void saveDisp::getDisparities(const ug_stereomatcher::foveatedstackConstPtr dispX_msg, const ug_stereomatcher::foveatedstackConstPtr dispY_msg, const ug_stereomatcher::foveatedstackConstPtr dispC_msg)
{
// Get images
cv_bridge::CvImagePtr cv_dispPtrH, cv_dispPtrV, cv_dispPtrC;
ROS_INFO_STREAM("Rows: " << dispX_msg->im_height << " Cols: " << dispX_msg->im_width);
ROS_INFO_STREAM("Rows: " << dispY_msg->im_height << " Cols: " << dispY_msg->im_width);
ROS_INFO_STREAM("Rows: " << dispC_msg->im_height << " Cols: " << dispC_msg->im_width);
ROS_INFO("Processing images...");
try
{
cv_dispPtrH = cv_bridge::toCvCopy(dispX_msg->image_stack, enc::TYPE_32FC1);
cv_dispPtrV = cv_bridge::toCvCopy(dispY_msg->image_stack, enc::TYPE_32FC1);
cv_dispPtrC = cv_bridge::toCvCopy(dispC_msg->image_stack, enc::TYPE_32FC1);
}
catch (cv_bridge::Exception& e)
{
ROS_ERROR("Could not convert disparities to 'TYPE_32FC1'");
return;
}
saveImages("_FC.tif", cv_dispPtrC->image,1);
saveImages("_FH.tif", cv_dispPtrH->image,1);
saveImages("_FV.tif", cv_dispPtrV->image,1);
}
MainWindow::MainWindow(QWidget *parent) :
QMainWindow(parent),
ui(new Ui::MainWindow)
{
ui->setupUi(this);
centralW = new QWidget;
orignW = new QWidget;
transW = new QWidget;
qDebug("original");
original = new Image(orignW, this);
qDebug("transformed");
transformed = new Image(transW, this);
imageLayout = new QHBoxLayout;
imageLayout->addWidget(orignW);
imageLayout->addWidget(transW);
centralW->setLayout(imageLayout);
setCentralWidget(centralW);
createActions();
createMenus();
setWindowTitle(tr("Transformation"));
resize(1350, 700);
connect(this, SIGNAL(saveImages(QString)), transformed, SLOT(saveImage(QString)));
}
int main() {
loadImages();
initData();
initResults();
cross2DConv();
saveImages();
freeMem();
return 0;
}
FuseProb::FuseProb(vector<Mat> P, vector<Mat> T, Mat& M, int o, string path)
{
cout<<"Insite the FuseProb class"<<endl;
m_rows = M.rows; m_cols = M.cols;
m_type = M.type(); m_size = M.size();
orient = o;
cout<<"rows cols type "<<m_rows<<" "<<m_cols<<endl;
readProbTime(P, T);
// normalizeProbs(); //This is wrong and hence commented... normalization should happen across the 8 orientations
multProbTime();
saveImages(path);
}
//--------------------------------------------------------------
void testApp::keyReleased(int key){
switch (key) {
case ' ':
captureFrame();
break;
case 's':
cout <<"start saving\n" << endl;
gifEncoder.save("gifs/"+ofGetTimestampString()+".gif");
saveImages();
gifEncoder.reset();
break;
default:
break;
//case 'p':
//break;
}
}
void MainWindow::saveTransfImg()
{
QString str_matrix = original->showMatrix();
str_matrix.replace(QRegExp("[^\\w]+"), "_");
emit saveImages(imgfilename+str_matrix);
}
void ImageViewer::contextMenuEvent(QContextMenuEvent *event) {
if (!m_flipbook) return;
QAction *action;
if (m_isColorModel) {
event->ignore();
return;
}
QMenu *menu = new QMenu(this);
if (m_flipbook->getPreviewedFx()) {
if (!(windowState() & Qt::WindowFullScreen)) {
action = menu->addAction(tr("Clone Preview"));
action->setShortcut(QKeySequence(
CommandManager::instance()->getKeyFromId(MI_ClonePreview)));
connect(action, SIGNAL(triggered()), m_flipbook, SLOT(clonePreview()));
}
if (m_flipbook->isFreezed()) {
action = menu->addAction(tr("Unfreeze Preview"));
action->setShortcut(QKeySequence(
CommandManager::instance()->getKeyFromId(MI_FreezePreview)));
connect(action, SIGNAL(triggered()), m_flipbook, SLOT(unfreezePreview()));
} else {
action = menu->addAction(tr("Freeze Preview"));
action->setShortcut(QKeySequence(
CommandManager::instance()->getKeyFromId(MI_FreezePreview)));
connect(action, SIGNAL(triggered()), m_flipbook, SLOT(freezePreview()));
}
action = menu->addAction(tr("Regenerate Preview"));
action->setShortcut(QKeySequence(
CommandManager::instance()->getKeyFromId(MI_RegeneratePreview)));
connect(action, SIGNAL(triggered()), m_flipbook, SLOT(regenerate()));
action = menu->addAction(tr("Regenerate Frame Preview"));
action->setShortcut(QKeySequence(
CommandManager::instance()->getKeyFromId(MI_RegenerateFramePr)));
connect(action, SIGNAL(triggered()), m_flipbook, SLOT(regenerateFrame()));
menu->addSeparator();
}
action = menu->addAction(tr("Load / Append Images"));
connect(action, SIGNAL(triggered()), m_flipbook, SLOT(loadImages()));
// history of the loaded paths of flipbook
action = CommandManager::instance()->getAction(MI_LoadRecentImage);
menu->addAction(action);
action->setParent(m_flipbook);
if (m_flipbook->isSavable()) {
action = menu->addAction(tr("Save Images"));
connect(action, SIGNAL(triggered()), m_flipbook, SLOT(saveImages()));
}
menu->addSeparator();
QAction *reset = menu->addAction(tr("Reset View"));
reset->setShortcut(
QKeySequence(CommandManager::instance()->getKeyFromId(V_ZoomReset)));
connect(reset, SIGNAL(triggered()), SLOT(resetView()));
QAction *fit = menu->addAction(tr("Fit To Window"));
fit->setShortcut(
QKeySequence(CommandManager::instance()->getKeyFromId(V_ZoomFit)));
connect(fit, SIGNAL(triggered()), SLOT(fitView()));
#ifdef _WIN32
if (ImageUtils::FullScreenWidget *fsWidget =
dynamic_cast<ImageUtils::FullScreenWidget *>(parentWidget())) {
bool isFullScreen = (fsWidget->windowState() & Qt::WindowFullScreen) != 0;
action = menu->addAction(isFullScreen ? tr("Exit Full Screen Mode")
: tr("Full Screen Mode"));
action->setShortcut(QKeySequence(
CommandManager::instance()->getKeyFromId(V_ShowHideFullScreen)));
connect(action, SIGNAL(triggered()), fsWidget, SLOT(toggleFullScreen()));
}
#endif
bool addedSep = false;
if (m_isHistogramEnable &&
visibleRegion().contains(event->pos() * getDevPixRatio())) {
menu->addSeparator();
addedSep = true;
action = menu->addAction(tr("Show Histogram"));
connect(action, SIGNAL(triggered()), SLOT(showHistogram()));
}
if (m_visualSettings.m_doCompare) {
if (!addedSep) menu->addSeparator();
action = menu->addAction(tr("Swap Compared Images"));
connect(action, SIGNAL(triggered()), SLOT(swapCompared()));
}
menu->exec(event->globalPos());
action = CommandManager::instance()->getAction(MI_LoadRecentImage);
action->setParent(0);
delete menu;
update();
}
bool MeasurementFunctorGoldImage::callOnClear()
{
bool goldFunctionSucceeded = saveImages();
bool testSucceeded = MeasurementFunctor::callOnClear();
return( goldFunctionSucceeded && testSucceeded );
}
LapUSMainWindow::LapUSMainWindow(mtsIntuitiveDaVinci *daVinci,svlFilterImageOpenGLQtWidget *USVideoWidget,svlFilterImageFileWriter &USimagewriter1,svlFilterImageFileWriter &Liveimagewriter1,string saveFolderPath)
{
clicked = false ;
released = false;
// int argc = 0;
// char **argv;
// QApplication app(argc, argv);
this->daVinci = daVinci;
this->saveFolderPath = saveFolderPath;
this->setWindowState(Qt::WindowFullScreen);
setMouseTracking(true);
count = 1;
USimagewriter = &USimagewriter1;
Liveimagewriter = &Liveimagewriter1;
std::cout<<"Creating the main window......\n";
/* -------------Create the browser tabs -----------------*/
browserWidget = new BrowserWidget(this);
/*--------------Create the US + Real Image Viewer-------*/
USviewerWidget = new USViewer(this);
/*-------------Create the preop image viewer -------*/
preopViewerWidget = new PreopViewer(this);
/* Create the LapUS mouse */
// mouse = new LapUSMouse(daVinci);
//this->setStyleSheet("background-color:black;");
/*-------------- Create the video widget ------------------*/
QHBoxLayout* videoLayout = new QHBoxLayout();//(QBoxLayout::LeftToRight);
videoLayout->setMargin(0);
videoLayout->setSpacing(0);
//videoLayout->addWidget(USVideoWidget,4,Qt::AlignCenter);
videoLayout->addWidget(USVideoWidget,4);
//USVideoWidget->setFixedSzie(400,400);
// contains the video and the save button
videoWidget = new QWidget();
videoWidget->setParent(this);
// videoWidget->setFixedSize(380,380);
//videoWidget->setFixedSize(400,380);
//QPushButton * Save = new QPushButton();
Save = new QPushButton();
Save->setFixedSize(120,50);
Save->setText("Save");
connect(Save,SIGNAL(clicked()),this,SLOT(saveImages()));
Save->setStyleSheet("QPushButton { background-color:gray; font-size: 14pt}");//" qlineargradientx1: 0, y1: 0, x2: 0, y2: 1,stop: 0 #f6f7fa, stop: 1 #dadbde}");
videoWidget->setLayout(videoLayout);
justWidget = new QWidget();
//QVBoxLayout* ll = new QVBoxLayout();
QHBoxLayout* ll = new QHBoxLayout();
ll->addWidget(videoWidget);
ll->addWidget(Save,0,Qt::AlignRight | Qt::AlignVCenter);
justWidget->setLayout(ll);
ll->setMargin(0);
ll->setSpacing(0);
// QWidget* justWidget = new QWidget();
// QVBoxLayout* ll = new QVBoxLayout();
// ll->addWidget(videoWidget);
// ll->addWidget(Save,0,Qt::AlignBottom | Qt::AlignHCenter);
// justWidget->setLayout(ll);
// videoWidget->show();
//videoWidget->setMinimumSize(400,400);
//videoWidget->setGeometry(0,0,350,350);
//videoWidget->setFixedSize(350,350); // TODO set it up according to the screen size
/*-------------- Create a the left widget containing the video , USViewer and preop ------------------*/
QDesktopWidget *desk = QApplication::desktop();
// QRect screenSize;
if(desk)
screenSize = desk->screenGeometry(0);
std::cout<<"Printing the screen geometry x :";
std::cout<<screenSize.x() <<"y : "<<screenSize.y();
std::cout<<"\n";
// USviewerWidget->hide();
preopViewerWidget->hide();
//videoWidget->show();
//videoWidget->setFixedSize(400,400);
// QSizePolicy sizePolicy(QSizePolicy::Minimum, QSizePolicy::Minimum);
// sizePolicy.setHeightForWidth(true);
// videoWidget->setSizePolicy(sizePolicy);
/* add the video widget , USviewer and the preopview in a layout*/
// QGridLayout *leftLayout = new QGridLayout();
// leftLayout->addWidget(videoWidget,0,0);
// leftLayout->addWidget(USviewerWidget,1,0);
// leftLayout->addWidget(preopViewerWidget,1,0);
//QVBoxLayout *leftLayout = new QVBoxLayout();
//leftLayout->addWidget(videoWidget,1,Qt::AlignTop);
//leftLayout->addWidget(USviewerWidget,1);
// leftLayout->addWidget(preopViewerWidget,1);
QWidget* viewerWidget = new QWidget(this);
QVBoxLayout *viewerLayout = new QVBoxLayout();
viewerLayout->addWidget(USviewerWidget);
viewerLayout->addWidget(preopViewerWidget);
viewerLayout->setSpacing(0);
viewerLayout->setMargin(0);
viewerWidget->setLayout(viewerLayout);
QWidget* leftWidget = new QWidget();
//QHBoxLayout* leftLayout = new QHBoxLayout();
QVBoxLayout* leftLayout = new QVBoxLayout();
// leftLayout->addWidget(videoWidget,1);
leftLayout->addWidget(justWidget,2);
leftLayout->addWidget(viewerWidget,1);
leftLayout->setSpacing(0);
leftLayout->setMargin(0);
leftWidget->setLayout(leftLayout);
leftWidget->setFixedSize(((screenSize.width()*3/4)-10),screenSize.height());
videoWidget->setFixedSize(screenSize.height()*5/8*4/3,screenSize.height()*5/8);
//USviewerWidget->hide();
/*-------------------- Add the top widget and the browser widget to the mainlayout-----------------------*/
//QGridLayout *mainLayout = new QGridLayout();
QHBoxLayout* mainLayout = new QHBoxLayout();
// mainLayout->addWidget(topWidget,0,Qt::AlignTop);
// mainLayout->addWidget(leftWidget,0,Qt::AlignLeft);
mainLayout->addWidget(leftWidget,7,Qt::AlignLeft);
//mainLayout->setSpacing(0);
//mainLayout->addWidget(browserWidget,0,Qt::AlignBottom);
mainLayout->addWidget(browserWidget,0,Qt::AlignRight);
//mainLayout->addWidget(rightWidget,2,Qt::AlignRight);
//this->setLayout(layout);
// viewerWidget->setLayout(layout);
this->setLayout(mainLayout);
this->show();
USviewerWidget->setStyleSheet("background-color:black;");
leftWidget->setStyleSheet("background-color:black;");
// this->setStyleSheet("background-color:black;");
/* Create new lap US mouse */
mouse = new LapUSMouse(daVinci,this);
// mouse->show();
connect(mouse,SIGNAL(pinched(int ,int) ),this,SLOT(mouseClicked(int,int)));
connect(mouse,SIGNAL(moved(int ,int) ),this,SLOT(mouseMoved(int,int)));
connect(mouse,SIGNAL(released()),this,SLOT(mouseReleased()));
connect(browserWidget,SIGNAL(updateUSImage(QListWidgetItem*)),this,SLOT(showItem(QListWidgetItem*)));
connect(browserWidget,SIGNAL(updatePreopImage(QListWidgetItem*)),this,SLOT(showItemPreop(QListWidgetItem*)));
// app.exec();
//connect(callbacks, pinched())
//this->resize(600,500);
}
