void IOServicePool::join() {
// Other threads won't work if they still have work
stopWork();
for(ThreadList::iterator it = mThreads.begin(); it != mThreads.end(); it++)
(*it)->join();
}
bool ControlCubeCache::stopCache()
{
if (cudaSuccess != cudaStreamDestroy(_stream))
{
std::cerr<<"Control Cube Cache, cuda create stream error: "<<cudaGetErrorString(cudaGetLastError())<<std::endl;
return false;
}
return stopWork();
}
void run() {
for (int i = 0; i < Manager::WorkerCount; ++i) {
auto w = new Worker();
connect(this, SIGNAL(startWork()), w, SLOT(doWork()));
connect(this, SIGNAL(stopWork()), w, SLOT(stop()));
connect(this, SIGNAL(finished()), w, SLOT(deleteLater()));
workers_ << w;
}
exec();
}
BlueCoreDeviceController_newStyle::Implementation::~Implementation( )
{
// stop the world, I want to get off.
if ( mConnectionToChip )
mConnectionToChip->stop();
if ( mConnectionOnOffer )
mConnectionOnOffer->stop();
stopWork();
// now the world is stopped, delete it all...
for ( int i = 0 ; i < PDU::csr_hci_extensions_count ; i++ )
delete pending[i];
delete offered;
delete mConnectionToChip;
delete mConnectionOnOffer;
}
SWCreateAvatarInterface::SWCreateAvatarInterface(QApplication *parent) : m_uiCreateAvatar(new Ui::SWUI_WCreateAvatar),
m_oTimer(new QBasicTimer), m_bGLFullScreen(false)
{
// set absolute path
m_absolutePath = QDir::currentPath() + "/";
m_bWorkStarted = false;
m_bResetKinect = false;
// init rects
m_oFaceRect.width = 0;
m_oNoseRect.width = 0;
// init main widget
m_uiCreateAvatar->setupUi(this);
this->setWindowTitle(QString("SWoOz : Create avatar"));
this->setWindowIcon(QIcon(m_absolutePath + "../data/images/logos/icon_swooz_avatar.png"));
// init opengl context
QHBoxLayout *l_pGLContainerLayout = new QHBoxLayout();
l_pGLContainerLayout->layout()->setContentsMargins(0,0,0,0);
m_pGLContainer = new QWidget();
QGLFormat l_glFormat;
l_glFormat.setVersion( 4, 3 );
l_glFormat.setProfile(QGLFormat::CompatibilityProfile);
l_glFormat.setSampleBuffers(true);
QGLContext *l_glContext1 = new QGLContext(l_glFormat);
QGLContext *l_glContext2 = new QGLContext(l_glFormat);
// add widgets
// display widgets
// rgb
m_WRGBDisplay = new SWDisplayImageWidget(this);
m_uiCreateAvatar->hlRGB->addWidget(m_WRGBDisplay);
// radial proj
m_WRadialProjDisplay = new SWDisplayImageWidget(this, false, true);
m_uiCreateAvatar->hlRadial->addWidget(m_WRadialProjDisplay);
// face texture
m_WFaceTextureDisplay = new SWDisplayImageWidget(this);
m_uiCreateAvatar->hlFaceTexture->addWidget(m_WFaceTextureDisplay);
// cloud gl widget
m_WCloudGL = new SWGLCloudWidget(l_glContext1, this);
m_WCloudGL->setCameraMode(SWQtCamera::TRACKBALL_CAMERA);
// m_WCloudGL->setMaximumSize(640,480);
m_uiCreateAvatar->hlCloud->addWidget(m_WCloudGL);
// mesh gl widget
m_WMeshGL = new SWGLMeshWidget(l_glContext2, this, m_absolutePath + "../data/shaders/createAvatarMesh.vert", m_absolutePath + "../data/shaders/createAvatarMesh.frag");
m_WMeshGL->setCameraMode(SWQtCamera::TRACKBALL_CAMERA);
m_pGLContainer->setLayout(l_pGLContainerLayout);
l_pGLContainerLayout->addWidget(m_WMeshGL);
m_uiCreateAvatar->hlMesh->addWidget(m_pGLContainer);
// init workers
m_WCreateAvatar = new SWCreateAvatarWorker(&m_oKinectThread);
// set connections
// menu
QObject::connect(m_uiCreateAvatar->actionExit, SIGNAL(triggered()), parent, SLOT(quit()));
QObject::connect(m_uiCreateAvatar->actionOnline_documentation, SIGNAL(triggered()), this, SLOT(openOnlineDocumentation()));
QObject::connect(m_uiCreateAvatar->actionSave_result, SIGNAL(triggered()), this, SLOT(saveMeshFile()));
QObject::connect(m_uiCreateAvatar->actionAbout, SIGNAL(triggered()), this, SLOT(openAboutWindow()));
// start work
QObject::connect(m_uiCreateAvatar->pbStart, SIGNAL(clicked()), this, SLOT(startWork()));
QObject::connect(this, SIGNAL(startWorkSignal()), m_WCreateAvatar, SLOT(doWork()));
// stop work
QObject::connect(m_uiCreateAvatar->pbStop, SIGNAL(clicked()), m_WCreateAvatar, SLOT(stopWork()));
QObject::connect(this, SIGNAL(leaveProgram()), m_WCreateAvatar, SLOT(stopWork()));
QObject::connect(m_WCreateAvatar, SIGNAL(stopWorkSignal()), SLOT(switchDetect()));
// reconstruct
QObject::connect(m_uiCreateAvatar->pbReconstruct, SIGNAL(clicked()), m_WCreateAvatar, SLOT(reconstruct()));
// reset selected contours
QObject::connect(m_uiCreateAvatar->pbResetSelectedContours, SIGNAL(clicked()), m_WCreateAvatar, SLOT(resetDeletedPointsRadialProj()));
QObject::connect(m_uiCreateAvatar->pbResetSelectedContours, SIGNAL(clicked()), m_WRadialProjDisplay, SLOT(resetSelectedPoints()));
// rectangles
QObject::connect(m_WCreateAvatar, SIGNAL(sendFaceRect(cv::Rect*)), this, SLOT(updateFaceRectangle(cv::Rect*)));
QObject::connect(m_WCreateAvatar, SIGNAL(sendNoseRect(cv::Rect*)), this, SLOT(updateNoseRectangle(cv::Rect*)));
// stasmm points
QObject::connect(m_WCreateAvatar, SIGNAL(sendStasmPoints(std::vector<cv::Point2i>)), this, SLOT(updateStasmPoints(std::vector<cv::Point2i>)));
// cloud
QObject::connect(m_WCreateAvatar, SIGNAL(sendCloud(swCloud::SWCloud*, bool)), m_WCloudGL, SLOT(setCloud(swCloud::SWCloud*, bool)));
// mesh
QObject::connect(m_WCreateAvatar, SIGNAL(sendMesh(swMesh::SWMesh*,bool)), m_WMeshGL, SLOT(setMesh(swMesh::SWMesh*,bool)));
QObject::connect(m_uiCreateAvatar->pbSaveAvatar, SIGNAL(clicked()), this, SLOT(saveMeshFile()));
QObject::connect(this, SIGNAL(saveMeshFileSignal(QString)), m_WCreateAvatar, SLOT(saveMeshFile(QString)));
// ui
QObject::connect(m_WCreateAvatar, SIGNAL(switchTab(int)),m_uiCreateAvatar->tw3D, SLOT(setCurrentIndex(int)));
QObject::connect(m_WCreateAvatar, SIGNAL(enableInterfaceSignal()), this, SLOT(enableInterface()));
// display
QObject::connect(m_WCreateAvatar, SIGNAL(sendMat(cv::Mat*)), this, SLOT(updateRadialProjDisplay(cv::Mat*)));
QObject::connect(m_WCreateAvatar, SIGNAL(sendTexture(cv::Mat*)), this, SLOT(udpdateTexture3DDisplay(cv::Mat*)));
QObject::connect(m_WCreateAvatar, SIGNAL(sendTexture(cv::Mat*)), this, SLOT(updateFaceTextureDisplay(cv::Mat*)));
// parameters
// projection
QObject::connect(m_uiCreateAvatar->sbWidth, SIGNAL(valueChanged(int)), m_WCreateAvatar, SLOT(setRadialWidth(const int)));
QObject::connect(m_uiCreateAvatar->sbHeight, SIGNAL(valueChanged(int)), m_WCreateAvatar, SLOT(setRadialHeight(const int)));
// QObject::connect(m_uiCreateAvatar->dsbRadius, SIGNAL(valueChanged(double)),m_WCreateAvatar, SLOT(setCylinderRadius(double)));
QObject::connect(m_uiCreateAvatar->sbErode, SIGNAL(valueChanged(int)), m_WCreateAvatar, SLOT(setErode(int)));
QObject::connect(m_uiCreateAvatar->sbDilate, SIGNAL(valueChanged(int)), m_WCreateAvatar, SLOT(setDilate(int)));
QObject::connect(m_uiCreateAvatar->sbExpandValue,SIGNAL(valueChanged(int)), m_WCreateAvatar, SLOT(setExpandValue(int)));
QObject::connect(m_uiCreateAvatar->sbExpandConnex,SIGNAL(valueChanged(int)), m_WCreateAvatar, SLOT(setExpandConnex(int)));
QObject::connect(m_uiCreateAvatar->sbEraseValue,SIGNAL(valueChanged(int)), m_WCreateAvatar, SLOT(setEraseValue(int)));
QObject::connect(m_uiCreateAvatar->sbEraseConnex,SIGNAL(valueChanged(int)), m_WCreateAvatar, SLOT(setEraseConnex(int)));
// filter
QObject::connect(m_uiCreateAvatar->sbColor, SIGNAL(valueChanged(int)), m_WCreateAvatar, SLOT(setBilateralColor(const int)));
QObject::connect(m_uiCreateAvatar->sbSpace, SIGNAL(valueChanged(int)), m_WCreateAvatar, SLOT(setBilateralSpace(const int)));
// QObject::connect(m_uiCreateAvatar->sbDiameter, SIGNAL(valueChanged(int)), m_WCreateAvatar, SLOT(setBilateralDiameter(const int)));
QObject::connect(m_uiCreateAvatar->sbClouds, SIGNAL(valueChanged(int)), m_WCreateAvatar, SLOT(setCloudNumberValue(const int)));
QObject::connect(m_uiCreateAvatar->cbBilateralFilter,SIGNAL(toggled(bool)) ,m_WCreateAvatar, SLOT(setUseBilateralFilter(bool)));
// rgbd device
QObject::connect(m_uiCreateAvatar->sbXOffset, SIGNAL(valueChanged(int)), m_WCreateAvatar, SLOT(setCalibrationXValue(const int)));
QObject::connect(m_uiCreateAvatar->sbYOffset, SIGNAL(valueChanged(int)), m_WCreateAvatar, SLOT(setCalibrationYValue(const int)));
QObject::connect(m_uiCreateAvatar->dsbFaceDepth,SIGNAL(valueChanged(double)), m_WCloudGL, SLOT(setDepthRect(const double)));
QObject::connect(m_uiCreateAvatar->dsbFaceDepth,SIGNAL(valueChanged(double)), m_WCreateAvatar, SLOT(setDepthCloud(const double)));
// misc
QObject::connect(m_uiCreateAvatar->cbSTASM, SIGNAL(toggled(bool)) ,m_WCreateAvatar, SLOT(setUseStasm(bool)));
// display
QObject::connect(m_uiCreateAvatar->cbDisplayLines, SIGNAL(toggled(bool)), m_WMeshGL, SLOT(setMeshLinesRender(const bool)));
QObject::connect(m_uiCreateAvatar->cbApplyTexture, SIGNAL(toggled(bool)), m_WMeshGL, SLOT(applyTexture(bool)));
// QObject::connect(m_uiCreateAvatar->dsbFOV, SIGNAL(valueChanged(double)),m_WMeshGL, SLOT(setFOV(const double)));
// QObject::connect(m_uiCreateAvatar->dsbFOV, SIGNAL(valueChanged(double)),m_WCloudGL, SLOT(setFOV(const double)));
QObject::connect(m_WCreateAvatar, SIGNAL(sendNumCloud(int)), this, SLOT(setNumCloud(const int)));
// reset kinect
QObject::connect(m_uiCreateAvatar->sbDeviceMode,SIGNAL(valueChanged(int)), this, SLOT(resetKinect(int)));
QObject::connect(m_WCreateAvatar, SIGNAL(endResetKinect()), this, SLOT(releaseKinectMutex()));
// others
QObject::connect(m_WRadialProjDisplay, SIGNAL(clickPoint(QPoint, QSize, bool)), m_WCreateAvatar, SLOT(addPointToDeleteRadialProj(QPoint, QSize, bool)));
// fullscreen
QObject::connect(m_WMeshGL, SIGNAL(enableFullScreen()), this, SLOT(enableGLFullScreen()));
QObject::connect(m_WMeshGL, SIGNAL(disableFullScreen()), this, SLOT(disableGLFullScreen()));
// init worker parameters values
// radial projection width / height
m_WCreateAvatar->setRadialWidth(m_uiCreateAvatar->sbWidth->value());
m_WCreateAvatar->setRadialHeight(m_uiCreateAvatar->sbHeight->value());
// spatial filter
m_WCreateAvatar->setBilateralColor(m_uiCreateAvatar->sbColor->value());
m_WCreateAvatar->setBilateralSpace(m_uiCreateAvatar->sbSpace->value());
m_WCreateAvatar->setBilateralDiameter(-1);
// temporal filter
m_WCreateAvatar->setCloudNumberValue(m_uiCreateAvatar->sbClouds->value());
// calibration
m_WCreateAvatar->setCalibrationXValue(m_uiCreateAvatar->sbXOffset->value());
m_WCreateAvatar->setCalibrationYValue(m_uiCreateAvatar->sbYOffset->value());
// expand / erase
m_WCreateAvatar->setExpandValue(m_uiCreateAvatar->sbExpandValue->value());
m_WCreateAvatar->setExpandConnex(m_uiCreateAvatar->sbExpandConnex->value());
m_WCreateAvatar->setEraseValue(m_uiCreateAvatar->sbEraseValue->value());
m_WCreateAvatar->setEraseConnex(m_uiCreateAvatar->sbEraseConnex->value());
// dilate / erode
m_WCreateAvatar->setDilate(m_uiCreateAvatar->sbDilate->value());
m_WCreateAvatar->setErode(m_uiCreateAvatar->sbErode->value());
// stasm
m_WCreateAvatar->setUseStasm(m_uiCreateAvatar->cbSTASM->isChecked());
// cloud
m_WCloudGL->setDepthRect(m_uiCreateAvatar->dsbFaceDepth->value());
m_WCreateAvatar->setDepthCloud(m_uiCreateAvatar->dsbFaceDepth->value());
// desactive debug interface components
// m_uiCreateAvatar->laPixelDiameter->setVisible(false);
// m_uiCreateAvatar->sbDiameter->setVisible(false);
// m_uiCreateAvatar->laCynlinderRadius->setVisible(false);
// m_uiCreateAvatar->dsbRadius->setVisible(false);
// m_uiCreateAvatar->laFOV->setVisible(false);
// m_uiCreateAvatar->dsbFOV->setVisible(false);
setStyleSheet("QGroupBox { padding: 10 0px 0 0px; color: blue; border: 1px solid gray; border-radius: 5px; margin-top: 1ex; /* leave space at the top for the title */}");
// init and start create avatar thread
m_WCreateAvatar->moveToThread(&m_TCreateAvatar);
m_TCreateAvatar.start();
// init face detection
m_CFaceDetectPtr = SWFaceDetectionPtr(new swDetect::SWFaceDetection(cv::Size(80,80)));
m_oLastRectFace.width = 0;
// launch timer for updating the display widget
m_oTimer->start(1000/30, this);
}
IOServicePool::~IOServicePool() {
if (mWork) stopWork();
for(ThreadList::iterator it = mThreads.begin(); it != mThreads.end(); it++)
delete *it;
delete mIO;
}
RobotListener::~RobotListener()
{
stopWork();
}
BlueCoreDeviceController::Implementation::~Implementation( )
{
stopWork();
delete mThread;
}
RTLSDRThread::~RTLSDRThread()
{
stopWork();
}
void
MainWindow::stopCamera() {
emit stopWork();
}
MainWindow::MainWindow(QWidget *parent) :
QMainWindow(parent)
{
setCentralWidget(new QWidget);
QVBoxLayout* layout = new QVBoxLayout( centralWidget() );
layout->setContentsMargins(0,0,0,0);
layout->setSpacing(0);
layout->addWidget( ui.header = new Header( this ) );
connect( &Socket::sock(), SIGNAL(userLoggedIn(QString)), ui.header, SLOT(onUserConnected(QString)) );
connect( &Socket::sock(), SIGNAL(userLoggedOut()), ui.header, SLOT(onUserDisconnected()) );
connect( ui.header, SIGNAL(disconnectClicked()), &Socket::sock(), SLOT(logout()) );
// mettre obligatoirement ici pour corriger un petit bug d'affichage
// /*temp refresh button*/
// QPushButton *refreshBtn = new QPushButton( "Refresh" );
// refreshBtn->setObjectName( "refreshBtn" );
// mainLayout->addWidget( refreshBtn );
// connect(refreshBtn, SIGNAL(clicked()), ui.header, SLOT( onRefreshClicked() ) );
QHBoxLayout* centralLayout = new QHBoxLayout( );
centralLayout->addWidget( ui.sideBar = new SideBar( this ) );
centralLayout->addWidget( ui.stackedWidget = new StackedWidget( this ) );
layout->addLayout( centralLayout );
connect(ui.sideBar, SIGNAL( currentChanged( int ) ), ui.stackedWidget, SLOT( setCurrentIndex( int ) ) );
connect(ui.sideBar, SIGNAL( currentChanged( int ) ), SLOT( loadViewData( int ) ) );
// LOG
connect( &Socket::sock(), SIGNAL(clientEvent(int)), &Socket::sock(), SLOT(log(int)) );
// LIGHT BOX
lightBox = new QLightBoxWidget(this);
QHBoxLayout *mainLayout = new QHBoxLayout( lightBox );
QWidget *fm = new QWidget();
fm->setObjectName("connexionFrame");
mainLayout->addWidget( fm );
QGridLayout *lightBoxLayout = new QGridLayout( fm );
lightBoxLayout->setRowStretch(1, 1);
settings = new QSettings("smoky.ini",QSettings::IniFormat);
lightBoxLayout->addWidget( new QLabel( "IP du serveur" ), 0, 0);
lightBoxLayout->addWidget( serverIpEdt = new QLineEdit(), 0, 1 );
serverIpEdt->setInputMask( "000.000.000.000; " );
serverIpEdt->setText( settings->value("serverIp").toString() );
serverIpEdt->setObjectName( "serverIpEdt" );
lightBoxLayout->addWidget( localhostCbx = new QCheckBox("localhost"), 1,1);
localhostCbx->setObjectName( "localhostCbx" );
connect( localhostCbx, SIGNAL( stateChanged(int)), SLOT(onLocalhostCbx(int)) );
lightBoxLayout->addWidget( loginIndication = new QLabel(), 1, 0);
loginIndication->setObjectName( "loginIndication" );
loginIndication->setText("<center><small>Placez votre visage<br>face à la caméra</small></center>");
lightBoxLayout->addWidget( loginAvatarLbl = new QLabel(""), 2, 0, 2, 1);
loginAvatarLbl->setObjectName( "loginAvatarLbl" );
lightBoxLayout->addWidget( loginUserEdt = new QLineEdit(), 2, 1);
loginUserEdt->setPlaceholderText("Nom d'utilisateur");
loginUserEdt->setObjectName( "loginUserEdt" );
lightBoxLayout->addWidget( loginPasswordEdt = new QLineEdit(), 3, 1);
loginPasswordEdt->setObjectName( "loginPasswordEdt" );
loginPasswordEdt->setEchoMode( QLineEdit::Password );
loginPasswordEdt->setPlaceholderText("Mot de passe");
lightBoxLayout->addWidget( loginSubmitBtn = new QPushButton("Connexion"), 4, 1);
loginSubmitBtn->setObjectName( "loginSubmitBtn" );
lightBoxLayout->addWidget( statLbl = new QLabel( "" ), 5,0, 1, 2 );
statLbl->setObjectName( "statLbl" );
lightBox->show();
Camera *cam = new Camera();
t = new QThread();
mTimer = new QTimer();
mTimer->setInterval(1000/24);
connect(mTimer, SIGNAL(timeout()), cam, SLOT(queryFrame()) );
connect( this, SIGNAL(startWork()), cam, SLOT(openCamera()) );
connect( this, SIGNAL(startWork()), mTimer, SLOT(start()) );
connect( cam, SIGNAL(stopCamera()), mTimer, SLOT(stop()) );
connect( this, SIGNAL(stopWork()), cam, SLOT(closeCamera()) );
/*destruction*/
// connect( qApp, SIGNAL(aboutToQuit()),mTimer, SLOT(stop()) );
// connect( qApp, SIGNAL(aboutToQuit()),mTimer, SLOT(deleteLater()) );
// connect( qApp, SIGNAL(aboutToQuit()), cam, SLOT(closeCamera()) );
// connect( qApp, SIGNAL(aboutToQuit()), cam, SLOT(deleteLater()) );
connect(t, SIGNAL(finished()), cam, SLOT(deleteLater()));
// connect(this, &Controller::operate, worker, &Worker::doWork);
//connect( qApp, SIGNAL(aboutToQuit()), t, SLOT(quit()) );
// connect( t, SIGNAL(finished()), t, SLOT(deleteLater()) );
// user logged out
connect( &Socket::sock(), SIGNAL(userLoggedOut()), SLOT(startCamera()) );
// user logged in
connect( &Socket::sock(), SIGNAL(userLoggedIn(QString)), SLOT(stopCamera()) );
cam->moveToThread( t );
mTimer->moveToThread( t );
t->start( QThread::IdlePriority );
emit startWork();
connect(cam, SIGNAL(sendShot(QImage, QRect)), SLOT(onShotSent(QImage)) ); // receive shots
connect( &Socket::sock(), SIGNAL(userLoggedIn(QString)), loginPasswordEdt, SLOT(clear()) );
connect( &Socket::sock(), SIGNAL(userLoggedIn(QString)), lightBox, SLOT(hide()) );
// rendre la page d'accueil
connect( &Socket::sock(), SIGNAL(userLoggedOut()), SLOT(resetThings()) );
connect( &Socket::sock(), SIGNAL(invalidCred()), SLOT(onInvalidCred()) );
connect( loginSubmitBtn, SIGNAL(clicked()), SLOT(connectUser()) );
connect( &Socket::sock(), SIGNAL(connexionError(int)), SLOT(onConnexionError(int)) );
// move(QApplication::desktop()->screen()->rect().center() - this->rect().center());
/*
QDesktopWidget desktop;
QRect desktop_geometry = desktop.screenGeometry();
*/
// resize( 780, 650 );
/*int x = desktop_geometry.width()/2 - width()/2;
int y = desktop_geometry.height()/2 - height()/2;
move( x, y );*/
// showMaximized();
}
