void DescriptorChooserPresenter::changeDescriptor(int descriptor){
if(m_currentDescriptorPresenterIndex != descriptor){
disconnect(m_currentDescriptorPresenter, SIGNAL(descriptorChanged()), this, SIGNAL(descriptorChanged()));
m_currentDescriptorPresenter->deactivate();
m_currentDescriptorPresenterIndex = descriptor;
m_currentDescriptorPresenter = m_descriptorPresenters[m_currentDescriptorPresenterIndex];
m_chooser->setEnumValue("descriptor", m_currentDescriptorPresenterIndex);
m_currentDescriptorPresenter->activate();
connect(m_currentDescriptorPresenter, SIGNAL(descriptorChanged()), this, SIGNAL(descriptorChanged()));
emit descriptorChanged();
}
}
void DescriptorChooserPresenter::insertDescriptor(const QString& name, DescriptorPresenter* descriptor){
m_descriptorPresenterNames.push_back(name);
m_descriptorPresenters.push_back(descriptor);
m_chooser->insertEnumValue("descriptor", name);
if(m_descriptorPresenters.size() == 1){
m_currentDescriptorPresenter = descriptor;
m_currentDescriptorPresenterIndex = 0;
connect(m_currentDescriptorPresenter, SIGNAL(descriptorChanged()), this, SIGNAL(descriptorChanged()));
m_currentDescriptorPresenter->activate();
} else{
descriptor->deactivate();
m_currentDescriptorPresenter->activate();
}
}
void ShapeContextPresenter::changeMinRho(double value){
ShapeContextGenerator *descriptor = (ShapeContextGenerator *) m_descriptor;
double guiValue;
m_descriptorParameter->getDoubleValue(QString("minRho"), guiValue);
if(descriptor->getMinRho() != value || guiValue != value){
descriptor->setEdges(value, descriptor->getMaxRho(), descriptor->getBinRho(), descriptor->getBinPhi());
m_descriptorParameter->setDoubleValue("minRho", descriptor->getMinRho());
emit descriptorChanged();
}
}
void ShapeContextPresenter::changeDistanceFunction(int value){
ShapeContextGenerator *descriptor = (ShapeContextGenerator *) m_descriptor;
if(m_currentDistanceFunctionIndex != value){
m_currentDistanceFunctionIndex = value;
m_currentDistanceFunction = m_distanceFunctions[m_currentDistanceFunctionIndex];
descriptor->setDistanceFunction(m_currentDistanceFunction);
m_descriptorParameter->setEnumValue("distanceFunction", m_currentDistanceFunctionIndex);
emit descriptorChanged();
}
}
void ShapeContextPresenter::changeBinPhi(int value){
ShapeContextGenerator *descriptor = (ShapeContextGenerator *) m_descriptor;
int guiValue;
m_descriptorParameter->getIntValue(QString("binPhi"), guiValue);
if(descriptor->getBinPhi() != (unsigned int)value || guiValue != value){
descriptor->setEdges(descriptor->getMinRho(), descriptor->getMaxRho(), descriptor->getBinRho(), value);
m_descriptorParameter->setIntValue("binPhi", descriptor->getBinPhi());
emit descriptorChanged();
}
}
FLIRTDemo::FLIRTDemo(QWidget* parent, SensorStream& sensor):
QWidget(parent),
m_sensor(sensor),
m_currentPoint(NULL),
m_reading(NULL)
{
m_sensorWidget = new SensorStreamWidget(this);
m_rendererWidget = new RendererWidget(this);
m_descriptorRendererWidget = new RendererWidget(this);
m_peakMR = new SimpleMinMaxPeakFinder(0.2, 0.04);
m_peakR = new SimplePeakFinder(0.2, 0.04);
m_peakC = new SimplePeakFinder(0.3, 0.004);
m_peakMNE = new SimpleMinMaxPeakFinder(0.2, 0.04);
m_peakNE = new SimplePeakFinder(0.2, 0.04);
m_peakMNB = new SimpleMinMaxPeakFinder(0.2, 0.04);
m_peakNB = new SimplePeakFinder(0.2, 0.04);
m_detectorR = new RangeDetector(m_peakMR,1);
m_detectorC = new CurvatureDetector(m_peakC,1);
m_detectorNB = new NormalBlobDetector(m_peakMNB,3,1);
m_detectorNE = new NormalEdgeDetector(m_peakMNE,3,1);
m_layout = new QGridLayout(this);
m_parameter = new QTabWidget(this);
m_chooserW = new QWidget(0);
m_parameter->insertTab(1,m_chooserW,"Chooser");
QVBoxLayout *chooserLayout = new QVBoxLayout(m_chooserW);
// m_paramLayout = new QGridLayout(m_parameter);
m_plotWidget = new MultiScaleDetectorPlotWidget(this, m_detectorR->getScaleNumber());
m_detectorPresenterR = new MultiScaleDetectorPresenter(m_detectorR, new TabbedParameterWidget("RangeDetector", m_parameter,0));
m_peakMRPresenter = new SimplePeakFinderPresenter(m_peakMR, new TabbedParameterWidget("PeakFinder", m_parameter,2));
m_peakRPresenter = new SimplePeakFinderPresenter(m_peakR, new TabbedParameterWidget("PeakFinder", m_parameter,2));
m_detectorPresenterR->insertPeakFinder("SimpleMinMax", m_peakMRPresenter);
m_detectorPresenterR->insertPeakFinder("Simple", m_peakRPresenter);
m_detectorPresenterNB = new MultiScaleNormalDetectorPresenter(m_detectorNB, new TabbedParameterWidget("NormalBlobDetector", m_parameter,1));
m_peakMNBPresenter = new SimplePeakFinderPresenter(m_peakMNB, new TabbedParameterWidget("PeakFinder", m_parameter,2));
m_peakNBPresenter = new SimplePeakFinderPresenter(m_peakNB, new TabbedParameterWidget("PeakFinder", m_parameter,2));
m_detectorPresenterNB->insertPeakFinder("SimpleMinMax", m_peakMNBPresenter);
m_detectorPresenterNB->insertPeakFinder("Simple", m_peakNBPresenter);
m_detectorPresenterNE = new MultiScaleNormalDetectorPresenter(m_detectorNE, new TabbedParameterWidget("NormalEdgeDetector", m_parameter,1));
m_peakMNEPresenter = new SimplePeakFinderPresenter(m_peakMNE, new TabbedParameterWidget("PeakFinder", m_parameter,2));
m_peakNEPresenter = new SimplePeakFinderPresenter(m_peakNE, new TabbedParameterWidget("PeakFinder", m_parameter,2));
m_detectorPresenterNE->insertPeakFinder("SimpleMinMax", m_peakMNEPresenter);
m_detectorPresenterNE->insertPeakFinder("Simple", m_peakNEPresenter);
m_detectorPresenterC = new MultiScaleCurvatureDetectorPresenter(m_detectorC, new TabbedParameterWidget("CurvatureDetector", m_parameter,1));
m_peakCPresenter = new SimplePeakFinderPresenter(m_peakC, new TabbedParameterWidget("PeakFinder", m_parameter,2));
m_detectorPresenterC->insertPeakFinder("Simple", m_peakCPresenter);
m_chooser = new DetectorChooserPresenter(new ParameterWidget("DetectorChooser", m_chooserW));
m_chooser->insertDetector("CurvatureDetector", m_detectorPresenterC);
m_chooser->insertDetector("RangeDetector", m_detectorPresenterR);
m_chooser->insertDetector("NormalBlobDetector", m_detectorPresenterNB);
m_chooser->insertDetector("NormalEdgeDetector", m_detectorPresenterNE);
m_descriptorGeneratorS = new ShapeContextGenerator(0.02, 0.5, 4, 12);
m_descriptorPresenterS = new ShapeContextPresenter(m_descriptorGeneratorS, new TabbedParameterWidget("ShapeContext", m_parameter,3));
m_descriptorGeneratorB = new BetaGridGenerator(0.02, 0.5, 4, 12);
m_descriptorPresenterB = new BetaGridPresenter(m_descriptorGeneratorB, new TabbedParameterWidget("BetaGrid", m_parameter,3));
m_chooserD = new DescriptorChooserPresenter(new ParameterWidget("DescriptorChooser", m_chooserW));
m_chooserD->insertDescriptor("BetaGrid", m_descriptorPresenterB);
m_chooserD->insertDescriptor("ShapeContext", m_descriptorPresenterS);
m_interestRenderer = 0;
m_laserRenderer = 0;
m_supportRenderer = 0;
m_polarRenderer = 0;
m_layout->setSpacing(3);
m_layout->setMargin(3);
m_layout->addWidget(m_sensorWidget,0,0);
m_layout->addWidget(m_rendererWidget,1,0);
m_layout->addWidget(m_descriptorRendererWidget,2,1);
m_layout->setRowStretch(1,1);
m_layout->addWidget(m_plotWidget,2,0);
m_layout->addWidget(m_parameter,1,1);
chooserLayout->addWidget(m_chooser->getChooserParameter());
chooserLayout->addWidget(m_chooserD->getChooserParameter());
/* m_paramLayout->setSpacing(3);
m_paramLayout->setMargin(3);
m_paramLayout->addWidget(m_detectorPresenterC->getDetectorParameter(),0,0);
m_paramLayout->addWidget(m_detectorPresenterR->getDetectorParameter(),0,0);
m_paramLayout->addWidget(m_detectorPresenterNB->getDetectorParameter(),0,0);
m_paramLayout->addWidget(m_detectorPresenterNE->getDetectorParameter(),0,0);
m_paramLayout->addWidget(m_peakMRPresenter->getPeakFinderParameter(),1,0);
m_paramLayout->addWidget(m_peakRPresenter->getPeakFinderParameter(),1,0);
m_paramLayout->addWidget(m_peakCPresenter->getPeakFinderParameter(),1,0);
m_paramLayout->addWidget(m_peakMNEPresenter->getPeakFinderParameter(),1,0);
m_paramLayout->addWidget(m_peakNEPresenter->getPeakFinderParameter(),1,0);
m_paramLayout->addWidget(m_peakMNBPresenter->getPeakFinderParameter(),1,0);
m_paramLayout->addWidget(m_peakNBPresenter->getPeakFinderParameter(),1,0);
m_paramLayout->addWidget(m_descriptorPresenter->getDescriptorParameter(),2,0);*/
m_sensor.seek(0,END);
unsigned int end = m_sensor.tell();
m_sensor.seek(0,BEGIN);
m_sensorWidget->seekable(m_sensor.isSeekable(), end);
m_sensorWidget->streamReady();
m_sensorWidget->setMaximumHeight(32);
m_plotWidget->setMaximumHeight(256);
m_plotWidget->setMinimumHeight(256);
m_parameter->setMaximumWidth(350);
m_parameter->setMinimumWidth(350);
m_parameter->show();
connect(m_sensorWidget, SIGNAL(newReading()), this, SLOT(next()));
connect(m_sensorWidget, SIGNAL(newReading(int)), this, SLOT(next(int)));
connect(m_chooser, SIGNAL(detectorChanged()), this, SLOT(update()));
connect(m_chooserD, SIGNAL(descriptorChanged()), this, SLOT(updateDescriptor()));
connect(m_descriptorPresenterS, SIGNAL(descriptorChanged()), this, SLOT(updateDescriptor()));
connect(m_descriptorPresenterB, SIGNAL(descriptorChanged()), this, SLOT(updateDescriptor()));
connect(m_rendererWidget, SIGNAL(mousePressedGL(int, int, int)), this, SLOT(mousePressedGL(int, int, int)));
const AbstractReading* read = m_sensor.current();
processReading(read);
}
