void ISSKeypoints::ComputeISSKeypoints(){
std::cout<<"computing keypoints of a model with "<<model->points.size()<<std::endl;
double model_resolution= static_cast<double>(computeCloudResolution(model));
if(!normals_set){
CalcNormals();
}
if(iss_use_multipliers){
iss_salient_radius_ = iss_sal_rad_multiplier_ * model_resolution;
iss_border_radius_ = iss_bord_rad_multiplier_ * model_resolution;
iss_normal_radius_= iss_norm_rad_multiplier_ * model_resolution;
iss_non_max_radius_ = iss_non_max_multiplier_ * model_resolution;
}
else{
iss_sal_rad_multiplier_ = iss_salient_radius_/model_resolution;
iss_bord_rad_multiplier_ = iss_border_radius_/model_resolution;
iss_norm_rad_multiplier_ = iss_normal_radius_/model_resolution;
iss_non_max_multiplier_ = iss_non_max_radius_/model_resolution;
}
iss_detector.setSalientRadius (iss_salient_radius_);
iss_detector.setNonMaxRadius (iss_non_max_radius_);
iss_detector.setNormalRadius (iss_normal_radius_);
iss_detector.setBorderRadius (iss_border_radius_);
iss_detector.setSearchMethod (tree);
iss_detector.setThreshold21 (iss_gamma_21_);
iss_detector.setThreshold32 (iss_gamma_32_);
iss_detector.setMinNeighbors (iss_min_neighbors_);
iss_detector.setNumberOfThreads (iss_threads_);
iss_detector.setInputCloud (model);
iss_detector.compute (*keypoints);
ShowParameters();
}
Creator::Creator(QWidget *parent)
: QWidget(parent)
{
_modifier = 0;
qRegisterMetaType<MessageLevel>("MessageLevel");
qRegisterMetaType<cv::Mat>("cv::Mat");
qRegisterMetaType<CalibrationSet>("CalibrationSet");
qRegisterMetaType<QMatrix4x4>("QMatrix4x4");
qRegisterMetaType<PositionDesc>("PositionDesc");
ui.setupUi(this);
// populate values to comboboxes
ui.modifierCombo->addItem("None", QVariant(NoneModifier));
ui.modifierCombo->addItem("Canny", QVariant(CannyModifier));
// connections
// Global application
// shortcuts
_shortcuts.push_back(new QShortcut(QKeySequence("Ctrl+s"), this));
_shortcuts.push_back(new QShortcut(QKeySequence("Alt+a"), this));
_shortcuts.push_back(new QShortcut(QKeySequence("Alt+n"), this));
connect(_shortcuts[0], SIGNAL(activated()), this, SLOT(SaveSettings()));
connect(_shortcuts[1], SIGNAL(activated()), this, SLOT(AddPoint()));
connect(_shortcuts[2], SIGNAL(activated()), this, SLOT(AddNewPoint()));
// worker connects
connect(this, SIGNAL(modeChangedSignal(int)), _capturer.GetWorker(), SLOT(SetMode(int)));
connect(ui.renderer, SIGNAL( DescChangedSignal(PositionDesc&)), this, SLOT(FillActive(PositionDesc&)));
// rendered connects
connect(ui.renderGroup, SIGNAL(buttonClicked(int)), ui.renderer, SLOT(ChangeRenderStyle(int)));
ui.renderGroup->setId(ui.renderPointsButton, RenderPoints);
ui.renderGroup->setId(ui.renderWireframeButton, RenderWireframe);
ui.renderGroup->setId(ui.renderFullButton, RenderComplete);
connect(ui.loadButton, SIGNAL(clicked()), this, SLOT(LoadModel()));
connect(ui.renderer, SIGNAL(reportSignal(MessageLevel, const QString &)), ui.infobox, SLOT(Report(MessageLevel, const QString&)));
connect(ui.reloadShadersButton, SIGNAL(clicked()), ui.renderer, SLOT(ChangeShaders()));
connect(ui.lockGroup, SIGNAL(buttonClicked(int)), ui.renderer, SLOT(ChangeActiveKeyPos(int)));
ui.lockGroup->setId(ui.cameraRadioButton, PositionCamera);
ui.lockGroup->setId(ui.modelRadioButton, PositionModel);
ui.lockGroup->setId(ui.lightRadioButton, PositionLight);
// videorender connections
connect(ui.applyDescButton, SIGNAL(clicked()), this, SLOT(ChangeActiveDesc()));
connect(ui.saveSettingsButton, SIGNAL(clicked(void)), this, SLOT(SaveSettings()));
connect(ui.playButton, SIGNAL(clicked(void)), this, SLOT(PlayVideo()));
connect(ui.pauseButton, SIGNAL(clicked(void)), this, SLOT(Pause(void)));
connect(ui.cloudPoints, SIGNAL(Finished(void)), this, SLOT(EnablePlay()));
connect(ui.cloudPoints, SIGNAL(reportSignal(MessageLevel, const QString &)), ui.infobox, SLOT(Report(MessageLevel, const QString&)));
connect(ui.createMeshButton, SIGNAL(clicked()),this, SLOT(StartCreating()));
//connect(ui.nextFrameButton, SIGNAL(clicked(void)), ui.cloudPoints, SLOT(RequestNextFrame()));
//connect(ui.prevFrameButton, SIGNAL(clicked(void)), ui.cloudPoints, SLOT(RequestPrevFrame()));
ui.nextFrameButton->setDisabled(true);
ui.prevFrameButton->setDisabled(true);
connect(ui.stopButton, SIGNAL(clicked(void)), this, SLOT(Stop(void)));
connect(ui.featuresCheckbox, SIGNAL(clicked(void)), this, SLOT(FeaturesFromFrame()));
connect(ui.stopButton, SIGNAL(clicked(void)), this, SLOT(Stop()));
connect(ui.greyCheckBox, SIGNAL(clicked(void)), this, SLOT(ShowGreyFrame(void)));
connect(ui.newButton, SIGNAL(clicked(void)), this, SLOT(CreateNew(void)));
//calibration connects
connect(ui.loadCalibrationButton, SIGNAL(clicked()), this, SLOT(LoadCalibration(void)));
connect(ui.runCalibrationButton, SIGNAL(clicked()), this, SLOT(RunCalibration(void)));
connect(ui.calibrationFolderButton, SIGNAL(clicked()), this, SLOT(LoadCalibrationImages()));
connect(ui.applyCalibrationButton, SIGNAL(clicked()), this, SLOT(SendParameters()));
connect(ui.playUndistortedButton, SIGNAL(clicked()), this, SLOT(ShowUndistorted()));
connect(ui.saveCalibrationButton, SIGNAL(clicked()), this, SLOT(SaveCalibration()));
connect(&_capturer, SIGNAL(imageReadySignal(cv::Mat)), ui.cloudPoints, SLOT(setImage(cv::Mat)));
connect(&_capturer, SIGNAL(reportSignal(MessageLevel, const QString &)), ui.cloudPoints, SLOT(Report(MessageLevel, const QString &)));
connect(_capturer.GetWorker(), SIGNAL(camParametersSignal(cv::Mat, cv::Mat)), ui.cloudPoints, SLOT(ShowParameters(cv::Mat, cv::Mat)));
connect(ui.cloudPoints, SIGNAL(setCalibrationSignal(CalibrationSet)), _capturer.GetWorker(), SLOT(ChangeCalibration(CalibrationSet)));
// comparer connects
connect(ui.compareNext, SIGNAL(clicked()), this, SLOT(GetNextImagePair()));
connect(this, SIGNAL(PreparePairSignal(int, int)), _capturer.GetWorker(), SLOT(PreparePair(int,int)));
connect(_capturer.GetWorker(), SIGNAL(imagePairSignal(cv::Mat, cv::Mat)), this, SLOT(SetCompare(cv::Mat, cv::Mat)));
connect(ui.applyModifierButton, SIGNAL(clicked()), this, SLOT(SetModifier()));
//connect(ui.comparePrev, SIGNAL(clicked()), this, SLOT(GetPrevImagePair()));
// rest of the initialization
LoadSettings();
}
