void DenseSegmentation::PreprocessFeatures(
const std::vector<cv::Mat>& input_features,
std::vector<cv::Mat>* output_features) {
CHECK_NOTNULL(output_features);
CHECK_EQ(1, input_features.size())
<< "Only appearance supported by default DenseSegmentation";
output_features->resize(1);
const cv::Mat& input = input_features[0];
CHECK_EQ(3, input.channels());
CHECK_EQ(input.rows, frame_height_);
CHECK_EQ(input.cols, frame_width_);
output_features->at(0).create(input.rows, input.cols, CV_32FC3);
cv::Mat& output = (*output_features)[0];
cv::Mat tmp_frame(input.rows, input.cols, CV_32FC3);
input.convertTo(tmp_frame, CV_32FC3, 1.0 / 255.0);
// Smooth image based on our options.
switch (options_.presmoothing) {
case DenseSegmentationOptions::PRESMOOTH_NONE:
output = tmp_frame;
break;
case DenseSegmentationOptions::PRESMOOTH_GAUSSIAN:
cv::GaussianBlur(tmp_frame, output, cv::Size(3, 3), 1.5);
break;
case DenseSegmentationOptions::PRESMOOTH_BILATERAL:
// TODO(grundman): Quite heavy, reduce ? Original values: 1.5, 0.15
imagefilter::BilateralFilter(tmp_frame, 3.0, 0.25, &output);
break;
}
}
int wgt_spkm_ext::init()
{
try {
if (robot.state.edp.pid != -1) {
if (robot.state.edp.is_synchronised) // Czy robot jest zsynchronizowany?
{
//ui.pushButton_execute->setDisabled(false);
robot.ui_ecp_robot->epos_external_reply_data_request_port->set_request();
robot.ui_ecp_robot->execute_motion();
robot.ui_ecp_robot->epos_external_reply_data_request_port->get();
set_single_axis(0, ui.doubleSpinBox_mcur_0, ui.radioButton_mip_0);
set_single_axis(1, ui.doubleSpinBox_mcur_1, ui.radioButton_mip_1);
set_single_axis(2, ui.doubleSpinBox_mcur_2, ui.radioButton_mip_2);
set_single_axis(3, ui.doubleSpinBox_mcur_3, ui.radioButton_mip_3);
set_single_axis(4, ui.doubleSpinBox_mcur_4, ui.radioButton_mip_4);
set_single_axis(5, ui.doubleSpinBox_mcur_5, ui.radioButton_mip_5);
lib::epos::epos_reply &er = robot.ui_ecp_robot->epos_external_reply_data_request_port->data;
lib::Homog_matrix tmp_frame(er.current_frame);
lib::Xyz_Angle_Axis_vector tmp_vector;
double current_position[6];
tmp_frame.get_xyz_angle_axis(tmp_vector);
tmp_vector.to_table(current_position);
ui.doubleSpinBox_cur_p0->setValue(current_position[0]);
ui.doubleSpinBox_cur_p1->setValue(current_position[1]);
ui.doubleSpinBox_cur_p2->setValue(current_position[2]);
ui.doubleSpinBox_cur_p3->setValue(current_position[3]);
ui.doubleSpinBox_cur_p4->setValue(current_position[4]);
ui.doubleSpinBox_cur_p5->setValue(current_position[5]);
for (int i = 0; i < robot.number_of_servos; i++) {
robot.desired_pos[i] = robot.current_pos[i];
}
} else {
// Wygaszanie elementow przy niezsynchronizowanym robocie
//ui.pushButton_execute->setDisabled(true);
}
}
} // end try
CATCH_SECTION_UI
return 1;
}
int wgt_spkm_ext::init()
{
try {
if (robot.state.edp.pid != -1) {
if (robot.state.edp.is_synchronised) // Czy robot jest zsynchronizowany?
{
//ui.pushButton_execute->setDisabled(false);
robot.ui_ecp_robot->the_robot->epos_external_reply_data_request_port.set_request();
robot.ui_ecp_robot->execute_motion();
robot.ui_ecp_robot->the_robot->epos_external_reply_data_request_port.get();
for (int i = 0; i < 6; i++) {
set_single_axis(i, doubleSpinBox_mcur_Vector[i], radioButton_mip_Vector[i]);
}
lib::epos::epos_reply &er = robot.ui_ecp_robot->the_robot->epos_external_reply_data_request_port.data;
lib::Homog_matrix tmp_frame(er.current_frame);
lib::Xyz_Angle_Axis_vector tmp_vector;
double current_position[6];
tmp_frame.get_xyz_angle_axis(tmp_vector);
tmp_vector.to_table(current_position);
for (int i = 0; i < 6; i++) {
doubleSpinBox_cur_Vector[i]->setValue(current_position[i]);
robot.desired_pos[i] = robot.current_pos[i];
}
} else {
// Wygaszanie elementow przy niezsynchronizowanym robocie
//ui.pushButton_execute->setDisabled(true);
}
}
} // end try
CATCH_SECTION_UI
return 1;
}
