ObjectDetectionView.cc 6.17 KB
Newer Older
pixhawk's avatar
pixhawk committed
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36
/*=====================================================================

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"
lm's avatar
lm committed
37
#include "GAudioOutput.h"
pixhawk's avatar
pixhawk committed
38 39 40

#include <QDebug>

41 42
#include "MG.h"

pixhawk's avatar
pixhawk committed
43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82
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)
{
83 84 85 86 87 88 89 90
    Q_UNUSED(x1);
    Q_UNUSED(y1);
    Q_UNUSED(x2);
    Q_UNUSED(y2);
    Q_UNUSED(x3);
    Q_UNUSED(y3);
    Q_UNUSED(x4);
    Q_UNUSED(y4);
pixhawk's avatar
pixhawk committed
91 92 93 94
    if (detected)
    {
        if (patternList.contains(patternPath))
        {
95
            //qDebug() << "REDETECTED";
lm's avatar
lm committed
96

pixhawk's avatar
pixhawk committed
97 98 99 100
            QList<QAction*> actions = m_ui->listWidget->actions();
            // Find action and update it
            foreach (QAction* act, actions)
            {
lm's avatar
lm committed
101
                qDebug() << "ACTION";
pixhawk's avatar
pixhawk committed
102 103
                if (act->text().trimmed().split(separator).first() == patternPath)
                {
lm's avatar
lm committed
104 105 106
                    int count = patternCount.value(patternPath);
                    patternCount.insert(patternPath, count);
                    act->setText(patternPath + separator + "(#" + QString::number(count) + ")" + separator + QString::number(confidence));
pixhawk's avatar
pixhawk committed
107 108
                }
            }
lm's avatar
lm committed
109 110 111
            QString filePath = MG::DIR::getSupportFilesDirectory() + "/" + patternFolder + "/" + patternPath.split("/").last();
            qDebug() << "Loading:" << filePath;
            QPixmap image = QPixmap(filePath);
pixhawk's avatar
pixhawk committed
112 113 114 115 116 117 118 119 120 121
            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
        {
lm's avatar
lm committed
122 123 124
            // Emit audio message on detection
            if (detected) GAudioOutput::instance()->say("System " + QString::number(uasId) + " detected pattern " + QString(patternPath.split("/").last()).split(".").first());

pixhawk's avatar
pixhawk committed
125 126
            patternList.insert(patternPath, confidence);
            patternCount.insert(patternPath, 1);
127 128 129 130 131

            QString filePath = MG::DIR::getSupportFilesDirectory() + "/" + patternFolder + "/" + patternPath.split("/").last();

            qDebug() << "Loading:" << filePath;
            QPixmap image = QPixmap(filePath);
pixhawk's avatar
pixhawk committed
132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173
            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());
    }
}