Research Artificial Vision Tool: mainFrame.cpp Source File

00001 #include "mainFrame.h"
00002 
00003 Tracking MainFrame::track;
00004 
00005 MainFrame::MainFrame(QWidget *parent, Qt::WFlags flags)
00006         : QMainWindow(parent, flags) {
00007         ui.setupUi(this);
00008         sSeparator="----------------------------------------------------------------";
00010         //Open directory
00011         connect(ui.actionOpenDirectory, SIGNAL(triggered()), this, SLOT(openDir()));
00013         //To segmentation groupbox
00014         connect(ui.actionLaplace_4, SIGNAL(triggered()), this, SLOT(loadPreLaplace4()));
00015         connect(ui.actionLaplace_8, SIGNAL(triggered()), this, SLOT(loadPreLaplace8()));
00016         connect(ui.actionSobel_X, SIGNAL(triggered()), this, SLOT(loadPreSobelX()));
00017         connect(ui.actionSobel_Min, SIGNAL(triggered()), this, SLOT(loadPreSobelMin()));
00018         connect(ui.actionGaussian_LoG, SIGNAL(triggered()), this, SLOT(loadPreGaussianLoG()));
00019         connect(ui.actionLoG, SIGNAL(triggered()), this, SLOT(loadPreLoG()));
00020         connect(ui.actionThreshold, SIGNAL(triggered()), this, SLOT(loadPreThres()));
00021         connect(ui.actionCanny, SIGNAL(triggered()), this, SLOT(loadPreCanny()));
00022         connect(ui.actionInitPre, SIGNAL(triggered()), this, SLOT(initPre()));
00023         //To segmentation groupbox
00024         connect(ui.actionContourThres, SIGNAL(triggered()), this, SLOT(loadSegContourThres()));
00025         connect(ui.actionContourSnake, SIGNAL(triggered()), this, SLOT(loadSegContourSnake()));
00026         connect(ui.actionHoughStdCanny, SIGNAL(triggered()), this, SLOT(loadSegHoughStdCanny()));
00027         connect(ui.actionHoughProCanny, SIGNAL(triggered()), this, SLOT(loadSegHoughProCanny()));
00028         connect(ui.actionScaleSpace, SIGNAL(triggered()), this, SLOT(loadSegScaleSpace()));
00029         connect(ui.actionScaleSpaceThres, SIGNAL(triggered()), this, SLOT(loadSegScaleSpaceThres()));
00030         connect(ui.actionBlobsThres, SIGNAL(triggered()), this, SLOT(loadSegBlobsThres()));
00031         connect(ui.actionBlobsCanny, SIGNAL(triggered()), this, SLOT(loadSegBlobsCanny()));
00032         connect(ui.actionInitSeg, SIGNAL(triggered()), this, SLOT(initSeg()));
00033         
00034         //Matrix
00035         connect(ui.actionMatrix, SIGNAL(triggered()), this, SLOT(openDialogMatrix()));
00036         //About
00037         connect(ui.action_About, SIGNAL(triggered()), this, SLOT(showAbout()));
00038         
00040         //Image sequence Panel
00041         connect(ui.loadImageSeq, SIGNAL(clicked()), this, SLOT(loadImageSeq()));
00042         connect(ui.showSeq, SIGNAL(clicked()), this, SLOT(loadAutoSeq()));
00043         connect(ui.showStepByStep, SIGNAL(clicked()), this, SLOT(loadStepSeq()));
00044         connect(ui.showBackStep, SIGNAL(clicked()), this, SLOT(loadBackSeq()));
00045         connect(ui.showNextStep, SIGNAL(clicked()), this, SLOT(loadNextSeq()));
00046         //Contour check
00047         connect(ui.checkContour, SIGNAL(toggled(bool)), this, SLOT(changeContourCheck(bool)));
00048         connect(ui.checkContourRect, SIGNAL(toggled(bool)), this, SLOT(changeContourCheck(bool)));
00049         //Hough Area
00050         connect(ui.comboHough, SIGNAL(currentIndexChanged(int)), this, SLOT(changeHoughParam(int)));
00051         //Blob Area
00052         connect(ui.checkBlobslib, SIGNAL(toggled(bool)), this, SLOT(changeBlobToTrack(bool)));
00053         connect(ui.checkBlobTrack, SIGNAL(toggled(bool)), this, SLOT(changeBlobKalmanOpts(bool)));
00054         //Kalman Area
00055         connect(ui.butKalmanSel, SIGNAL(clicked()), this, SLOT(addKalmanPrediction()));
00056         connect(ui.butKalmanUpd, SIGNAL(clicked()), this, SLOT(updateKalmanPrediction()));
00057         connect(ui.butKalmanClean, SIGNAL(clicked()), this, SLOT(clearKalman()));
00058         connect(ui.butKalmanBlobSel, SIGNAL(clicked()), this, SLOT(addKalmanBlobPrediction()));
00059         connect(ui.butKalmanBlobUpd, SIGNAL(clicked()), this, SLOT(updateKalmanBlobPrediction()));
00060         connect(ui.butKalmanBlobClean, SIGNAL(clicked()), this, SLOT(clearBlobKalman()));
00061         
00062         //Initialize control cv image window
00063         closeCvWindow=0;
00064         //Initialize string path
00065         qPathLoaded="";
00066         //Initialize matrix to use like preprocessing filter
00067         initFilterMatrix();
00068 }
00069 
00070 void MainFrame::showAbout() {
00071         QMessageBox msgBox;
00072         msgBox.setText("Release 0.3.\nDeveloped by: Fernando Aparicio Galisteo\nhttp://artificialvis.sourceforge.net");
00073         msgBox.exec();
00074 }
00075 
00076 void MainFrame::closeEvent(QCloseEvent *event) {
00077         dlgMat.close();
00078         cvDestroyAllWindows();
00079         exit(0);
00080 }
00081 
00082 void MainFrame::openDir() {
00083         QString dirName = QFileDialog::getExistingDirectory(this);
00084         if (!dirName.isEmpty())
00085                 ui.lePathSeq->setText(dirName);
00086 }
00087 
00088 
00089 void MainFrame::initFilterMatrix() {
00090         filterData[0]=1;filterData[1]=0;filterData[2]=0;
00091         filterData[3]=0;filterData[4]=1;filterData[5]=0;
00092         filterData[6]=0;filterData[7]=0;filterData[8]=1;
00093 }
00094 
00095 void MainFrame::initPre(){
00096         initFilterMatrix();
00097         ui.checkNoise1->setChecked(false); ui.checkNoise2->setChecked(false); 
00098         ui.checkNoise3->setChecked(false); ui.checkSobelx->setChecked(false); 
00099         ui.checkSobely->setChecked(false); ui.checkLaplace->setChecked(false); 
00100         ui.checkMatrix->setChecked(false); ui.checkLoG->setChecked(false); 
00101         ui.checkThreshold->setChecked(false); ui.checkCanny->setChecked(false);
00102         ui.comboKernelNoise->setCurrentIndex(0);
00103         ui.leSigmaNoise->setText("0");
00104 }
00105 
00106 void MainFrame::initSeg(){
00107         ui.checkContour->setChecked(false); ui.leDivSnakeContour->setText("5");
00108         ui.comboHough->setCurrentIndex(0); ui.leThresHough->setText("70");
00109         ui.leRhoHough->setText("1"); ui.leThetaHough->setText("1"); 
00110         ui.leMinLineHough->setText("30"); ui.leGapHough->setText("10"); 
00111         ui.leRadialResHough->setText("30"); ui.leAngleResHough->setText("30");
00112         ui.checkScale->setChecked(false); ui.comboSizeScale->setCurrentIndex(9);
00113         ui.leThres1Scale->setText("30"); ui.leThres2Scale->setText("50");
00114         ui.leThres3Scale->setText("100"); ui.leNonmaxScale->setText("4");
00115         ui.checkBlobslib->setChecked(false); 
00116         ui.leBlobsMinArea->setText("20"); ui.leBlobsMaxArea->setText("2000");
00117         ui.leBlobsMinRough->setText("0.9"); ui.leBlobsMaxRough->setText("1.2"); 
00118 }
00119 
00120 void MainFrame::loadPreLaplace4() {
00121         initPre();
00122         ui.checkNoise1->setChecked(true);
00123         ui.checkNoise2->setChecked(true);
00124         ui.checkNoise3->setChecked(true);
00125         filterData[0]=0;filterData[1]=1;filterData[2]=0;
00126         filterData[3]=1;filterData[4]=-4;filterData[5]=1;
00127         filterData[6]=0;filterData[7]=1;filterData[8]=0;
00128         ui.checkMatrix->setChecked(true);
00129         ui.checkThreshold->setChecked(true);
00130         ui.leThreshold->setText("10");
00131 }
00132 
00133 void MainFrame::loadPreLaplace8() {
00134         initPre();
00135         ui.checkNoise1->setChecked(true);
00136         ui.checkNoise2->setChecked(true);
00137         ui.checkNoise3->setChecked(true);
00138         filterData[0]=1;filterData[1]=1;filterData[2]=1;
00139         filterData[3]=1;filterData[4]=-8;filterData[5]=1;
00140         filterData[6]=1;filterData[7]=1;filterData[8]=1;
00141         ui.checkMatrix->setChecked(true);
00142         ui.leThreshold->setText("20");
00143         ui.checkThreshold->setChecked(true);
00144 }
00145 
00146 void MainFrame::loadPreSobelX() {
00147         initPre();
00148         ui.checkNoise1->setChecked(true);
00149         ui.checkNoise2->setChecked(true);
00150         ui.checkNoise3->setChecked(true);
00151         ui.checkSobelx->setChecked(true);
00152         ui.checkThreshold->setChecked(true);
00153         ui.leThreshold->setText("40");
00154 }
00155 
00156 void MainFrame::loadPreSobelMin() {
00157         initPre();
00158         ui.checkNoise1->setChecked(true);
00159         ui.checkNoise2->setChecked(true);
00160         ui.checkNoise3->setChecked(true);
00161         ui.checkSobelx->setChecked(true);
00162         ui.checkSobely->setChecked(true);
00163         ui.checkThreshold->setChecked(true);
00164         ui.leThreshold->setText("30");
00165 }
00166 
00167 void MainFrame::loadPreGaussianLoG() {
00168         initPre();
00169         ui.checkNoise1->setChecked(true);
00170         ui.checkNoise2->setChecked(true);
00171         ui.checkNoise3->setChecked(true);
00172         ui.checkLoG->setChecked(true);
00173         ui.checkThreshold->setChecked(true);
00174         ui.leThreshold->setText("35");
00175 }
00176 
00177 void MainFrame::loadPreLoG() {
00178         initPre();
00179         ui.checkNoise1->setChecked(true);
00180         ui.checkNoise2->setChecked(true);
00181         ui.checkLoG->setChecked(true);
00182         ui.checkThreshold->setChecked(true);
00183         ui.leThreshold->setText("60");
00184 }
00185 
00186 void MainFrame::loadPreThres() {
00187         initPre();
00188         ui.checkNoise1->setChecked(true);
00189         ui.checkNoise2->setChecked(true);
00190         ui.checkNoise3->setChecked(true);
00191         ui.checkThreshold->setChecked(true);
00192         ui.leThreshold->setText("220");
00193 }
00194 
00195 void MainFrame::loadPreCanny() {
00196         initPre();
00197         ui.checkNoise3->setChecked(true);
00198         ui.checkCanny->setChecked(true);
00199         ui.leThreshold1->setText("150");
00200         ui.leThreshold2->setText("250");
00201 }
00202 
00203 void MainFrame::loadSegContourThres(){
00204         initSeg();
00205         loadPreThres();
00206         ui.checkContour->setChecked(true);
00207 }
00208 
00209 void MainFrame::loadSegContourSnake(){
00210         initSeg();
00211         loadPreThres();
00212         ui.checkContour->setChecked(true);
00213         ui.checkContourRect->setChecked(true);
00214         ui.checkContourSnake->setChecked(true);
00215         ui.leDivSnakeContour->setText("5");
00216 }
00217 
00218 void MainFrame::loadSegHoughStdCanny(){
00219         initSeg();
00220         loadPreCanny();
00221         ui.comboHough->setCurrentIndex(1);
00222 }
00223 
00224 void MainFrame::loadSegHoughProCanny(){
00225         initSeg();
00226         loadPreCanny();
00227         ui.comboHough->setCurrentIndex(2);
00228         ui.leThresHough->setText("50"); 
00229         ui.leMinLineHough->setText("20"); 
00230         ui.leGapHough->setText("50");
00231 }
00232 
00233 void MainFrame::loadSegScaleSpace(){
00234         initSeg();
00235         initPre();
00236         ui.checkScale->setChecked(true);
00237         ui.comboSizeScale->setCurrentIndex(1);
00238         ui.leThres1Scale->setText("20"); ui.leThres2Scale->setText("100");
00239         ui.leThres3Scale->setText("100"); ui.leNonmaxScale->setText("2");
00240 }
00241 
00242 void MainFrame::loadSegScaleSpaceThres(){
00243         initSeg();
00244         loadPreThres();
00245         ui.checkScale->setChecked(true);
00246         ui.comboSizeScale->setCurrentIndex(8);
00247         ui.leThres1Scale->setText("100"); ui.leThres2Scale->setText("200");
00248         ui.leThres3Scale->setText("50"); ui.leNonmaxScale->setText("2");
00249 }
00250 
00251 void MainFrame::loadSegBlobsThres(){
00252         initSeg();
00253         loadPreThres();
00254         ui.checkBlobslib->setChecked(true);
00255 }
00256 
00257 void MainFrame::loadSegBlobsCanny(){
00258         initSeg();
00259         loadPreCanny();
00260         ui.checkBlobslib->setChecked(true);
00261         ui.leBlobsMinArea->setText("10"); ui.leBlobsMaxArea->setText("2000");
00262         ui.leBlobsMinRough->setText("0.9"); ui.leBlobsMaxRough->setText("3");
00263 }
00264 
00265 void MainFrame::openDialogMatrix() {
00266         //dialogMatrix dlgMat(this);
00267         for (int i=0;i<9;i++)
00268                 dlgMat.cdata[i]=filterData[i];
00269         dlgMat.initArray();
00270         //Show in non-modal style
00271         dlgMat.show();
00272         dlgMat.exec();
00273         //Get matrix values
00274         getDlgMatrixValues();
00275 }
00276 
00277 void MainFrame::getDlgMatrixValues(){
00278         for (int i=0; i<9;i++){
00279                 filterData[i]=dlgMat.cdata[i];
00280         }
00281 }
00282 
00283 void MainFrame::changeContourCheck(bool bCheckContour){
00284         if (!bCheckContour){
00285                 ui.checkContourRect->setChecked(false);
00286                 ui.checkContourSnake->setChecked(false);
00287         }
00288 }
00289 
00290 void MainFrame::changeHoughParam(int index){
00291 //Hough normal
00292         if (index<2){
00293                 ui.leMinLineHough->setEnabled(false);
00294                 ui.leRadialResHough->setEnabled(false);
00295                 ui.leGapHough->setEnabled(false);
00296                 ui.leAngleResHough->setEnabled(false);
00297         }else if(index==2){
00298                 ui.leMinLineHough->setEnabled(true);
00299                 ui.leRadialResHough->setEnabled(false);
00300                 ui.leGapHough->setEnabled(true);
00301                 ui.leAngleResHough->setEnabled(false);
00302         }else if(index==3){
00303                 ui.leMinLineHough->setEnabled(false);
00304                 ui.leRadialResHough->setEnabled(true);
00305                 ui.leGapHough->setEnabled(false);
00306                 ui.leAngleResHough->setEnabled(true);
00307         }
00308 }
00309 
00310 void MainFrame::changeBlobToTrack(bool bCheck){
00311         if (!bCheck)
00312                 ui.checkBlobTrack->setChecked(false);
00313 }
00314 
00315 void MainFrame::changeBlobKalmanOpts(bool bCheck){
00316         ui.comboBlobs->clear();
00317         //clearKalman();
00318         clearBlobKalman();
00319         ui.butKalmanSel->setEnabled(!bCheck);
00320         ui.butKalmanBlobSel->setEnabled(bCheck);
00321         ui.comboBlobs->setEnabled(bCheck);
00322 }
00323 
00324 IplImage* MainFrame::paintCutImage(IplImage* src) {
00325         IplImage* dst;
00326         if (cvGetElemType(src)==0){
00327                 dst = cvCreateImage(cvGetSize(src), 8, 3 );
00328                 cvCvtColor( src, dst, CV_GRAY2BGR );
00329         }       else
00330                 dst=cvCloneImage(src);
00331         int wOrig=cvGetSize(src).width;
00332         int hOrig=cvGetSize(src).height;
00333         int w=wOrig;
00334         int h=hOrig;
00335         int lineHeight=3;
00336         if (ui.comboCutImage->currentIndex()==1){
00337                 h=(hOrig/2);
00338                 cvLine(dst, cvPoint(0,h),cvPoint(w,h), CV_RGB(0,255,0),lineHeight);             
00339         }else if(ui.comboCutImage->currentIndex()==2){
00340                 h=(hOrig/3);
00341                 cvLine(dst, cvPoint(0,h),cvPoint(w,h), CV_RGB(0,255,0),lineHeight);             
00342         }
00343         if (ui.checkROI->isChecked())
00344                 cvSetImageROI(dst, cvRect(0,h+lineHeight,w,hOrig-h));
00345 
00346         cvReleaseImage(&src);
00347         return dst;
00348 }
00349 
00350 void MainFrame::addKalmanPrediction(){
00351         cvSetMouseCallback("image",onMouseSelect,&ui);
00352 }
00353 void MainFrame::addKalmanBlobPrediction(){
00354         if (ui.comboBlobs->count()>0) {
00355                 blobBegin=filterBlobs.GetBlob(ui.comboBlobs->currentIndex());
00356                 track.addKalmanPrediction(blobBegin);
00357                 //Center point is used in kalmanfilter class
00358                 //Take the last inserted
00359                 CvPoint blobCenter=track.getKalmanPoints().back();
00360                 ui.comboKalmanBlobSelected->addItem(QString("(%1,%2)").arg(blobCenter.x).arg(blobCenter.y));
00361                 //Able - Disable options kalman options
00362                 //ui.butKalmanBlobSel->setEnabled(false);
00363                 ui.butKalmanBlobUpd->setEnabled(true);
00364                 ui.comboKalmanBlobSelected->setEnabled(true);
00365                 ui.butKalmanBlobClean->setEnabled(true);
00366                 //common
00367                 ui.checkKalmanAlignX->setEnabled(true);
00368                 ui.checkKalmanAlignY->setEnabled(true);
00369                 ui.checkKalmanPaint->setEnabled(true);
00370                 ui.comboKalmanPaint->setEnabled(true);
00371         }
00372 }
00373 
00374 void MainFrame::onMouseSelect(int event, int x, int y, int flags, void* param) {  
00375         if( event == CV_EVENT_LBUTTONUP ) {
00376                 Ui::mainFrameClass *uinow=(Ui::mainFrameClass*)param;
00377                 uinow->comboKalmanSelected->addItem(QString("(%1,%2)").arg(x).arg(y));
00378                 MainFrame::track.addKalmanPrediction((float)x,(float)y);
00379                 if (uinow->comboLog->currentIndex()>0)
00380                         uinow->txInform->append(QString("Added point (%1,%2) to kalman prediction").arg(x).arg(y));
00381                 //Able - Disable options kalman options
00382                 //uinow->butKalmanSel->setEnabled(false);
00383                 uinow->butKalmanUpd->setEnabled(true);
00384                 uinow->comboKalmanSelected->setEnabled(true);
00385                 uinow->butKalmanClean->setEnabled(true);
00386                 uinow->checkKalmanAlignX->setEnabled(true);
00387                 uinow->checkKalmanAlignY->setEnabled(true);
00388                 uinow->checkKalmanPaint->setEnabled(true);
00389                 uinow->comboKalmanPaint->setEnabled(true);
00390                 cvSetMouseCallback("image",NULL,0);
00391         }
00392 }
00393 
00394 void MainFrame::updateKalmanPrediction(){
00395         cvSetMouseCallback("image",onMouseUpdate,&ui);
00396 }
00397 
00398 void MainFrame::updateKalmanBlobPrediction(){
00399         CBlob blobUpdate=filterBlobs.GetBlob(ui.comboBlobs->currentIndex());
00400         track.updateKalmanPrediction(blobUpdate,ui.comboKalmanBlobSelected->currentIndex());
00401         CvPoint pointUpdated=track.getLastPointUpdate()[ui.comboKalmanBlobSelected->currentIndex()];
00402         ui.leKalmanBlobUpdate->setText(QString("(%1,%2)").arg(pointUpdated.x).arg(pointUpdated.y));
00403 }
00404 
00405 void MainFrame::onMouseUpdate(int event, int x, int y, int flags, void* param) {  
00406         if( event == CV_EVENT_LBUTTONUP ) {
00407                 Ui::mainFrameClass *uinow=(Ui::mainFrameClass*)param;
00408                 try{
00409                         int iPointToUpdate=uinow->comboKalmanSelected->currentIndex();
00410                         float iXUpd=(float)x;
00411                         float iYUpd=(float)y;
00412                         
00413                         std::vector<CvPoint> ptUpd=MainFrame::track.getKalmanPoints();
00414                         if (uinow->checkKalmanAlignX->isChecked()){
00415                                 iXUpd=ptUpd[iPointToUpdate].x;
00416                                 if (uinow->comboLog->currentIndex()>0)
00417                                         uinow->txInform->append(QString(" Standing original x: %1").arg(iXUpd));
00418                         }
00419                         else if (uinow->checkKalmanAlignY->isChecked()){
00420                                 iYUpd=ptUpd[iPointToUpdate].y;
00421                                 if (uinow->comboLog->currentIndex()>0)
00422                                         uinow->txInform->append(QString(" Standing original y: %1").arg(iYUpd));
00423                         }
00424                         MainFrame::track.updateKalmanPrediction((float)iXUpd,(float)iYUpd,iPointToUpdate);
00425                         
00426                         uinow->leKalmanUpdate->setText(QString("(%1,%2)").arg(iXUpd).arg(iYUpd));
00427                         if (uinow->comboLog->currentIndex()>0)
00428                                 uinow->txInform->append(QString(" Point (%1,%2) updated to (%3,%4)")
00429                                         .arg(ptUpd[iPointToUpdate].x).arg(ptUpd[iPointToUpdate].y).arg(iXUpd).arg(iYUpd));
00430                 }catch(std::bad_alloc&) {
00431                         uinow->txInform->append("Memory Exception updating kalman vector");
00432                 }catch(...){
00433                         uinow->txInform->append("Other Exception updating kalman vector");
00434                 }
00435                 //Uncomment to force update button before update on image
00436                 //cvSetMouseCallback("image",NULL,0);
00437                 
00438         }
00439 }
00440 
00441 void MainFrame::clearKalman(){
00442         track.clearKalman();
00443         //Clear ui and uncheck
00444         ui.comboKalmanSelected->clear();
00445         ui.leKalmanUpdate->clear();
00446         //Able,Disable options kalman options
00447         ui.butKalmanSel->setEnabled(true);
00448         ui.butKalmanUpd->setEnabled(false);
00449         ui.comboKalmanSelected->setEnabled(false);
00450         ui.butKalmanClean->setEnabled(false);
00451         //Common
00452         clearCommonKalman();
00453         //Clear callback
00454         cvSetMouseCallback("image",NULL,0);
00455 }
00456 
00457 void MainFrame::clearBlobKalman(){
00458         track.clearKalman();
00459         //Clear ui and uncheck
00460         ui.comboKalmanBlobSelected->clear();
00461         ui.leKalmanBlobUpdate->clear();
00462         //Common
00463         ui.checkKalmanAlignX->setChecked(false);
00464         ui.checkKalmanAlignY->setChecked(false);
00465         ui.checkKalmanPaint->setChecked(false);
00466         //Able,Disable options kalman options
00467         ui.butKalmanBlobSel->setEnabled(true);
00468         ui.butKalmanBlobUpd->setEnabled(false);
00469         ui.comboKalmanBlobSelected->setEnabled(false);
00470         ui.butKalmanBlobClean->setEnabled(false);
00471         //Common
00472         clearCommonKalman();
00473 }
00474 
00475 void MainFrame::clearCommonKalman(){
00476         ui.checkKalmanAlignX->setEnabled(false);
00477         ui.checkKalmanAlignX->setChecked(false);
00478         ui.checkKalmanAlignY->setEnabled(false);
00479         ui.checkKalmanAlignY->setChecked(false);
00480         ui.checkKalmanPaint->setEnabled(false);
00481         ui.checkKalmanPaint->setChecked(false);
00482         ui.comboKalmanPaint->setEnabled(false);
00483         ui.comboKalmanPaint->setCurrentIndex(0);
00484 }
00485 
00486 void MainFrame::loadStepImage(int imageListCount){
00487         if (ui.comboLog->currentIndex()>0){
00488                 ui.txInform->append(sSeparator);
00489                 ui.txInform->append(QString("Treating Image: %1 ...").arg(fileList.at(imageListCount)));
00490                 ui.txInform->repaint();
00491         }
00492         QDir dirSeq(qPathLoaded);
00493         ui.leBaseSeq->setText(fileList.at(imageListCount));
00494         IplImage* src_image;
00495         src_image = cvLoadImage(dirSeq.filePath(fileList.at(imageListCount)).toAscii().constData(), CV_LOAD_IMAGE_ANYCOLOR );
00497         //Paint and cut interesting areas
00498         if (ui.comboCutImage->currentIndex()>0)
00499                 src_image=paintCutImage(src_image);
00500         
00502         Preprocess pre(ui);
00503         try {
00504                 //src_image=getGrayImage(src_image);   //Gray color scale
00505                 //Noise
00506                 if (ui.checkNoise1->isChecked())
00507                         src_image=pre.applyNoise(getGrayImage(src_image), CV_BLUR);
00508                 if (ui.checkNoise2->isChecked())
00509                         src_image=pre.applyNoise(getGrayImage(src_image), CV_MEDIAN);
00510                 if (ui.checkNoise3->isChecked())
00511                         src_image=pre.applyNoise(getGrayImage(src_image), CV_GAUSSIAN);
00512                 //Border
00513                 if (ui.checkSobelx->isChecked() && !ui.checkSobely->isChecked())
00514                         src_image=pre.applySobelx(getGrayImage(src_image));
00515                 else if (ui.checkSobely->isChecked() && !ui.checkSobelx->isChecked())
00516                         src_image=pre.applySobely(getGrayImage(src_image));
00517                 else if (ui.checkSobelx->isChecked() && ui.checkSobely->isChecked())
00518                         src_image=pre.applySobel(getGrayImage(src_image));
00519                 if (ui.checkLaplace->isChecked())
00520                         src_image=pre.applyLaplace(getGrayImage(src_image));
00521                 if (ui.checkMatrix->isChecked())
00522                         src_image=pre.applyMatrix(getGrayImage(src_image),filterData);
00523                 if (ui.checkLoG->isChecked())
00524                         src_image=pre.applyMatrixLoG(getGrayImage(src_image));
00525                 if (ui.checkThreshold->isChecked())
00526                         src_image=pre.applyThreshold(getGrayImage(src_image));
00527                 if (ui.checkCanny->isChecked())
00528                         src_image=pre.applyCanny(getGrayImage(src_image));
00529         }catch(...){
00530                 ui.txInform->append(QString("Some preprocessing exception has been thrown"));
00531         }
00533         Segmentation seg(ui);
00534         try {
00535                 //Contour
00536                 if (ui.checkContour->isChecked())
00537                         src_image=seg.drawContour(getGrayImage(src_image));
00538                 //Hough
00539                 if (ui.comboHough->currentIndex()==1)
00540                         src_image=seg.drawHoughLines(getGrayImage(src_image),CV_HOUGH_STANDARD);
00541                 else if (ui.comboHough->currentIndex()==2)
00542                         src_image=seg.drawHoughLines(getGrayImage(src_image),CV_HOUGH_PROBABILISTIC);
00543                 //Local scale-space extremas
00544                 if (ui.checkScale->isChecked()==1)
00545                         src_image=seg.drawLocalScaleSpace(getGrayImage(src_image));
00546         }catch(...){
00547                 ui.txInform->append(QString("Some Segmentation exception has been thrown"));
00548         }
00549         //Blobslib
00550         Blobs blob(ui);
00551         try{
00552                 if (ui.checkBlobslib->isChecked())
00553                         src_image=blob.applyBlobslib(getGrayImage(src_image));
00554         }catch(...){
00555                 ui.txInform->append(QString("Some Segmentation-Blob exception has been thrown"));
00556         }
00557         
00559         //Fill blobs combo to use kalman
00560         if (ui.checkBlobTrack->isChecked()){
00561                 if (ui.comboLog->currentIndex()>0)
00562                         ui.txInform->append(QString("Running Blob Kalman"));
00563                 filterBlobs=blob.getBlobs();
00564                 ui.comboBlobs->clear();
00565                 for (int j=0;j<filterBlobs.GetNumBlobs();j++)
00566                         ui.comboBlobs->addItem(QString("Blob %1").arg(j));
00567         }
00568         //Kalman filter common options
00569         if (ui.checkKalmanPaint->isChecked()){
00570                 if (ui.comboLog->currentIndex()>0)
00571                         ui.txInform->append(QString("Painting Kalman point selected"));
00572                 src_image=track.paintCrossKalmanSelected(src_image);
00573         }
00574         if (ui.comboKalmanPaint->currentIndex()>0){
00575                 if (ui.comboKalmanPaint->currentIndex()==1) // Dont execute kalman again
00576                         src_image=track.paintCrossKalmanPredicted(src_image);
00577                 else if (ui.comboKalmanPaint->currentIndex()==2) //Update kalman value with kalman prediction
00578                         src_image=track.paintCrossKalmanPredictedAutoUpdate(src_image);
00579                 else if (ui.comboKalmanPaint->currentIndex()==3) //Update kalman value with last user update
00580                         src_image=track.paintCrossKalmanPredictedLastUpdate(src_image);
00581 
00582                 std::vector<CvPoint> vSel=track.getKalmanPoints();
00583                 std::vector<CvPoint> vPre=track.getKalmanPredicted();
00584                 std::vector<CvPoint> vUpd=track.getLastPointUpdate();
00585                 if (ui.comboLog->currentIndex()>0){
00586                         ui.txInform->append(QString("Running Kalman algorithm index %1").arg(ui.comboKalmanPaint->currentIndex()));
00587                         for (int i=0;i<vPre.size();i++)
00588                                 ui.txInform->append(QString("Point: %1.  Before: (%2,%3), Last Update: (%4,%5), Point Predicted: (%6,%7)")
00589                                         .arg(i).arg(vSel[i].x).arg(vSel[i].y).arg(vUpd[i].x).arg(vUpd[i].y).arg(vPre[i].x).arg(vPre[i].y));
00590                 }
00591         }
00592         //Show and release
00593         cvShowImage( "image", src_image );
00594         cvReleaseImage(&src_image);
00595 }
00596 
00597 QStringList MainFrame::loadSeq(){
00598         QDir dirSeq(ui.lePathSeq->text());
00599         QStringList filters;
00600   filters << "*.jpg" << "*.jpeg" << "*.png" <<"*.pgm";
00601   dirSeq.setNameFilters(filters);
00602         return dirSeq.entryList();
00603 }
00604 
00605 void MainFrame::loadImageSeq(){
00606         if (ui.lePathSeq->text()==""){
00607                 QMessageBox::warning(this, tr("Research Artificial Vision Tool"),
00608       tr("Path has to be selected\nFile->Open Directory"));
00609                 return;
00610         }
00611         ui.txInform->append("Loading images...");
00612         ui.txInform->repaint();
00613         //Dont load the same
00614         if (ui.lePathSeq->text()==qPathLoaded){
00615                 ui.txInform->append("Path already loaded");
00616                 return;
00617         }
00618         //File list
00619         QStringList fileListTemp=loadSeq();
00620         if (fileListTemp.count()==0){
00621                 QMessageBox::warning(this, tr("Research Artificial Vision Tool"),tr("Images were not found"));
00622                 ui.txInform->append(QString("ALERT!!!: Images were not found in path: %1").arg(ui.lePathSeq->text()));
00623                 //Keep before path
00624                 ui.lePathSeq->setText(qPathLoaded);
00625                 return;
00626         }
00627         ui.txInform->append(QString("Loaded %1 images from %2").arg(fileListTemp.count()).arg(ui.lePathSeq->text()));
00628         //Update fileList
00629         fileList=fileListTemp;
00630         //Assign path
00631         qPathLoaded=ui.lePathSeq->text();
00632         //Close windows
00633         cvDestroyAllWindows();
00634         closeCvWindow=1;
00635         //Able ShowSeq and showStepByStep buttons
00636         ui.showSeq->setEnabled(true);
00637         ui.showStepByStep->setEnabled(true);
00638 }
00639 
00640 void MainFrame::loadAutoSeq(){
00641         //Disable buttons
00642         ui.showSeq->setEnabled(false);
00643         ui.showStepByStep->setEnabled(false);
00644         disableStepOptions();
00645         //Close all
00646         cvDestroyAllWindows();
00647         closeCvWindow=0;
00648         //FPS
00649         int iStop=0;
00650         for (int i = 0; i < fileList.size(); i++){
00651                 int iFps=(ui.leFPSSeq->text()).toInt();
00652                 iFps=(iFps<1)?1:iFps;
00653                 loadStepImage(i);
00654         iStop=cvWaitKey(iFps);
00655         //If key is pressed or cv image window control is true then stop
00656                 if (iStop!=-1 || closeCvWindow)
00657                         break;
00658   }
00659         //Enable button
00660         ui.showSeq->setEnabled(true);
00661         ui.showStepByStep->setEnabled(true);
00662         //Close all
00663         cvDestroyAllWindows();
00664 }
00665 
00666 void MainFrame::loadStepSeq(){
00667         //Control to close other cv image windows
00668         closeCvWindow=1;
00669         cvDestroyAllWindows();  
00670         //Enable button and able step by step buttons
00671         //ui.showSeq->setEnabled(true);
00672         //Able step options
00673         ableStepOptions();
00674         
00675         //Initialize frame counter
00676         iStepFrame=0;
00677         cvNamedWindow("image", 0);
00678         loadStepImage(iStepFrame);
00679   cvWaitKey(0);
00680         
00681         //Close all
00682         cvDestroyAllWindows();  
00683         //Disable step options
00684         disableStepOptions();
00685 }
00686 
00687 void MainFrame::loadNextSeq(){
00688         iStepFrame++;
00689         if (fileList.size()>iStepFrame){
00690                 loadStepImage(iStepFrame);
00691         }else
00692                 iStepFrame--;
00693 }
00694 
00695 void MainFrame::loadBackSeq(){
00696         iStepFrame--;
00697         if (iStepFrame>=0){
00698                 loadStepImage(iStepFrame);
00699         }else
00700                 iStepFrame++;
00701 }
00702 
00703 void MainFrame::ableStepOptions(){
00704         ui.showBackStep->setEnabled(true);
00705         ui.showNextStep->setEnabled(true);
00706 }
00707 
00708 void MainFrame::disableStepOptions(){
00709         ui.showBackStep->setEnabled(false);
00710         ui.showNextStep->setEnabled(false);
00711 }
00712 
00713 IplImage* MainFrame::getGrayImage(IplImage *src_image){
00714         if (cvGetElemType(src_image)>0){
00715                 IplImage* src = cvCreateImage( cvGetSize(src_image),IPL_DEPTH_8U, 1);
00716                 cvCvtColor(src_image, src, CV_BGR2GRAY);
00717                 cvReleaseImage(&src_image);
00718                 if (ui.comboLog->currentIndex()>1)
00719                         ui.txInform->append(QString("\tChanging color image to gray scale"));
00720                 return src;
00721         }       else
00722                 return src_image;
00723 }
00724 
00725 /*
00726 int main(int argc, char *argv[])
00727 {
00728   QApplication app(argc, argv);
00729   mainFrame mainWin;
00730   mainWin.show();
00731   return app.exec(); 
00732 }*/