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/*=====================================================================
PIXHAWK Micro Air Vehicle Flying Robotics Toolkit
(c) 2009, 2010 PIXHAWK PROJECT <http://pixhawk.ethz.ch>
This file is part of the PIXHAWK project
PIXHAWK is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
PIXHAWK is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with PIXHAWK. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
/**
* @file
* @brief List of detected objects
* @author Benjamin Knecht <mavteam@student.ethz.ch>
* @author Lorenz Meier <mavteam@student.ethz.ch>
*
*/
#include <QListView>
#include <QPixmap>
#include "ObjectDetectionView.h"
#include "ui_ObjectDetectionView.h"
#include "UASManager.h"
#include <QDebug>
ObjectDetectionView::ObjectDetectionView(QString folder, QWidget *parent) :
QWidget(parent),
patternList(),
patternCount(),
uas(NULL),
patternFolder(folder),
separator(" "),
m_ui(new Ui::ObjectDetectionView)
{
m_ui->setupUi(this);
connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setUAS(UASInterface*)));
}
ObjectDetectionView::~ObjectDetectionView()
{
delete m_ui;
}
void ObjectDetectionView::changeEvent(QEvent *e)
{
switch (e->type()) {
case QEvent::LanguageChange:
m_ui->retranslateUi(this);
break;
default:
break;
}
}
void ObjectDetectionView::setUAS(UASInterface* uas)
{
//if (this->uas == NULL && uas != NULL)
//{
this->uas = uas;
connect(uas, SIGNAL(detectionReceived(int, QString, int, int, int, int, int, int, int, int, double, bool)), this, SLOT(newDetection(int,QString,int,int,int,int,int,int,int,int,double,bool)));
//}
}
void ObjectDetectionView::newDetection(int uasId, QString patternPath, int x1, int y1, int x2, int y2, int x3, int y3, int x4, int y4, double confidence, bool detected)
{
if (detected)
{
if (patternList.contains(patternPath))
{
QList<QAction*> actions = m_ui->listWidget->actions();
// Find action and update it
foreach (QAction* act, actions)
{
if (act->text().trimmed().split(separator).first() == patternPath)
{
act->setText(patternPath + separator + "(#" + QString::number(patternCount.value(patternPath)) + ")" + separator + QString::number(confidence));
}
}
QPixmap image = QPixmap(patternFolder + "/" + patternPath);
image = image.scaledToWidth(m_ui->imageLabel->width());
m_ui->imageLabel->setPixmap(image);
QString patternName = patternPath.split("//").last(); // Remove preceding folder names
patternName = patternName.split(".").first(); // Remove file ending
// Set name and label
m_ui->nameLabel->setText(patternName);
}
else
{
patternList.insert(patternPath, confidence);
patternCount.insert(patternPath, 1);
QPixmap image = QPixmap(patternFolder + "/" + patternPath);
QIcon ico(image);
QAction* act = new QAction(ico, patternPath + separator + "(#" + QString::number(1) + ")" + separator + QString::number(confidence), this);
connect(act, SIGNAL(triggered()), this, SLOT(takeAction()));
//m_ui->listWidget->addAction(act);
m_ui->listWidget->addItem(patternPath + separator + "(#" + QString::number(1) + ")" + separator + QString::number(confidence));
//m_ui->listWidget->addItem(patternPath + " " + QString::number(confidence));
image = image.scaledToWidth(m_ui->imageLabel->width());
m_ui->imageLabel->setPixmap(image);
QString patternName = patternPath.split("//").last(); // Remove preceding folder names
patternName = patternName.split(".").first(); // Remove file ending
// Set name and label
m_ui->nameLabel->setText(patternName);
qDebug() << "IMAGE SET" << patternFolder + "/" + patternPath;
}
}
}
void ObjectDetectionView::takeAction()
{
QAction* act = dynamic_cast<QAction*>(sender());
if (act)
{
QString patternPath = act->text().trimmed().split(separator).first(); // Remove additional information
QString patternName = patternPath.split("//").last(); // Remove preceding folder names
patternName = patternName.split(".").first(); // Remove file ending
// Set name and label
m_ui->nameLabel->setText(patternName);
m_ui->imageLabel->setPixmap(act->icon().pixmap(64, 64));
}
}
void ObjectDetectionView::resizeEvent(QResizeEvent * event )
{
if (event->isAccepted())
{
// Enforce square shape of image label
m_ui->imageLabel->resize(m_ui->imageLabel->width(), m_ui->imageLabel->width());
}
}