void Main::cmdReceivedCB(const std_msgs::CharConstPtr & cmd)
{
switch (cmd->data)
{
case 'b':
clearBackground();
break;
case 'c':
stopTracking();
break;
case 'l':
toggleLearning();
break;
case 'a':
alternatingMode();
break;
case 'e':
exportModel();
break;
case 'i':
importModel();
break;
case 'r':
reset();
break;
case 'v':
sendCenterView();
break;
default:
break;
}
}
bool tPclExport::exportToFile(QString fileName, tModel *m){
// QDomElement root,tag;
QFile file;
QString docType;
QDomElement tag,oldTag;
docType = "poti_control";
file.setFileName(fileName);
if (file.open(QIODevice::WriteOnly)){
XML = new QDomDocument(docType);
root = XML->createElement(docType);
XML->appendChild(root);
exportModel(m);
// XML in eine Datei schreiben
QTextStream stream(&file);
stream << XML->toString();
file.close();
delete XML;
return true;
} else {
// fErrorMessages << "Can't write the given file: \"" + fileName + "\"";
return false;
}
}
//void Main::cmdReceivedCB(const std_msgs::CharConstPtr & cmd)
void Main::cmdReceivedCB(const std_msgs::StringConstPtr & cmd)
{
char cd=cmd->data.c_str()[0];
//switch (cmd->data)
switch (cd)
{
case 'b':
clearBackground();
break;
case 'c':
stopTracking();
break;
case 'l':
toggleLearning();
break;
case 'a':
alternatingMode();
break;
case 'e':
exportModel();
break;
case 'i':
importModel();
break;
case 'r':
reset();
break;
default:
break;
}
}
bool
ossimOutlierRejection::execute()
{
if(!setupModel(theModelDefinitionString))
{
return false;
}
ossim_float64 variance_pix2;
if(removeOutliers(&variance_pix2, NULL)) //TBD : use target variance
{
//display RMS with unit
cout<<"RMS="<<std::sqrt(variance_pix2)<<" pixels"<<endl;
//export results
if(theGeomOutputFilename!="")
{
if(!exportModel(theGeomOutputFilename)) return false;
}
if(theInlierOutputFilename!="")
{
if(!saveGMLTieSet(theInlierOutputFilename)) return false;
}
}
else
{
return false;
}
return true;
}
// Save all models under their original names
void Aten::saveModels()
{
for (Model* m = models_.first(); m != NULL; m = m->next)
{
setCurrentModel(m);
// Check model's filter - it will be the import filter, so try to get the partner
FilePluginInterface* plugin = m->plugin();
if (plugin == NULL)
{
Messenger::print("No plugin available for model '%s'. Not saved.", qPrintable(m->name()));
continue;
}
if (! plugin->canExport())
{
Messenger::print("Plugin for model '%s' has no export capability (format '%s'). Not saved.", qPrintable(m->name()), qPrintable(plugin->name()));
continue;
}
if (m->filename().isEmpty())
{
Messenger::print("Model '%s' has no filename set. Not saved.", qPrintable(m->name()));
continue;
}
// Save the model
exportModel(m, m->filename(), m->plugin());
}
}
// Export all currently loaded models in the referenced format
void Aten::exportModels()
{
Messenger::enter("Aten::exportModels");
QFileInfo fileInfo;
QString newFilename;
// Loop over loaded models
for (Model* m = models_.first(); m != NULL; m = m->next)
{
// Set current model
setCurrentModel(m);
// Generate new filename for model, with new suffix
fileInfo.setFile(m->filename());
newFilename = fileInfo.dir().absoluteFilePath(fileInfo.baseName() + "." + exportModelPlugin_->extensions().first());
QFileInfo newFileInfo(newFilename);
// Make sure that the new filename is not the same as the old filename
if (fileInfo == newFileInfo)
{
Messenger::print("Exported file would overwrite the original (%s) - not converted.", qPrintable(m->filename()));
continue;
}
if (exportModel(m, newFilename, exportModelPlugin_, FilePluginStandardImportOptions(), exportModelPluginOptions_)) Messenger::print("Model '%s' saved to file '%s' (%s)", qPrintable(m->name()), qPrintable(newFilename), qPrintable(exportModelPlugin_->name()));
else Messenger::print("Failed to save model '%s'.", qPrintable(m->name()));
m->enableUndoRedo();
}
Messenger::exit("Aten::exportModels");
}
//------------------------------------------------------------------------------------
// Creates and initializes the main window for application
//------------------------------------------------------------------------------------
Window::Window(QWidget *parent):QDialog(parent)
{
//We create an instance of GLWidget component we built in glwidget.h
m_glWidget = new GLWidget;
//Setup application interface. Creates all the required components and sliders.
setupUi(this);
//We need to attach our m_glWidget to glWidgetArea
//All our drawings will be on glWidgetArea
glWidgetArea->setWidget(m_glWidget);
//Setting up all the SIGNALS and SLOTS
connect(btnClose, SIGNAL(clicked()), this, SLOT(close()));
connect(btnReset, SIGNAL(clicked()), m_glWidget, SLOT(reset()));
connect(chkPerspective, SIGNAL(clicked(bool)), m_glWidget, SLOT(setView(bool)));
connect(sectorSlider, SIGNAL(valueChanged(int)), m_glWidget, SLOT(setSectors(int)));
connect(stackSlider, SIGNAL(valueChanged(int)), m_glWidget, SLOT(setStacks(int)));
connect(seRadiusStart, SIGNAL(valueChanged(double)), m_glWidget, SLOT(setRadiusStart(double)));
connect(seRadiusEnd, SIGNAL(valueChanged(double)), m_glWidget, SLOT(setRadiusEnd(double)));
connect(chkSurface, SIGNAL(clicked(bool)), m_glWidget, SLOT(setDrawSurface(bool)));
connect(chkWireFrame, SIGNAL(clicked(bool)), m_glWidget, SLOT(setDrawWireFrame(bool)));
connect(chkCrossSections, SIGNAL(clicked(bool)), m_glWidget, SLOT(setDrawCrossSections(bool)));
connect(chkDrawNormals, SIGNAL(clicked(bool)), m_glWidget, SLOT(setDrawNormals(bool)));
connect(btnCloseCurve, SIGNAL(clicked()), m_glWidget, SLOT(closeCurve()));
connect(btnExportModel, SIGNAL(clicked()), m_glWidget, SLOT(exportModel()));
/* Connect extra signal/slots here like:
connect(btnRunAnimation, SIGNAL(clicked()), m_glWidget, SLOT(startAnimation()));
connect(btnStopAnimation, SIGNAL(clicked()), m_glWidget, SLOT(stopAnimation()));
connect(udX, SIGNAL(valueChanged(double)), m_glWidget, SLOT(selXChanged(double)));
connect(udY, SIGNAL(valueChanged(double)), m_glWidget, SLOT(selYChanged(double)));
*/
}
void Window::createActions()
{
newSceneAct = new QAction(tr("&New"), this);
newSceneAct->setStatusTip(tr("Create an empty scene"));
connect(newSceneAct, SIGNAL(triggered()), glWidget, SLOT(cleanSheet()));
showBrushControlAct = new QAction(tr("&Brush Control"), this);
showBrushControlAct->setStatusTip(tr("Show brush settings"));
connect(showBrushControlAct, SIGNAL(triggered()), m_brushControl, SLOT(show()));
showFeatherEditAct = new QAction(tr("&Feather Editor"), this);
showFeatherEditAct->setStatusTip(tr("Show feather editor"));
connect(showFeatherEditAct, SIGNAL(triggered()), m_featherEdit, SLOT(show()));
showTimeControlAct = new QAction(tr("&Time Control"), this);
showTimeControlAct->setStatusTip(tr("Show time control"));
connect(showTimeControlAct, SIGNAL(triggered()), m_timeControl, SLOT(show()));
showBarbEditAct = new QAction(tr("&Barb Preview"), this);
showBarbEditAct->setStatusTip(tr("Show barb preview"));
connect(showBarbEditAct, SIGNAL(triggered()), m_barbEdit, SLOT(show()));
showRenderEditAct = new QAction(tr("&Render View"), this);
showRenderEditAct->setStatusTip(tr("Show render view"));
connect(showRenderEditAct, SIGNAL(triggered()), m_renderEdit, SLOT(show()));
showSceneEditAct = new QAction(tr("&Scene Tree"), this);
showSceneEditAct->setStatusTip(tr("Show scene edit"));
connect(showSceneEditAct, SIGNAL(triggered()), m_sceneEdit, SLOT(show()));
saveSceneAct = new QAction(tr("&Save"), this);
saveSceneAct->setStatusTip(tr("Save current scene file"));
connect(saveSceneAct, SIGNAL(triggered()), glWidget, SLOT(saveSheet()));
saveSceneAsAct = new QAction(tr("&Save As"), this);
saveSceneAsAct->setStatusTip(tr("Save current scene into another file"));
connect(saveSceneAsAct, SIGNAL(triggered()), glWidget, SLOT(saveSheetAs()));
importMeshAct = new QAction(tr("&Import Body Mesh"), this);
importMeshAct->setStatusTip(tr("Load a mesh cache file as the body"));
connect(importMeshAct, SIGNAL(triggered()), glWidget, SLOT(importBodyMesh()));
importFDMAct = new QAction(tr("&Import Feather Distribution Map"), this);
importFDMAct->setStatusTip(tr("Load an OpenEXR image as feather distribution"));
connect(importFDMAct, SIGNAL(triggered()), glWidget, SLOT(importFeatherDistributionMap()));
openSceneAct = new QAction(tr("&Open"), this);
openSceneAct->setStatusTip(tr("Load a file as current scene"));
connect(openSceneAct, SIGNAL(triggered()), this, SLOT(openFile()));
revertAct = new QAction(tr("&Revert To Saved"), this);
revertAct->setStatusTip(tr("Discard changes to current scene after lastest save"));
connect(revertAct, SIGNAL(triggered()), glWidget, SLOT(revertSheet()));
importBakeAct = new QAction(tr("&Import Body Animation"), this);
importBakeAct->setStatusTip(tr("Attach bake point cache to the body"));
connect(importBakeAct, SIGNAL(triggered()), glWidget, SLOT(chooseBake()));
for (int i = 0; i < MaxRecentFiles; ++i) {
recentFileActs[i] = new QAction(this);
recentFileActs[i]->setVisible(false);
connect(recentFileActs[i], SIGNAL(triggered()),
this, SLOT(openRecentFile()));
}
exportBakeAct = new QAction(tr("&Export Baked Feather"), this);
exportBakeAct->setStatusTip(tr("Write feather cache"));
connect(exportBakeAct, SIGNAL(triggered()), glWidget, SLOT(exportBake()));
exportStatAct = new QAction(tr("&Export Feather Model"), this);
exportStatAct->setStatusTip(tr("Write feather model"));
connect(exportStatAct, SIGNAL(triggered()), glWidget, SLOT(exportModel()));
growOnAct = new QAction(tr("Eable Grow On Faces"), this);
growOnAct->setStatusTip(tr("Tag selected faces to grow feathers"));
connect(growOnAct, SIGNAL(triggered()), this, SLOT(tagFaceOn()));
growOffAct = new QAction(tr("Disable Grow On Faces"), this);
growOffAct->setStatusTip(tr("Tag selected faces NOT to grow feathers"));
connect(growOffAct, SIGNAL(triggered()), this, SLOT(tagFaceOff()));
selectGrowonAct = new QAction(tr("&Grow On/Off"), this);
selectGrowonAct->setStatusTip(tr("Choose to activate grow on map"));
connect(selectGrowonAct, SIGNAL(triggered()), this, SLOT(selectMap0()));
selectDistributeAct = new QAction(tr("&Grow Distribution"), this);
selectDistributeAct->setStatusTip(tr("Choose to activate distribution map"));
connect(selectDistributeAct, SIGNAL(triggered()), this, SLOT(selectMap1()));
selectDensityAct = new QAction(tr("&Grow Density"), this);
selectDensityAct->setStatusTip(tr("Choose to activate density map"));
connect(selectDensityAct, SIGNAL(triggered()), this, SLOT(selectMap2()));
}
void MainWindow::createInterface() {
/** building UI **/
centralWidget = new QWidget(this);
gridLayout = new QGridLayout(centralWidget);
/* camera preview */
camWidget = new CameraWidget(centralWidget, camera->width, camera->height);
camWidget->setMinimumSize(320, 240);
gridLayout->addWidget(camWidget, 0, 0);
/* surface normals */
normalsWidget = new NormalsWidget(centralWidget, camera->width, camera->height);
normalsWidget->setMinimumWidth(300);
/* initially 3d reconstruction will be displayed */
normalsWidget->hide();
gridLayout->addWidget(normalsWidget, 0, 1);
/* 3D reconstruction */
modelWidget = new ModelWidget(centralWidget, camera->width, camera->height);
modelWidget->setMinimumWidth(300);
gridLayout->addWidget(modelWidget, 0, 1);
/* switching between displaying reconstruction and surface normals */
radioButtonsLayout = new QGridLayout();
normalsRadioButton = new QRadioButton("Surface normals");
connect(normalsRadioButton, SIGNAL(toggled(bool)), this, SLOT(onViewRadioButtonsChecked(bool)));
radioButtonsLayout->addWidget(normalsRadioButton, 0, 0);
surfaceRadioButton = new QRadioButton("3D Reconstruction");
surfaceRadioButton->setChecked(true);
connect(surfaceRadioButton, SIGNAL(toggled(bool)), this, SLOT(onViewRadioButtonsChecked(bool)));
radioButtonsLayout->addWidget(surfaceRadioButton, 0, 1);
gridLayout->addLayout(radioButtonsLayout, 1, 1);
/* test modus using 8 prev taken photos */
testModeCheckBox = new QCheckBox("Test/Presentation mode");
connect(testModeCheckBox, SIGNAL(stateChanged(int)), this, SLOT(onTestModeChecked(int)));
if (camera->inTestMode()) {
/* no camera found, forcing test mode */
testModeCheckBox->setChecked(true);
testModeCheckBox->setDisabled(true);
}
gridLayout->addWidget(testModeCheckBox, 1, 0);
/* toggle settings button */
toggleSettingsButton = new QPushButton("Show settings menu", centralWidget);
toggleSettingsButton->setCheckable(true);
connect(toggleSettingsButton, SIGNAL(clicked()), this, SLOT(onToggleSettingsMenu()));
gridLayout->addWidget(toggleSettingsButton, 2, 0);
/* export 3d model button */
exportButton = new QPushButton("Export 3D Model", centralWidget);
connect(exportButton, SIGNAL(clicked()), modelWidget, SLOT(exportModel()));
gridLayout->addWidget(exportButton, 2, 1);
/* add settings to adjust ps parameter and export 3d model */
paramsGroupBox = new QGroupBox("PS parameters", centralWidget);
paramsLayout = new QGridLayout(paramsGroupBox);
maxpqLabel = new QLabel("max<sub>pq</sub>", paramsGroupBox);
maxpqSpinBox = new QDoubleSpinBox(paramsGroupBox);
maxpqSpinBox->setRange(0, 200);
maxpqSpinBox->setValue(ps->getMaxPQ());
connect(maxpqSpinBox, SIGNAL(valueChanged(double)), ps, SLOT(setMaxPQ(double)));
paramsLayout->addWidget(maxpqLabel, 0, 0);
paramsLayout->addWidget(maxpqSpinBox, 0, 1);
lambdaLabel = new QLabel("<html><body>λ<body></html>", paramsGroupBox);
lambdaSpinBox = new QDoubleSpinBox(paramsGroupBox);
lambdaSpinBox->setRange(0, 10);
lambdaSpinBox->setSingleStep(0.1);
lambdaSpinBox->setValue(ps->getLambda());
connect(lambdaSpinBox, SIGNAL(valueChanged(double)), ps, SLOT(setLambda(double)));
paramsLayout->addWidget(lambdaLabel, 1, 0);
paramsLayout->addWidget(lambdaSpinBox, 1, 1);
muLabel = new QLabel("<html><body>μ<body></html>", paramsGroupBox);
muSpinBox = new QDoubleSpinBox(paramsGroupBox);
muSpinBox->setRange(0, 10);
muSpinBox->setSingleStep(0.1);
muSpinBox->setValue(ps->getMu());
connect(muSpinBox, SIGNAL(valueChanged(double)), ps, SLOT(setMu(double)));
paramsLayout->addWidget(muLabel, 2, 0);
paramsLayout->addWidget(muSpinBox, 2, 1);
minIntensLabel = new QLabel("Set min intensity", paramsGroupBox);
minIntensSlider = new QSlider(Qt::Horizontal, paramsGroupBox);
minIntensSlider->setRange(1, 255);
minIntensSlider->setValue(ps->getMinIntensity());
connect(minIntensSlider, SIGNAL(valueChanged(int)), ps, SLOT(setMinIntensity(int)));
paramsLayout->addWidget(minIntensLabel, 3, 0);
paramsLayout->addWidget(minIntensSlider, 3, 1);
unsharpNormsLabel = new QLabel("Unsharp masking normals", paramsGroupBox);
unsharpNormSlider = new QSlider(Qt::Horizontal, paramsGroupBox);
unsharpNormSlider->setRange(0, 300);
unsharpNormSlider->setValue((int)ps->getUnsharpScale()*100);
connect(unsharpNormSlider, SIGNAL(valueChanged(int)), ps, SLOT(setUnsharpScale(int)));
paramsLayout->addWidget(unsharpNormsLabel, 4, 0);
paramsLayout->addWidget(unsharpNormSlider, 4, 1);
paramsGroupBox->setLayout(paramsLayout);
paramsGroupBox->hide();
gridLayout->addWidget(paramsGroupBox, 3, 0);
setCentralWidget(centralWidget);
}
