int handleEvents(){
sf::Event event;
while(_window.GetEvent(event)){
switch(event.Type)
{
case sf::Event::KeyPressed:
switch(event.Key.Code){
case sf::Key::Escape:
quit();
break;
case sf::Key::Up:
walk += move_step_increment;
walk = std::min(walk, max_move_step);
break;
case sf::Key::Down:
walk -= move_step_increment;
walk = std::max(walk, .0);
break;
case sf::Key::Left:
rotation += rotation_step_increment;
rotation = std::min(rotation, max_rotation_step);
break;
case sf::Key::Right:
rotation -= rotation_step_increment;
rotation = std::max(rotation, -max_rotation_step);
break;
case sf::Key::Return:
rotation = 0;
walk = 0;
break;
case sf::Key::Q:
range += 10;
range = std::min(range, max_range);
updateRangeSpriteScale();
break;
case sf::Key::W:
range -= 10;
range = std::max(range, min_range);
updateRangeSpriteScale();
break;
default:
break;
} // end of key switch
break;
case sf::Event::MouseButtonPressed:
if(event.MouseButton.Button == sf::Mouse::Left){
mouseLeftPressed(event.MouseButton.X, event.MouseButton.Y);
}
break;
default:
break;
} // end of event type switch
} // end of while
return 0;
}
MainWindow::MainWindow(QWidget *parent) :
QMainWindow(parent),
ui(new Ui::MainWindow)
{
ui->setupUi(this);
calib_vs_vision = false;
sql = new SQLite("../data/main.db", "passwd");
for(int i = 0 ; i < 8 ; i++){
colors.push_back(0);
}
image = new QCustomLabel();
image->setMouseTracking(true);
QObject::connect(image, SIGNAL(Mouse_Pos()), this, SLOT(mouseCurrentPos()));
QObject::connect(image, SIGNAL(Mouse_Left_Pressed()), this, SLOT(mouseLeftPressed()));
QObject::connect(image, SIGNAL(Mouse_Right_Pressed()), this, SLOT(mouseRightPressed()));
ui->layoutH2->addWidget(image);
QObject::connect(&calib, SIGNAL(finished()), this, SLOT(quit()));
calib.alloc_label_input(image);
calib.alloc_calibration(&_calib);
QObject::connect(&vi, SIGNAL(finished()), this, SLOT(quit()));
vi.alloc_label_input(image);
vi.alloc_calibration(&_calib);
vi.alloc_state(&state);
vi.alloc_colors(&colors);
vi.alloc_execution_config(&execConfig);
calib.start();
vi.start();
image->show();
coordinate_mouse = new QLabel("M(0, 0)");
mainItem = new QTreeWidgetItem;
cmbCameraIds = new QComboBox();
cmbSavedImages = new QComboBox();
cmbSavedVideos = new QComboBox();
checkUseCamera = new QCheckBox();
checkUseImage = new QCheckBox();
checkUseVideo = new QCheckBox();
cmbColors = new QComboBox();
cmbBallColors = new QComboBox();
cmbMainColors_1 = new QComboBox();
cmbMainColors_2 = new QComboBox();
cmbSecColors_1 = new QComboBox();
cmbSecColors_2 = new QComboBox();
cmbSecColors_3 = new QComboBox();
cmbSecColors_4 = new QComboBox();
cmbSecColors_5 = new QComboBox();
cmbSecColors_6 = new QComboBox();
btnDoColorCalib = new QPushButton("Do", this);
btnRunVision = new QPushButton("Run", this);
blockdevice = QIcon(":icons/blockdevice.png");
ksame = QIcon(":icons/ksame.png");
kdf = QIcon(":icons/kdf.png");
package = QIcon(":icons/package.png");
getAllDevices();
buildTrees();
if(devices.size() < 1){
checkUseCamera->setChecked(false);
checkUseImage->setChecked(true);
checkUseVideo->setChecked(false);
cmbCameraIds->setDisabled(true);
}else{
checkUseCamera->setChecked(true);
checkUseImage->setChecked(false);
checkUseVideo->setChecked(false);
}
lblH = new QLabel("H (0 - 180)");
lblS = new QLabel("S (0 - 255)");
lblV = new QLabel("V (0 - 255)");
lbl_val = new QLabel("Pos\nVel\nKPos\nKVel");
val_ball = new QLabel("Ball");
val_robot1 = new QLabel("Robot 1");
val_robot2 = new QLabel("Robot 2");
val_robot3 = new QLabel("Robot 3");
val_robot4 = new QLabel("Robot 4");
val_robot5 = new QLabel("Robot 5");
val_robot6 = new QLabel("Robot 6");
h_val_ball = new QLabel("000, 000, 0.00\n000, 000, 0.00\n000, 000, 0.00\n000, 000, 0.00\n");
h_val_robot1 = new QLabel("000, 000, 0.00\n000, 000, 0.00\n000, 000, 0.00\n000, 000, 0.00\n");
h_val_robot2 = new QLabel("000, 000, 0.00\n000, 000, 0.00\n000, 000, 0.00\n000, 000, 0.00\n");
h_val_robot3 = new QLabel("000, 000, 0.00\n000, 000, 0.00\n000, 000, 0.00\n000, 000, 0.00\n");
h_val_robot4 = new QLabel("000, 000, 0.00\n000, 000, 0.00\n000, 000, 0.00\n000, 000, 0.00\n");
h_val_robot5 = new QLabel("000, 000, 0.00\n000, 000, 0.00\n000, 000, 0.00\n000, 000, 0.00\n");
h_val_robot6 = new QLabel("000, 000, 0.00\n000, 000, 0.00\n000, 000, 0.00\n000, 000, 0.00\n");
lbl_val->setStyleSheet("QLabel {qproperty-alignment: AlignCenter; font-size: 14px; background: white; border: 1px solid #bbb;");
h_val_ball->setStyleSheet("QLabel {qproperty-alignment: AlignCenter; font-size: 14px; background: white; border: 1px solid #bbb;}");
h_val_robot1->setStyleSheet("QLabel {qproperty-alignment: AlignCenter; font-size: 14px; background: white; border: 1px solid #bbb;}");
h_val_robot2->setStyleSheet("QLabel {qproperty-alignment: AlignCenter; font-size: 14px; background: white; border: 1px solid #bbb;}");
h_val_robot3->setStyleSheet("QLabel {qproperty-alignment: AlignCenter; font-size: 14px; background: white; border: 1px solid #bbb;}");
h_val_robot4->setStyleSheet("QLabel {qproperty-alignment: AlignCenter; font-size: 14px; background: white; border: 1px solid #bbb;}");
h_val_robot5->setStyleSheet("QLabel {qproperty-alignment: AlignCenter; font-size: 14px; background: white; border: 1px solid #bbb;}");
h_val_robot6->setStyleSheet("QLabel {qproperty-alignment: AlignCenter; font-size: 14px; background: white; border: 1px solid #bbb;}");
sliderHmin = new QSlider(Qt::Orientation(VerticalTabs));
sliderHmax = new QSlider(Qt::Orientation(VerticalTabs));
sliderSmin = new QSlider(Qt::Orientation(VerticalTabs));
sliderSmax = new QSlider(Qt::Orientation(VerticalTabs));
sliderVmin = new QSlider(Qt::Orientation(VerticalTabs));
sliderVmax = new QSlider(Qt::Orientation(VerticalTabs));
sliderHmin->setMaximum(179);
sliderSmin->setMaximum(254);
sliderVmin->setMaximum(254);
sliderHmax->setMaximum(180);
sliderSmax->setMaximum(255);
sliderVmax->setMaximum(255);
sliderHmin->setMinimum(0);
sliderSmin->setMinimum(0);
sliderVmin->setMinimum(0);
sliderHmax->setMinimum(1);
sliderSmax->setMinimum(1);
sliderVmax->setMinimum(1);
sliderHmin->setMinimumHeight(140);
sliderSmin->setMinimumHeight(140);
sliderVmin->setMinimumHeight(140);
sliderHmax->setMinimumHeight(140);
sliderSmax->setMinimumHeight(140);
sliderVmax->setMinimumHeight(140);
sliderHmin->setValue(_calib.colors.at(0).min.rgb[h]);
sliderSmin->setValue(_calib.colors.at(0).min.rgb[s]);
sliderVmin->setValue(_calib.colors.at(0).min.rgb[v]);
sliderHmax->setValue(_calib.colors.at(0).max.rgb[h]);
sliderSmax->setValue(_calib.colors.at(0).max.rgb[s]);
sliderVmax->setValue(_calib.colors.at(0).max.rgb[v]);
connect(sliderHmin, SIGNAL(valueChanged(int)), this, SLOT(updateHmin(int)));
connect(sliderSmin, SIGNAL(valueChanged(int)), this, SLOT(updateSmin(int)));
connect(sliderVmin, SIGNAL(valueChanged(int)), this, SLOT(updateVmin(int)));
connect(sliderHmax, SIGNAL(valueChanged(int)), this, SLOT(updateHmax(int)));
connect(sliderSmax, SIGNAL(valueChanged(int)), this, SLOT(updateSmax(int)));
connect(sliderVmax, SIGNAL(valueChanged(int)), this, SLOT(updateVmax(int)));
updateValuesHSV();
update_hsv_s();
lblH->setStyleSheet("QLabel {qproperty-alignment: AlignCenter; font-weight: bold;}");
lblS->setStyleSheet("QLabel {qproperty-alignment: AlignCenter; font-weight: bold;}");
lblV->setStyleSheet("QLabel {qproperty-alignment: AlignCenter; font-weight: bold;}");
sliderHmax->setStyleSheet("QSlider{ background: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0.0 #00f, stop: 0.167 #f0f, stop: 0.334 #f00, stop: 0.501 #ff0, stop: 0.668 #0f0, stop: 0.835 #0ff, stop: 1.0 #00f)}");
sliderHmin->setStyleSheet("QSlider{ background: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0.0 #00f, stop: 0.167 #f0f, stop: 0.334 #f00, stop: 0.501 #ff0, stop: 0.668 #0f0, stop: 0.835 #0ff, stop: 1.0 #00f)}");
sliderSmin->setStyleSheet(hsv_s.c_str());
sliderSmax->setStyleSheet(hsv_s.c_str());
sliderVmin->setStyleSheet("QSlider{ background: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #fff, stop: 1 #000)}");
sliderVmax->setStyleSheet("QSlider{ background: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #fff, stop: 1 #000)}");
ui->layoutH3->setContentsMargins(2, 0, 2, 0);
ui->layoutH4->setContentsMargins(2, 0, 2, 0);
ui->layoutH5->setContentsMargins(2, 0, 2, 0);
ui->layoutH6->setContentsMargins(2, 0, 2, 0);
ui->layoutH7->setContentsMargins(2, 0, 2, 0);
ui->layoutH8->setContentsMargins(2, 0, 2, 0);
ui->layoutH9->setContentsMargins(2, 0, 2, 0);
ui->layoutH10->setContentsMargins(2, 0, 2, 0);
}