MainWindow::MainWindow(QWidget *parent) :
QMainWindow(parent),
ui(new Ui::MainWindow)
{
ui->setupUi(this);
calib_vs_vision = false;
sql = new SQLite("../data/main.db", "passwd");
for(int i = 0 ; i < 8 ; i++){
colors.push_back(0);
}
image = new QCustomLabel();
image->setMouseTracking(true);
QObject::connect(image, SIGNAL(Mouse_Pos()), this, SLOT(mouseCurrentPos()));
QObject::connect(image, SIGNAL(Mouse_Left_Pressed()), this, SLOT(mouseLeftPressed()));
QObject::connect(image, SIGNAL(Mouse_Right_Pressed()), this, SLOT(mouseRightPressed()));
ui->layoutH2->addWidget(image);
QObject::connect(&calib, SIGNAL(finished()), this, SLOT(quit()));
calib.alloc_label_input(image);
calib.alloc_calibration(&_calib);
QObject::connect(&vi, SIGNAL(finished()), this, SLOT(quit()));
vi.alloc_label_input(image);
vi.alloc_calibration(&_calib);
vi.alloc_state(&state);
vi.alloc_colors(&colors);
vi.alloc_execution_config(&execConfig);
calib.start();
vi.start();
image->show();
coordinate_mouse = new QLabel("M(0, 0)");
mainItem = new QTreeWidgetItem;
cmbCameraIds = new QComboBox();
cmbSavedImages = new QComboBox();
cmbSavedVideos = new QComboBox();
checkUseCamera = new QCheckBox();
checkUseImage = new QCheckBox();
checkUseVideo = new QCheckBox();
cmbColors = new QComboBox();
cmbBallColors = new QComboBox();
cmbMainColors_1 = new QComboBox();
cmbMainColors_2 = new QComboBox();
cmbSecColors_1 = new QComboBox();
cmbSecColors_2 = new QComboBox();
cmbSecColors_3 = new QComboBox();
cmbSecColors_4 = new QComboBox();
cmbSecColors_5 = new QComboBox();
cmbSecColors_6 = new QComboBox();
btnDoColorCalib = new QPushButton("Do", this);
btnRunVision = new QPushButton("Run", this);
blockdevice = QIcon(":icons/blockdevice.png");
ksame = QIcon(":icons/ksame.png");
kdf = QIcon(":icons/kdf.png");
package = QIcon(":icons/package.png");
getAllDevices();
buildTrees();
if(devices.size() < 1){
checkUseCamera->setChecked(false);
checkUseImage->setChecked(true);
checkUseVideo->setChecked(false);
cmbCameraIds->setDisabled(true);
}else{
checkUseCamera->setChecked(true);
checkUseImage->setChecked(false);
checkUseVideo->setChecked(false);
}
lblH = new QLabel("H (0 - 180)");
lblS = new QLabel("S (0 - 255)");
lblV = new QLabel("V (0 - 255)");
lbl_val = new QLabel("Pos\nVel\nKPos\nKVel");
val_ball = new QLabel("Ball");
val_robot1 = new QLabel("Robot 1");
val_robot2 = new QLabel("Robot 2");
val_robot3 = new QLabel("Robot 3");
val_robot4 = new QLabel("Robot 4");
val_robot5 = new QLabel("Robot 5");
val_robot6 = new QLabel("Robot 6");
h_val_ball = new QLabel("000, 000, 0.00\n000, 000, 0.00\n000, 000, 0.00\n000, 000, 0.00\n");
h_val_robot1 = new QLabel("000, 000, 0.00\n000, 000, 0.00\n000, 000, 0.00\n000, 000, 0.00\n");
h_val_robot2 = new QLabel("000, 000, 0.00\n000, 000, 0.00\n000, 000, 0.00\n000, 000, 0.00\n");
h_val_robot3 = new QLabel("000, 000, 0.00\n000, 000, 0.00\n000, 000, 0.00\n000, 000, 0.00\n");
h_val_robot4 = new QLabel("000, 000, 0.00\n000, 000, 0.00\n000, 000, 0.00\n000, 000, 0.00\n");
h_val_robot5 = new QLabel("000, 000, 0.00\n000, 000, 0.00\n000, 000, 0.00\n000, 000, 0.00\n");
h_val_robot6 = new QLabel("000, 000, 0.00\n000, 000, 0.00\n000, 000, 0.00\n000, 000, 0.00\n");
lbl_val->setStyleSheet("QLabel {qproperty-alignment: AlignCenter; font-size: 14px; background: white; border: 1px solid #bbb;");
h_val_ball->setStyleSheet("QLabel {qproperty-alignment: AlignCenter; font-size: 14px; background: white; border: 1px solid #bbb;}");
h_val_robot1->setStyleSheet("QLabel {qproperty-alignment: AlignCenter; font-size: 14px; background: white; border: 1px solid #bbb;}");
h_val_robot2->setStyleSheet("QLabel {qproperty-alignment: AlignCenter; font-size: 14px; background: white; border: 1px solid #bbb;}");
h_val_robot3->setStyleSheet("QLabel {qproperty-alignment: AlignCenter; font-size: 14px; background: white; border: 1px solid #bbb;}");
h_val_robot4->setStyleSheet("QLabel {qproperty-alignment: AlignCenter; font-size: 14px; background: white; border: 1px solid #bbb;}");
h_val_robot5->setStyleSheet("QLabel {qproperty-alignment: AlignCenter; font-size: 14px; background: white; border: 1px solid #bbb;}");
h_val_robot6->setStyleSheet("QLabel {qproperty-alignment: AlignCenter; font-size: 14px; background: white; border: 1px solid #bbb;}");
sliderHmin = new QSlider(Qt::Orientation(VerticalTabs));
sliderHmax = new QSlider(Qt::Orientation(VerticalTabs));
sliderSmin = new QSlider(Qt::Orientation(VerticalTabs));
sliderSmax = new QSlider(Qt::Orientation(VerticalTabs));
sliderVmin = new QSlider(Qt::Orientation(VerticalTabs));
sliderVmax = new QSlider(Qt::Orientation(VerticalTabs));
sliderHmin->setMaximum(179);
sliderSmin->setMaximum(254);
sliderVmin->setMaximum(254);
sliderHmax->setMaximum(180);
sliderSmax->setMaximum(255);
sliderVmax->setMaximum(255);
sliderHmin->setMinimum(0);
sliderSmin->setMinimum(0);
sliderVmin->setMinimum(0);
sliderHmax->setMinimum(1);
sliderSmax->setMinimum(1);
sliderVmax->setMinimum(1);
sliderHmin->setMinimumHeight(140);
sliderSmin->setMinimumHeight(140);
sliderVmin->setMinimumHeight(140);
sliderHmax->setMinimumHeight(140);
sliderSmax->setMinimumHeight(140);
sliderVmax->setMinimumHeight(140);
sliderHmin->setValue(_calib.colors.at(0).min.rgb[h]);
sliderSmin->setValue(_calib.colors.at(0).min.rgb[s]);
sliderVmin->setValue(_calib.colors.at(0).min.rgb[v]);
sliderHmax->setValue(_calib.colors.at(0).max.rgb[h]);
sliderSmax->setValue(_calib.colors.at(0).max.rgb[s]);
sliderVmax->setValue(_calib.colors.at(0).max.rgb[v]);
connect(sliderHmin, SIGNAL(valueChanged(int)), this, SLOT(updateHmin(int)));
connect(sliderSmin, SIGNAL(valueChanged(int)), this, SLOT(updateSmin(int)));
connect(sliderVmin, SIGNAL(valueChanged(int)), this, SLOT(updateVmin(int)));
connect(sliderHmax, SIGNAL(valueChanged(int)), this, SLOT(updateHmax(int)));
connect(sliderSmax, SIGNAL(valueChanged(int)), this, SLOT(updateSmax(int)));
connect(sliderVmax, SIGNAL(valueChanged(int)), this, SLOT(updateVmax(int)));
updateValuesHSV();
update_hsv_s();
lblH->setStyleSheet("QLabel {qproperty-alignment: AlignCenter; font-weight: bold;}");
lblS->setStyleSheet("QLabel {qproperty-alignment: AlignCenter; font-weight: bold;}");
lblV->setStyleSheet("QLabel {qproperty-alignment: AlignCenter; font-weight: bold;}");
sliderHmax->setStyleSheet("QSlider{ background: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0.0 #00f, stop: 0.167 #f0f, stop: 0.334 #f00, stop: 0.501 #ff0, stop: 0.668 #0f0, stop: 0.835 #0ff, stop: 1.0 #00f)}");
sliderHmin->setStyleSheet("QSlider{ background: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0.0 #00f, stop: 0.167 #f0f, stop: 0.334 #f00, stop: 0.501 #ff0, stop: 0.668 #0f0, stop: 0.835 #0ff, stop: 1.0 #00f)}");
sliderSmin->setStyleSheet(hsv_s.c_str());
sliderSmax->setStyleSheet(hsv_s.c_str());
sliderVmin->setStyleSheet("QSlider{ background: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #fff, stop: 1 #000)}");
sliderVmax->setStyleSheet("QSlider{ background: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #fff, stop: 1 #000)}");
ui->layoutH3->setContentsMargins(2, 0, 2, 0);
ui->layoutH4->setContentsMargins(2, 0, 2, 0);
ui->layoutH5->setContentsMargins(2, 0, 2, 0);
ui->layoutH6->setContentsMargins(2, 0, 2, 0);
ui->layoutH7->setContentsMargins(2, 0, 2, 0);
ui->layoutH8->setContentsMargins(2, 0, 2, 0);
ui->layoutH9->setContentsMargins(2, 0, 2, 0);
ui->layoutH10->setContentsMargins(2, 0, 2, 0);
}
PropsDemo::PropsDemo(HINSTANCE hInstance, std::string winCaption, D3DDEVTYPE devType, DWORD requestedVP)
: D3DApp(hInstance, winCaption, devType, requestedVP)
{
if(!checkDeviceCaps())
{
MessageBox(0, "checkDeviceCaps() Failed", 0, 0);
PostQuitMessage(0);
}
InitAllVertexDeclarations();
mTime = 0.0f;
mGfxStats = new GfxStats();
// Set path to art resources.
SetCurrentDirectory("Art/");
// World space units are meters.
mTerrain = new Terrain(257, 257, 2.0f, 2.0f,
"castlehm257.raw", "grass.dds", "dirt.dds",
"rock.dds", "blend_castle.dds", 0.5f, 0.0f);
D3DXVECTOR3 toSun(-1.0f, 3.0f, 1.0f);
D3DXVec3Normalize(&toSun, &toSun);
mTerrain->setDirToSunW(toSun);
// Setup water.
D3DXMATRIX waterWorld;
D3DXMatrixTranslation(&waterWorld, 8.0f, 35.0f, -80.0f);
mWater = new Water(33, 33, 20, 20, waterWorld);
// Initialize camera.
gCamera->pos() = D3DXVECTOR3(8.0f, 35.0f, -100.0f);
gCamera->setSpeed(20.0f);
mFreeCamera = false;
buildCastle();
buildTrees();
buildGrass();
HR(D3DXCreateTextureFromFile(gd3dDevice, "grassfin0.dds", &mGrassTex));
HR(D3DXCreateTextureFromFile(gd3dDevice, "whitetex.dds", &mWhiteTex));
buildFX();
mLight.dirW = -toSun;
D3DXVec3Normalize(&mLight.dirW, &mLight.dirW);
mLight.ambient = D3DXCOLOR(1.0f, 1.0f, 1.0f, 1.0f);
mLight.diffuse = D3DXCOLOR(1.0f, 1.0f, 1.0f, 1.0f);
mLight.spec = D3DXCOLOR(1.0f, 1.0f, 1.0f, 1.0f);
HR(mFX->SetValue(mhLight, &mLight, sizeof(DirLight)));
HR(mGrassFX->SetValue(mhGrassDirToSunW, &(-mLight.dirW), sizeof(D3DXVECTOR3)));
mGfxStats->addVertices(mTerrain->getNumVertices());
mGfxStats->addTriangles(mTerrain->getNumTriangles());
mGfxStats->addVertices(mWater->getNumVertices());
mGfxStats->addTriangles(mWater->getNumTriangles());
mGfxStats->addVertices(mCastle.mesh->GetNumVertices());
mGfxStats->addTriangles(mCastle.mesh->GetNumFaces());
mGfxStats->addVertices(mTrees[0].mesh->GetNumVertices()*NUM_TREES/4);
mGfxStats->addTriangles(mTrees[0].mesh->GetNumFaces()*NUM_TREES/4);
mGfxStats->addVertices(mTrees[1].mesh->GetNumVertices()*NUM_TREES/4);
mGfxStats->addTriangles(mTrees[1].mesh->GetNumFaces()*NUM_TREES/4);
mGfxStats->addVertices(mTrees[2].mesh->GetNumVertices()*NUM_TREES/4);
mGfxStats->addTriangles(mTrees[2].mesh->GetNumFaces()*NUM_TREES/4);
mGfxStats->addVertices(mTrees[3].mesh->GetNumVertices()*NUM_TREES/4);
mGfxStats->addTriangles(mTrees[3].mesh->GetNumFaces()*NUM_TREES/4);
mGfxStats->addVertices(mGrassMesh->GetNumVertices());
mGfxStats->addTriangles(mGrassMesh->GetNumFaces());
onResetDevice();
}
