void MainWindow::addObjectFromScene()
{
disconnect(camera_, SIGNAL(imageReceived(const cv::Mat &)), this, SLOT(update(const cv::Mat &)));
AddObjectDialog * dialog;
bool resumeCamera = camera_->isRunning();
if(!ui_->actionStart_camera->isEnabled() || ui_->imageView_source->cvImage().empty())
{
dialog = new AddObjectDialog(camera_, cv::Mat(), ui_->imageView_source->isMirrorView(), this);
}
else
{
dialog = new AddObjectDialog(0, ui_->imageView_source->cvImage(), ui_->imageView_source->isMirrorView(), this);
}
if(dialog->exec() == QDialog::Accepted)
{
ObjWidget * obj = dialog->retrieveObject();
if(obj)
{
objects_.push_back(obj);
showObject(objects_.last());
updateData();
objectsModified_ = true;
}
}
if(resumeCamera || ui_->imageView_source->cvImage().empty())
{
this->startProcessing();
}
else
{
connect(camera_, SIGNAL(imageReceived(const cv::Mat &)), this, SLOT(update(const cv::Mat &)));
this->update(ui_->imageView_source->cvImage());
}
delete dialog;
}
bool CObjTreePlugin::srvInsertBBox(srs_env_model::InsertBoundingBox::Request &req, srs_env_model::InsertBoundingBox::Response &res)
{
res.object_id = insertBBox(req.object_id, req.pose, req.scale, INSERT);
showObject(res.object_id);
return true;
}
bool CObjTreePlugin::srvInsertPlane(srs_env_model::InsertPlane::Request &req, srs_env_model::InsertPlane::Response &res)
{
res.object_id = insertPlane(req.plane, INSERT);
showObject(res.object_id);
return true;
}
bool CObjTreePlugin::srvInsertBBoxByPosition(srs_env_model::InsertBoundingBox::Request &req, srs_env_model::InsertBoundingBox::Response &res)
{
if(m_octree.removeObject(req.object_id))
removePrimitiveMarker(req.object_id);
res.object_id = insertBBox(req.object_id, req.pose, req.scale, UPDATE);
if((unsigned int)req.object_id != res.object_id)
removePrimitiveMarker(res.object_id);
showObject(res.object_id);
return true;
}
bool CObjTreePlugin::srvInsertPlaneByPosition(srs_env_model::InsertPlane::Request &req, srs_env_model::InsertPlane::Response &res)
{
if(m_octree.removeObject(req.plane.id))
removePrimitiveMarker(req.plane.id);
res.object_id = insertPlane(req.plane, UPDATE);
if((unsigned int)req.plane.id != res.object_id)
removePrimitiveMarker(res.object_id);
showObject(res.object_id);
return true;
}
bool CObjTreePlugin::srvInsertPlanes(srs_env_model::InsertPlanes::Request &req, srs_env_model::InsertPlanes::Response &res)
{
std::vector<srs_env_model_msgs::PlaneDesc>::iterator i;
std::vector<srs_env_model_msgs::PlaneDesc> &planes(req.plane_array.planes);
for(i = planes.begin(); i != planes.end(); i++)
{
unsigned int id = insertPlane(*i, INSERT);
res.object_ids.push_back(id);
showObject(id);
}
return true;
}
void kajiya2D::displayLevel()
{
int i = 0;
objects::SpacialObject* tmpObject = globalGameObjectManager_->nextSpacialObject( i );
while( tmpObject != NULL )
{
if(inputHandlerThread_->globalflags_.showSprites){
showObjectWithTextures( tmpObject );
}
else{
showObject( tmpObject );
}
i++;
tmpObject = globalGameObjectManager_->nextSpacialObject( i );
}
}
bool CObjTreePlugin::srvShowObject(srs_env_model::ShowObject::Request &req, srs_env_model::ShowObject::Response &res)
{
showObject(req.object_id);
return true;
}
ViewerWindow::ViewerWindow(QWidget* parent, Qt::WindowFlags flags)
: QMainWindow(parent, flags)
, gameData(nullptr)
, gameWorld(nullptr)
, renderer(nullptr)
{
setMinimumSize(640, 480);
QMenuBar* mb = this->menuBar();
QMenu* file = mb->addMenu("&File");
file->addAction("Open &Game", this, SLOT(loadGame()));
file->addSeparator();
for(int i = 0; i < MaxRecentGames; ++i) {
QAction* r = file->addAction("");
recentGames.append(r);
connect(r, SIGNAL(triggered()), SLOT(openRecent()));
}
recentSep = file->addSeparator();
auto ex = file->addAction("E&xit");
ex->setShortcut(QKeySequence::Quit);
connect(ex, SIGNAL(triggered()), QApplication::instance(), SLOT(closeAllWindows()));
//----------------------- View Mode setup
viewerWidget = new ViewerWidget;
viewerWidget->context()->makeCurrent();
connect(this, SIGNAL(loadedData(GameWorld*)), viewerWidget, SLOT(dataLoaded(GameWorld*)));
//------------- Object Viewer
m_views[ViewMode::Object] = new ObjectViewer(viewerWidget);
m_viewNames[ViewMode::Object] = "Objects";
//------------- Model Viewer
m_views[ViewMode::Model] = new ModelViewer(viewerWidget);
m_viewNames[ViewMode::Model] = "Model";
//------------- World Viewer
m_views[ViewMode::World] = new WorldViewer(viewerWidget);
m_viewNames[ViewMode::World] = "World";
//------------- display mode switching
viewSwitcher = new QStackedWidget;
auto signalMapper = new QSignalMapper(this);
auto switchPanel = new QVBoxLayout();
int i = 0;
for(auto viewer : m_views) {
viewSwitcher->addWidget(viewer);
connect(this, SIGNAL(loadedData(GameWorld*)), viewer, SLOT(showData(GameWorld*)));
auto viewerButton = new QPushButton(m_viewNames[i].c_str());
signalMapper->setMapping(m_views[i], i);
signalMapper->setMapping(viewerButton, i);
connect(viewerButton, SIGNAL(clicked()), signalMapper, SLOT(map()));
switchPanel->addWidget(viewerButton);
i++;
}
// Map world viewer loading placements to switch to the world viewer
connect(m_views[ViewMode::World], SIGNAL(placementsLoaded(QString)), signalMapper, SLOT(map()));
switchView(ViewMode::Object);
connect(m_views[ViewMode::Object], SIGNAL(showObjectModel(uint16_t)), this, SLOT(showObjectModel(uint16_t)));
connect(m_views[ViewMode::Object], SIGNAL(showObjectModel(uint16_t)), m_views[ViewMode::Model], SLOT(showObject(uint16_t)));
connect(this, SIGNAL(loadAnimations(QString)), m_views[ViewMode::Model], SLOT(loadAnimations(QString)));
connect(signalMapper, SIGNAL(mapped(int)), this, SLOT(switchView(int)));
connect(signalMapper, SIGNAL(mapped(int)), viewSwitcher, SLOT(setCurrentIndex(int)));
switchPanel->addStretch();
auto mainlayout = new QHBoxLayout();
mainlayout->addLayout(switchPanel);
mainlayout->addWidget(viewSwitcher);
auto mainwidget = new QWidget();
mainwidget->setLayout(mainlayout);
QMenu* data = mb->addMenu("&Data");
//data->addAction("Export &Model", objectViewer, SLOT(exportModel()));
QMenu* anim = mb->addMenu("&Animation");
anim->addAction("Load &Animations", this, SLOT(openAnimations()));
QMenu* map = mb->addMenu("&Map");
map->addAction("Load IPL", m_views[ViewMode::World], SLOT(loadPlacements()));
this->setCentralWidget(mainwidget);
updateRecentGames();
}
