///Connect Signals and Slots only relevant for the graphical interface
void gui_connections(Graphical_UI* gui, GraphManager* graph_mgr, OpenNIListener* listener)
{
QObject::connect(listener, SIGNAL(newVisualImage(QImage)), gui, SLOT(setVisualImage(QImage)));
QObject::connect(listener, SIGNAL(newFeatureFlowImage(QImage)), gui, SLOT(setFeatureFlowImage(QImage)));
QObject::connect(listener, SIGNAL(newDepthImage(QImage)), gui, SLOT(setDepthImage(QImage)));
QObject::connect(graph_mgr, SIGNAL(sendFinished()), gui, SLOT(sendFinished()));
QObject::connect(graph_mgr, SIGNAL(iamBusy(int, const char*, int)), gui, SLOT(showBusy(int, const char*, int)));
QObject::connect(graph_mgr, SIGNAL(progress(int, const char*, int)), gui, SLOT(setBusy(int, const char*, int)));
QObject::connect(graph_mgr, SIGNAL(setGUIInfo(QString)), gui, SLOT(setInfo(QString)));
QObject::connect(graph_mgr, SIGNAL(setGUIStatus(QString)), gui, SLOT(setStatus(QString)));
QObject::connect(gui, SIGNAL(printEdgeErrors(QString)), graph_mgr, SLOT(printEdgeErrors(QString)));
QObject::connect(gui, SIGNAL(pruneEdgesWithErrorAbove(float)), graph_mgr, SLOT(pruneEdgesWithErrorAbove(float)));
QObject::connect(gui, SIGNAL(clearClouds()), graph_mgr, SLOT(clearPointClouds()));
if (ParameterServer::instance()->get<bool>("use_glwidget") && gui->getGLViewer() != NULL) {
GLViewer* glv = gui->getGLViewer();
QObject::connect(graph_mgr, SIGNAL(setPointCloud(pointcloud_type *, QMatrix4x4)), glv, SLOT(addPointCloud(pointcloud_type *, QMatrix4x4)), Qt::BlockingQueuedConnection ); //Needs to block, otherwise the opengl list compilation makes the app unresponsive. This effectively throttles the processing rate though
typedef const std::vector<Eigen::Vector4f, Eigen::aligned_allocator<Eigen::Vector4f> >* cnst_ft_vectors;
QObject::connect(graph_mgr, SIGNAL(setFeatures(const std::vector<Eigen::Vector4f, Eigen::aligned_allocator<Eigen::Vector4f> >*)), glv, SLOT(addFeatures(const std::vector<Eigen::Vector4f, Eigen::aligned_allocator<Eigen::Vector4f> >*))); //, Qt::DirectConnection);
QObject::connect(graph_mgr, SIGNAL(setGraphEdges(const QList<QPair<int, int> >*)), glv, SLOT(setEdges(const QList<QPair<int, int> >*)));
QObject::connect(graph_mgr, SIGNAL(updateTransforms(QList<QMatrix4x4>*)), glv, SLOT(updateTransforms(QList<QMatrix4x4>*)));
QObject::connect(graph_mgr, SIGNAL(deleteLastNode()), glv, SLOT(deleteLastNode()));
QObject::connect(graph_mgr, SIGNAL(resetGLViewer()), glv, SLOT(reset()));
if(!ParameterServer::instance()->get<bool>("store_pointclouds")) {
QObject::connect(glv, SIGNAL(cloudRendered(pointcloud_type const *)), graph_mgr, SLOT(clearPointCloud(pointcloud_type const *))); //
} else if(ParameterServer::instance()->get<double>("voxelfilter_size") > 0.0) {
QObject::connect(glv, SIGNAL(cloudRendered(pointcloud_type const *)), graph_mgr, SLOT(reducePointCloud(pointcloud_type const *))); //
}
}
QObject::connect(listener, SIGNAL(setGUIInfo(QString)), gui, SLOT(setInfo(QString)));
QObject::connect(listener, SIGNAL(setGUIStatus(QString)), gui, SLOT(setStatus(QString)));
QObject::connect(graph_mgr, SIGNAL(setGUIInfo2(QString)), gui, SLOT(setInfo2(QString)));
}
void OpenNIListener::visualize_images(cv::Mat visual_image, cv::Mat depth_image){
if(ParameterServer::instance()->get<bool>("visualize_mono_depth_overlay")){
cv::Mat visual_edges = cv::Mat( visual_image.rows, visual_image.cols, CV_8UC1);
cv::Mat depth_edges = cv::Mat( depth_image.rows, depth_image.cols, CV_8UC1);
overlay_edges(visual_image, depth_image, visual_edges, depth_edges);
Q_EMIT newDepthImage(cvMat2QImage(depth_image,depth_image, depth_image+visual_edges, 1)); //show registration by edge overlay
cv::Mat monochrome;
if(visual_image.type() != CV_8UC1) {
monochrome = cv::Mat( visual_image.rows, visual_image.cols, CV_8UC1);
cv::cvtColor(visual_image, monochrome, CV_RGB2GRAY);
} else {
monochrome = visual_image;
}
Q_EMIT newVisualImage(cvMat2QImage(monochrome, monochrome + depth_edges, monochrome, 0)); //visual_idx=0
} else { // No overlay
Q_EMIT newVisualImage(cvMat2QImage(visual_image, 0)); //visual_idx=0
Q_EMIT newDepthImage(cvMat2QImage(depth_image, 1));
}
}