void ObjWidget::setData(const std::vector<cv::KeyPoint> & keypoints,
const cv::Mat & descriptors,
const cv::Mat & image,
const QString & detectorType,
const QString & descriptorType)
{
keypoints_ = keypoints;
descriptors_ = descriptors;
kptColors_ = QVector<QColor>(keypoints.size(), defaultColor());
keypointItems_.clear();
rectItems_.clear();
graphicsView_->scene()->clear();
graphicsViewInitialized_ = false;
detectorType_ = detectorType;
descriptorType_ = descriptorType;
mouseCurrentPos_ = mousePressedPos_; // this will reset roi selection
cvImage_ = image.clone();
pixmap_ = QPixmap::fromImage(cvtCvMat2QImage(cvImage_));
//this->setMinimumSize(image_.size());
if(graphicsViewMode_->isChecked())
{
this->setupGraphicsView();
}
label_->setVisible(image.empty());
}
void ObjWidget::setData(
const cv::Mat & image)
{
rectItems_.clear();
graphicsView_->scene()->clear();
graphicsViewInitialized_ = false;
cvImage_ = image.clone();
pixmap_ = QPixmap::fromImage(cvtCvMat2QImage(cvImage_));
//this->setMinimumSize(image_.size());
if(graphicsViewMode_->isChecked())
{
this->setupGraphicsView();
}
label_->setVisible(image.empty());
}
void QNode::rawImgReceivedCallback(const sensor_msgs::ImageConstPtr & img)
{
if(img->data.size())
{
cv_bridge::CvImageConstPtr ptr = cv_bridge::toCvShare(img);
//ROS_INFO("Received an image size=(%d,%d)", ptr->image.cols, ptr->image.rows);
/* if(imagesSaved)
{
std::string path = "./imagesSaved";
if(!UDirectory::exists(path))
{
if(!UDirectory::makeDir(path))
{
ROS_ERROR("Cannot make dir %s", path.c_str());
}
}
path.append("/");
path.append(uNumber2Str(i++));
path.append(".bmp");
if(!cv::imwrite(path.c_str(), ptr->image))
{
ROS_ERROR("Cannot save image to %s", path.c_str());
}
else
{
ROS_INFO("Saved image %s", path.c_str());
}
}
else if(view && view->isVisible())
{
view->setPixmap(QPixmap::fromImage(cvtCvMat2QImage(ptr->image)));
}
*/
emit rawImageUpdated(QPixmap::fromImage(cvtCvMat2QImage(ptr->image)));
}
}
void Listener::chatterCallback(const sensor_msgs::ImageConstPtr& msg){
//(const std_msgs::String::ConstPtr &msg) {
// ROS_INFO("I heard: [%s]", msg->data.c_str());
cv_bridge::CvImagePtr cv_ptr;
try
{
cv_ptr = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::BGR8);
}
catch (cv_bridge::Exception& e)
{
ROS_ERROR("cv_bridge exception: %s", e.what());
return;
}
px = QPixmap::fromImage(cvtCvMat2QImage(cv_ptr->image));
logging.insertRows(0,1);
std::stringstream logging_msg;
logging_msg << "[ INFO] [" << ros::Time::now() << "]: I heard: " << "camera";
QVariant new_row(QString(logging_msg.str().c_str()));
logging.setData(logging.index(0),new_row);
Q_EMIT Update_Image(&px);
}
/**
* @brief GridWidget::initGrid Рисует шахматку на экране с установленными параметрами
* @param dispWidth Реальная ширина монитора
* @param dispHeight Реальная высота монитора
* @param cameraWidth
* @param cameraHeight
*/
void GridWidget::initGrid(int dispWidth,int dispHeight,int cameraWidth,int cameraHeight,std::vector<cv::Point2f> &framePoints){
dispWidth_ = dispWidth;
dispHeight_ = dispHeight;
cameraWidth_ = cameraWidth; //camera width
cameraHeight_ = cameraHeight; //camera height
ui->gridLabel->setFixedSize(dispWidth_,dispHeight_);
ui->gridLabel->move(0,0);
this->setFixedSize(dispWidth_,dispHeight_);
screenPts_.push_back(cv::Point2f(0, 0));
screenPts_.push_back(cv::Point2f((float)dispWidth_-1, 0));
screenPts_.push_back(cv::Point2f((float)dispWidth_-1,(float) dispHeight_-1));
screenPts_.push_back(cv::Point2f(0, (float)dispHeight_-1));
cv::Mat gridBW;
cv::Mat gridLaplace; // Преобразование Лапласа для более контрастных границ клеток
cv::Mat bilateralMat;
cv::Mat gaussianMat;
cv::Mat grid(cameraHeight,cameraWidth,CV_8UC1);
cv::Mat gridScreen(cameraHeight,cameraWidth,CV_8UC1);
for (int y=0; y<cameraHeight; y++) {
for (int x=0; x<cameraWidth; x++) {
if (( x + y ) % 2){
cv::rectangle(grid,cv::Rect(x,y,1,1),cv::Scalar(0,0,0),1);
}
else {
cv::rectangle(grid,cv::Rect(x,y,1,1),cv::Scalar(255,255,255),1);
}
}
}
// /* Немного увеличить контрастность */
Mat kernel = (Mat_<float>(3,3) <<
-1, -1, -1,
-1, 8,-1,
-1, -1,-1 );
// cvtColor(grid,grid,CV_BGR2GRAY);
cv::GaussianBlur(grid,gaussianMat,cv::Size(21,21),99);
// cv::addWeighted(grid, 9.5, gaussianMat, -0.5, 0, gaussianMat);
grid = gaussianMat - grid;
cv::Mat transmtx = cv::getPerspectiveTransform(framePoints, screenPts_);
cv::warpPerspective(grid,gridScreen, transmtx,Size(dispWidth_,dispHeight_));
cv::equalizeHist(gridScreen,gridScreen);
// cv::normalize(gridScreen,gridScreen,1,0,NORM_L2,-1);
QImage img = cvtCvMat2QImage(gridScreen);
pixmap_ = QPixmap::fromImage(img);
ui->gridLabel->setPixmap(pixmap_);
ui->gridLabel->show();
gridShown = true;
}
