT_WINDOW:
qimageL = Mat2QImage(src);
ui->lblOriginalLeft->setPixmap(QPixmap::fromImage(qimageL));
break;
case RIGHT_WINDOW:
qimageR = Mat2QImage(src);
ui->lblOriginalRight->setPixmap(QPixmap::fromImage(qimageR));
break;
}
}
void VideoEditorWidget::processSelectedImage(const sensor_msgs::Image::ConstPtr msg)
{
// image
//ROS_ERROR("Encoding: %s", msg->encoding.c_str());
double aspect_ratio = (double)msg->width/(double)msg->height;
// ROS_ERROR("Size: %dx%d aspect %f", msg->width, msg->height, aspect_ratio);
cv_bridge::CvImagePtr cv_ptr;
try
{
cv_ptr = cv_bridge::toCvCopy(*msg, sensor_msgs::image_encodings::BGR8);
}
catch (cv_bridge::Exception& e)
{
//ROS_ERROR("cv_bridge exception: %s", e.what());
return;
}
cv::Size2i img_size;
if(aspect_ratio > 1)
{
img_size.width = ui->image_view->width();
img_size.height = ((float)ui->image_view->width())/aspect_ratio;
}
else
{
img_size.width = ((float)ui->image_view->height())/aspect_ratio;
img_size.height = ui->image_view->height();
}
cv::resize(cv_ptr->image, cv_ptr->image, img_size, 0, 0, cv::INTER_NEAREST);
QImage tmp = Mat2QImage(cv_ptr->image);
QPixmap pixmap = QPixmap::fromImage(tmp);
ui->image_view->setPixmap(pixmap);
}
void CameraHandler::run(){
camera.StartCapture();
qDebug() << "Started Capture";
unsigned int rowBytes;
while(1){
//qDebug() << "Start of loop";
error = camera.RetrieveBuffer(&rawImage);
if(error != FlyCapture2::PGRERROR_OK){
continue;
}
//qDebug() << "In image loop";
rawImage.Convert(FlyCapture2::PIXEL_FORMAT_RGB8, &rgbImage);
rowBytes = (double)rgbImage.GetReceivedDataSize()/(double)rgbImage.GetRows();
cv::Mat cvImageMatrix = cv::Mat(rgbImage.GetRows(), rgbImage.GetCols(), CV_8UC3, rgbImage.GetData(), rowBytes);
image = Mat2QImage(cvImageMatrix);
//cameraWindow->setPicture(QPixmap::fromImage(image));
emit gotCameraImage(image); /* emit signal containing camera image */
//msleep(10);
}
}
void ROSOutput3DWrapper::showKeyframeDepth(const cv::Mat& image){
// //testing
// //
// cv::Mat ch1, ch2, ch3, test;
// // "channels" is a vector of 3 Mat arrays:
// std::vector<cv::Mat> channels(3);
// // split img:
// cv::split(image, channels);
// ch1 = channels[0];
// ch2 = channels[1];
// ch3 = channels[2];
// test = ch1.clone();
// test = cv::Scalar(255);
// std::vector<cv::Mat> diff(3);
// diff[0] = test != ch1;
// diff[1] = test != ch2;
// diff[2] = test != ch3;
// for(int i = 0; i < 3; i++){
// bool isequal = cv::countNonZero(diff[i]) == 0;
// if(!isequal)
// qDebug() << "\t\t ERROR #########################";
// }
// //
// //end testing
v1->setImage(Mat2QImage(image));
}
void operator()(const tbb::blocked_range<short>& range) const {
for (short labelid=range.begin(); labelid!=range.end(); ++labelid) {
// Compute mask.
// For big images it might make sense to parallelize this on a
// smaller granularity (pixel ranges).
// And it might be a good idea to cache these.
cv::Mat1b mask(labels == labelid);
if(tbb::task::self().is_cancelled()) {
//GGDBGM("aborted through tbb cancel." << endl);
return;
}
// transform mask into icon
cv::Mat1b masktrf = cv::Mat1b::zeros(iconSizecv);
cv::warpAffine(mask, masktrf, trafo, iconSizecv, CV_INTER_AREA);
if(tbb::task::self().is_cancelled()) {
//GGDBGM("aborted through tbb cancel." << endl);
return;
}
// The rest is probably too fast to allow checking for cancellation.
QColor color = ctx.colors.at(labelid);
// Fill icon with solid color in ARGB format.
cv::Vec4b argb(0, color.red(), color.green(), color.blue());
cv::Mat4b icon = cv::Mat4b(iconSizecv.height,
iconSizecv.width,
argb);
// Now apply alpha channel.
// Note: this is better than OpenCV's mask functionality as it
// preserves the antialiasing!
// Make ARGB 'array' which is interleaved to a true ARGB image
// using mixChannels.
const cv::Mat1b zero = cv::Mat1b::zeros(iconSizecv.height,
iconSizecv.width);
const cv::Mat in[] = {masktrf, zero, zero, zero};
// Copy only the alpha channel (0) of the in array into the
// alpha channel (0) of the ARGB icon.
const int mix[] = {0,0};
// 4 input matrices, 1 dest, 1 mix-pair
cv::mixChannels(in,4, &icon,1, mix,1);
// convert the result to a QImage
QImage qimage = Mat2QImage(icon);
/* draw a border (alternative: the icon view could do this) */
QPainter p(&qimage);
QPen pen(color);
// ensure border visibility, fixed to 1px
pen.setWidthF(1.f);
p.setPen(pen);
p.drawRect(brect);
ctx.icons[labelid] = qimage;
}
}
void PhotoDialog::timerEvent(QTimerEvent *){
if(this->isSwitching||this->isshot)
return;
if(this->capture->isOpened())
(*this->capture)>>imagemat;
QImage img = Mat2QImage(this->imagemat);
this->ui->imageLabel->setPixmap(QPixmap::fromImage(img));
}
void MainWindow::disp_image()
{
Mat tmp_img;
cur_img.copyTo(tmp_img);
QImage qimg = Mat2QImage(tmp_img);
img_label->setPixmap(QPixmap::fromImage(qimg));
}
void DisplayManager::display(const cv::Mat &image)
{
QImage *qImage = Mat2QImage(resize(image));
QPixmap img = QPixmap::fromImage(*qImage);
label->setPixmap(img);
delete qImage;
}
void MainForm::myimshow(cv::Mat & frame)
{
video_frame->setPixmap(QPixmap::fromImage(Mat2QImage(frame)));
//video_frame->update();
video_frame->show();
mut.unlock();
//qApp->processEvents();
}
void MainWindow::on_SegmentacionBT_clicked()
{
Mat src = imread(this->imageFile.toStdString());
ControlSegmentacion::encontrarSegmentos(src,dstImageClose,dstImageSegmentacion,dstRectanguloEnvolvente);
QImage segmentacionImage = Mat2QImage(this->dstImageSegmentacion);
ui->SegmentacionLB->setPixmap(QPixmap::fromImage(segmentacionImage));
ui->AdelgazamientoBT->setEnabled(true);
}
/**
* @brief MapManager::printImage slot chiamato quando il robot invia immagini della camera da mostrare
* @param cvImage l'immagine da mostrare
*/
void MapManager::printImage(cv::Mat cvImage)
{
// Converto l'immagine da Mat a QImage
QImage image = Mat2QImage(cvImage);
// Setto l'immagine e aggiorno la grandezza della finestra
cameraLabel.setPixmap(QPixmap::fromImage((image)));
cameraLabel.adjustSize();
}
void FalseColorModelPayload::processRunnerSuccess(std::map<std::string, boost::any> output)
{
runner->deleteLater();
if(canceled) {
return;
}
cv::Mat3f mat = boost::any_cast<cv::Mat3f>(output["multi_img"]);
result.convertFromImage(Mat2QImage((cv::Mat3b)mat));
emit finished(coloringType, true); // success
}
/**
* @brief MapManager::printVictimImage slot chiamato quando il robot trova una vittima
* @param cvImage l'immagine da mostrare
*/
void MapManager::printVictimImage(cv::Mat cvImage)
{
QImage image = Mat2QImage(cvImage);
QLabel *victimImage = new QLabel();
victimImage->setPixmap(QPixmap::fromImage((image)));
victimImage->adjustSize();
layout->addWidget(victimImage);
}
void MainWindow::timerEvent(QTimerEvent *event)
{
counter +=1;
ui->labelCounter->setText(QString("Count is: %1").arg(QString::number(counter)));
if (ui->pbStartCamera->isChecked())
{
camera.run();
ui->labelDispImage->setPixmap(QPixmap::fromImage(Mat2QImage(camera.getDisparityImage())));
}
}
void
FaceDetector::run(){
CascadeClassifier cascade;
if (!cascade.load("res/haarcascade_frontalface_alt.xml") ) {
qDebug() << "Erreur lors du chargement du haar cascade frontalface...";
exit(0);
}
QSize processSize = keepAspectRatio(_image.cols, _image.rows, MAX_PROCESS_WIDTH, MAX_PROCESS_HEIGHT);
Mat color;
if ( _image.cols > processSize.width() ){
cv::resize( _image, color, cv::Size(processSize.width(), processSize.height() ) );
} else {
color = _image.clone();
}
QSize displaySize = keepAspectRatio(color.cols, color.rows);
_ratio = (double) color.cols/displaySize.width();
Mat gray;
cvtColor(color, gray, CV_BGR2GRAY);
//PRETRAITEMENT
equalizeHist(gray, gray);
vector<Rect> facesRects;
cascade.detectMultiScale(gray, facesRects, 1.1, 2, 0|CV_HAAR_SCALE_IMAGE, cvSize(16,16));
// qDebug() << "detected faces size: " << facesRects.size();
for (unsigned int i = 0; i < facesRects.size(); ++i){
Rect r = facesRects[i];
Mat croppedFace;
getRectSubPix(color, Size(r.width, r.height), Point2f(r.x + r.width/2, r.y + r.height / 2), croppedFace);
// qImageFaces << Mat2QImage(croppedFace);
struct DetectorData tmpData;
tmpData.id = i;
cv::resize( croppedFace, croppedFace, Size(WORK_SIZE,WORK_SIZE) );
tmpData.image = Mat2QImage(croppedFace);
emit sendFace( tmpData.image );
tmpData.rect = QRect(r.x/_ratio+1, r.y/_ratio+1, r.width/_ratio+1, r.height/_ratio+1);
tmpData.cvRect = r;
tmpData.mat = croppedFace;
cvtColor(croppedFace, tmpData.gray, CV_RGB2GRAY);
// cv::resize( tmpData.gray, tmpData.gray, Size(WORK_SIZE,WORK_SIZE) );
detectorData << tmpData;
}
qRegisterMetaType< QList<struct DetectorData> >( "QList<struct DetectorData>" );
emit detectionFinished( _index, detectorData );
}
void MainWindow::on_calcularUmbralBT_clicked()
{
this->dstImageThresholdAdaptative = ControlPreprocesamiento::umbralAutomaticoAdaptativo(srcImage);
this->dstImageThreshold = ControlPreprocesamiento::umbralAutomatico(srcImageEqualizada);
QImage umbralImage = Mat2QImage(dstImageThresholdAdaptative);
ui->UmbralizacionLB->setPixmap(QPixmap::fromImage(umbralImage));
ui->AperturaBT->setEnabled(true);
}
void MainWindow::on_AperturaBT_clicked()
{
Mat BStructElement = getStructuringElement(CV_SHAPE_RECT,Size(2,2));
morphologyEx(this->dstImageThresholdAdaptative, this->dstImageClose, CV_MOP_CLOSE, BStructElement,Point(-1,-1) ,2 );
QImage filtradoImage = Mat2QImage(dstImageClose);
ui->FiltradoMorfologicoLB->setPixmap(QPixmap::fromImage(filtradoImage));
ui->SegmentacionBT->setEnabled(true);
}
void GammaDialog::viewGamma(){
double inverse_gamma = 50 / slSigma->value();
cv::Mat lut_matrix(1, 256, CV_8UC1 );
uchar * ptr = lut_matrix.ptr();
for( int i = 0; i < 256; i++ )
ptr[i] = (int)( cv::pow( (double) i / 255.0, inverse_gamma ) * 255.0 );
cv::Mat result;
cv::LUT( QImage2Mat(imgM), lut_matrix, result );
imgL->setPixmap(QPixmap::fromImage(Mat2QImage(result).scaledToWidth(anch)));
}
QString SquareOcl::start_preview(int operate_type, QLabel* lb_image)
{
QString str_result = "";
Mat mat_image = imread(SQUARE_OCL_FILE_SRC, 1);
vector<vector<Point> > squares;
long start_time, end_time;
if(mat_image.empty())
{
str_result = "Couldn't load ";
str_result.append(SQUARE_OCL_FILE_SRC);
return str_result;
}
if(operate_type == OPENCL_CL_OFF_H)
{
start_time = getTickCount();
find_squares_cpu(mat_image, squares);
end_time = getTickCount();
}
else if(operate_type == OPENCL_CL_ON_H)
{
// OCL Init
vector<ocl::Info> info;
CV_Assert(cv::ocl::getDevice(info));
start_time = getTickCount();
find_squares_gpu(mat_image, squares);
end_time = getTickCount();
}
else
{
str_result = "Not Operate Mode!!";
return str_result;
}
draw_squares(mat_image, squares);
QImage tmp_image = Mat2QImage(mat_image);
lb_image->setPixmap(QPixmap::fromImage(tmp_image));
str_result = QString("Find Search Result : \n - Square Count : ") + QString::number(squares.size());
str_result = str_result + QString("\n - Search Time : ");
str_result = str_result + QString::number(1000.0f * (double)(end_time - start_time) / getTickFrequency() / 10 ).append("ms");
return str_result;
}
void MorphologyWindow::updateStructuringElement()
{
int size = ui->sizeSpinBox->value();
if (ui->squareRadioButton->isChecked()) {
structuringElement = cv::Mat::ones(size, size, CV_8U) * 255;
} else {
structuringElement = cv::Mat::zeros(size, size, CV_8U);
int center = (size - 1) / 2;
if (ui->customRadioButton->isChecked()) {
// TODO
structuringElement.at<quint8>(center, center) = 255;
} else if (ui->crossRadioButton->isChecked()) {
for (int i = 0; i < size; i++)
for (int j = 0; j < size; j++)
if ((i == center) || (j == center))
structuringElement.at<quint8>(i, j) = 255;
} else if (ui->diskRadioButton->isChecked()) {
int squaredRadius = center * center;
for (int i = 0; i < size; i++)
for (int j = 0; j < size; j++)
if (((i - center) * (i - center) +
(j - center) * (j - center)) <=
squaredRadius)
structuringElement.at<quint8>(i, j) = 255;
} else if (ui->xRadioButton->isChecked()) {
for (int i = 0; i < size; i++)
for (int j = 0; j < size; j++)
if ((i == j) || (i == (size - j - 1)))
structuringElement.at<quint8>(i, j) = 255;
}
}
QPixmap pixmap = QPixmap::fromImage(Mat2QImage(structuringElement));
QSize labelSize = ui->structuringElementLabel->size();
ui->structuringElementLabel->setPixmap(pixmap.scaled(labelSize,
Qt::KeepAspectRatio));
}
void Image::update() const
{
double min, max;
cv::minMaxLoc(current, &min, &max);
ui->minimumLabel->setText(QString::number(min));
ui->maximumLabel->setText(QString::number(max));
ui->heightLabel->setText(QString::number(current.rows));
ui->widthLabel->setText(QString::number(current.cols));
switch (current.channels()) {
case 1:
ui->channelLabel->setText("1");
break;
case 3:
ui->channelLabel->setText("3");
break;
}
switch (current.depth()) {
case CV_8U:
ui->depthLabel->setText("8 bits");
break;
case CV_32F:
ui->depthLabel->setText("32 bits");
break;
}
QPixmap pixmap = QPixmap::fromImage(Mat2QImage(current));
if (ui->fitToScreenCheckBox->isChecked())
pixmap = pixmap.scaled(ui->displayLabel->size(), Qt::KeepAspectRatio);
ui->displayLabel->clear();
ui->displayLabel->setPixmap(pixmap);
}
QVector <face> center_faces(QImage frame, QImage* ResultImg, float scale)
{
QVector <face> null_face;
QVector <face> find_faces;
int number_of_true_face = -1;
Mat image = qimage2mat(frame);
if(image.empty())
{
cout << "Couldn't read image" << endl;
return null_face;
}
*ResultImg = Mat2QImage(detect_Face_and_eyes(image, scale, find_faces));
for(int i = 0; i < find_faces.size(); i++)
{
if(find_faces[i].number_eyes()>=1)
{
number_of_true_face = i;
}
}
if(number_of_true_face!=-1)
return find_faces;
return null_face;
}
void ROSOutput3DWrapper::showStereoReferenceFrame(const cv::Mat& image){
v4->setImage(Mat2QImage(image));
}
void SmoothDialog::viewSmooth(){
src = QImage2Mat(imgM);
cv::Mat dst;
if(box->isChecked()){
slSigmaX->setDisabled(true);
slSigmaY->setDisabled(true);
for ( int i = 1; i < slKSize->value(); i = i + 2 ){
cv::boxFilter(src,dst,-1,cv::Size(i,i));
src = dst;
}
imgL->setPixmap(QPixmap::fromImage(Mat2QImage(dst)).scaledToWidth(anch));
}
else if(median->isChecked()){
slSigmaX->setDisabled(true);
slSigmaY->setDisabled(true);
for ( int i = 1; i < slKSize->value(); i = i + 2 ){
cv::medianBlur(src,dst,i);
src = dst;
}
imgL->setPixmap(QPixmap::fromImage(Mat2QImage(dst)).scaledToWidth(anch));
}
else if(bilateral->isChecked()){
slSigmaX->setEnabled(true);
slSigmaY->setEnabled(true);
for ( int i = 1; i < slKSize->value(); i = i + 2 ){
cv::bilateralFilter(src,dst,i,slSigmaX->value(),slSigmaY->value());
}
imgL->setPixmap(QPixmap::fromImage(Mat2QImage(dst)).scaledToWidth(anch));
}
else if(gaussian->isChecked()){
slSigmaX->setEnabled(true);
slSigmaY->setEnabled(true);
for ( int i = 1; i < slKSize->value(); i = i + 2 ){
cv::GaussianBlur( src, dst, cv::Size( i, i ),slSigmaX->value(), slSigmaY->value());
src = dst;
}
imgL->setPixmap(QPixmap::fromImage(Mat2QImage(dst)).scaledToWidth(anch));
}/*
for(int i = 1; i < MAX_KERNEL_LENGTH; i = i + 2 )
{ blur( src, dst, Size( i, i ), Point(-1,-1) );
if( display_dst( DELAY_BLUR ) != 0 ) { return 0; } }
/// Applying Gaussian blur
if( display_caption( "Gaussian Blur" ) != 0 ) { return 0; }
for ( int i = 1; i < MAX_KERNEL_LENGTH; i = i + 2 )
{ GaussianBlur( src, dst, Size( i, i ), 0, 0 );
if( display_dst( DELAY_BLUR ) != 0 ) { return 0; } }
/// Applying Median blur
if( display_caption( "Median Blur" ) != 0 ) { return 0; }
for ( int i = 1; i < MAX_KERNEL_LENGTH; i = i + 2 )
{ medianBlur ( src, dst, i );
if( display_dst( DELAY_BLUR ) != 0 ) { return 0; } }
/// Applying Bilateral Filter
if( display_caption( "Bilateral Blur" ) != 0 ) { return 0; }
for ( int i = 1; i < MAX_KERNEL_LENGTH; i = i + 2 )
{ bilateralFilter ( src, dst, i, i*2, i/2 );
if( display_dst( DELAY_BLUR ) != 0 ) { return 0; } }*/
}
void ROSOutput3DWrapper::showTrackingResidual(const cv::Mat& image){
v2->setImage(Mat2QImage(image));
}
void ROSOutput3DWrapper::showStereoKeyframe(const cv::Mat& image){
v3->setImage(Mat2QImage(image));
}
void VideoEditorWidget::addImageChild(QTreeWidgetItem *parent, const unsigned long& id, const std::string& topic, const sensor_msgs::Image& image, const sensor_msgs::CameraInfo& camera_info)
{
/*int row = 0;
ui->treeWidget->add;
ui->treeWidget->setRowHeight(row,100);*/
// add info about images to the table
QTreeWidgetItem * item;
// image
item = new QTreeWidgetItem();
//ROS_ERROR("Encoding: %s", image.encoding.c_str());
double aspect_ratio = (double)image.width/(double)image.height;
// ROS_ERROR("Size: %dx%d aspect %f", image.width, image.height, aspect_ratio);
cv_bridge::CvImagePtr cv_ptr;
try
{
cv_ptr = cv_bridge::toCvCopy(image, sensor_msgs::image_encodings::BGR8);
}
catch (cv_bridge::Exception& e)
{
// ROS_ERROR("cv_bridge exception: %s", e.what());
return;
}
cv::Size2i img_size;
if(aspect_ratio > 1)
{
img_size.width = 100.0f;
img_size.height = 100.0f/aspect_ratio;
}
else
{
img_size.width = 100.0f/aspect_ratio;
img_size.height = 100.0f;
}
cv::resize(cv_ptr->image, cv_ptr->image, img_size, 0, 0, cv::INTER_NEAREST);
QImage tmp = Mat2QImage(cv_ptr->image);
QPixmap pixmap = QPixmap::fromImage(tmp);
item->setData(0,Qt::DecorationRole, pixmap);
item->setToolTip(0,QString::number(id));
//ui->treeWidget->setItem(row,0,item);
//ROS_ERROR("Added %ld to the table",id);
// stamp
//item = new QTreeWidgetItem(timeFromMsg(image.header.stamp));
item->setText(1,timeFromMsg(image.header.stamp));
item->setToolTip(1,QString::number((int)image.header.stamp.toSec()));
// source
//item = new QTreeWidgeexttItem(QString(topic.c_str()));
item->setText(2,QString(topic.c_str()));
// width
// item = new QTreeWidgetItem(QString::number(image.width));
item->setText(3,QString::number(image.width));
// height
// item = new QTreeWidgetItem(QString::number(image.height));
item->setText(4,QString::number(image.height));
parent->setText(1,timeFromMsg(image.header.stamp));
parent->setText(2,QString(topic.c_str()));
//parent->parent()->setText(1,timeFromMsg(image.header.stamp));
parent->addChild(item);
}
void ImgWidget::setImageMat(cv::Mat &src){
src_img_mat=src.clone();
src_img_q = Mat2QImage(src_img_mat);
}
