From a66f609b34e6a9514a4258b5e77adfd21be5f116 Mon Sep 17 00:00:00 2001 From: BTK203 Date: Mon, 2 Dec 2019 17:00:06 -0600 Subject: [PATCH 01/11] Added a UDP enable button to the editor overview tab and runner tab. --- KiwiLight - Vision Code/KiwiLight.cpp | 5 +++++ KiwiLight - Vision Code/KiwiLight.h | 2 +- KiwiLight - Vision Code/ui/ConfigEditor.cpp | 6 ++++++ KiwiLight - Vision Code/ui/OverviewPanel.cpp | 7 +++++++ KiwiLight - Vision Code/ui/RunnerEditor.cpp | 7 +++++++ KiwiLight - Vision Code/ui/UI.h | 6 ++++++ 6 files changed, 32 insertions(+), 1 deletion(-) diff --git a/KiwiLight - Vision Code/KiwiLight.cpp b/KiwiLight - Vision Code/KiwiLight.cpp index 7f99a40..5f30cfc 100644 --- a/KiwiLight - Vision Code/KiwiLight.cpp +++ b/KiwiLight - Vision Code/KiwiLight.cpp @@ -449,6 +449,11 @@ void KiwiLightApp::ToggleUDP() { //set the button text KiwiLightApp::toggleUDPButton.SetText((KiwiLightApp::udpEnabled ? "Disable UDP" : "Enable UDP")); + + //set the buttons in the config editor if necessary + if(KiwiLightApp::mode == UIMode::UI_EDITOR) { + KiwiLightApp::configeditor.SetUDPEnabledLabels(KiwiLightApp::udpEnabled); + } } /** diff --git a/KiwiLight - Vision Code/KiwiLight.h b/KiwiLight - Vision Code/KiwiLight.h index 8537c8c..750568c 100644 --- a/KiwiLight - Vision Code/KiwiLight.h +++ b/KiwiLight - Vision Code/KiwiLight.h @@ -55,6 +55,7 @@ namespace KiwiLight { static void StartEditorLearningTarget(); static void StartEditorLearningDistance(); static void EditorReconnectUDP(); + static void ToggleUDP(); static void EditorSetImageResolutionFromOverview(); static void EditorConnectUDPFromOverview(); static void EditorApplyCameraSettings(); @@ -76,7 +77,6 @@ namespace KiwiLight { //UI button callbacks static void OpenNewCameraFromMainIndex(); - static void ToggleUDP(); static void NewConfiguration(); static void EditConfiguration(); static void OpenConfiguration(); diff --git a/KiwiLight - Vision Code/ui/ConfigEditor.cpp b/KiwiLight - Vision Code/ui/ConfigEditor.cpp index 1b10bc7..e4ea5f0 100644 --- a/KiwiLight - Vision Code/ui/ConfigEditor.cpp +++ b/KiwiLight - Vision Code/ui/ConfigEditor.cpp @@ -612,6 +612,12 @@ void ConfigEditor::SendOverUDP(std::string message) { this->runner.SendOverUDP(message); } + +void ConfigEditor::SetUDPEnabledLabels(bool UDPEnabled) { + this->configOverview.SetUDPEnabledLabels(UDPEnabled); + this->runnerSettings.SetUDPEnabledLabels(UDPEnabled); +} + /** * Applies the settings from the camera tab to the camera itself. */ diff --git a/KiwiLight - Vision Code/ui/OverviewPanel.cpp b/KiwiLight - Vision Code/ui/OverviewPanel.cpp index 579ce45..9267200 100644 --- a/KiwiLight - Vision Code/ui/OverviewPanel.cpp +++ b/KiwiLight - Vision Code/ui/OverviewPanel.cpp @@ -95,6 +95,9 @@ OverviewPanel::OverviewPanel(XMLDocument doc) { Button reconnectUDP = Button("Reconnect", KiwiLightApp::EditorConnectUDPFromOverview); udpPanel.Pack_start(reconnectUDP.GetWidget(), true, true, 0); + this->enableUDP = Button("Enable", KiwiLightApp::ToggleUDP); + udpPanel.Pack_start(this->enableUDP.GetWidget(), true, true, 0); + editor.Pack_start(udpPanel.GetWidget(), true, true, 0); this->overviewpanel = editor.GetWidget(); @@ -165,6 +168,10 @@ int OverviewPanel::GetUDPPort() { return (int) this->udpPort.GetValue(); } +void OverviewPanel::SetUDPEnabledLabels(bool UDPEnabled) { + this->enableUDP.SetText((UDPEnabled ? "Disable" : "Enable")); +} + void OverviewPanel::SetTargetInformationLabelsFromString(std::string iterOutput) { if(iterOutput.length() < 3) { //improperly formatted string diff --git a/KiwiLight - Vision Code/ui/RunnerEditor.cpp b/KiwiLight - Vision Code/ui/RunnerEditor.cpp index 985c75c..a98a4c3 100644 --- a/KiwiLight - Vision Code/ui/RunnerEditor.cpp +++ b/KiwiLight - Vision Code/ui/RunnerEditor.cpp @@ -46,6 +46,9 @@ RunnerEditor::RunnerEditor(Runner runner) { Button reconnectUDP = Button("Reconnect", ReconnectUDP); udpPanel.Pack_start(reconnectUDP.GetWidget(), true, true, 0); + this->enableUDP = Button("Enable", KiwiLightApp::ToggleUDP); + udpPanel.Pack_start(this->enableUDP.GetWidget(), true, true, 0); + editor.Pack_start(udpPanel.GetWidget(), true, true, 0); @@ -203,6 +206,10 @@ void RunnerEditor::SetUDPPort(int newPort) { } +void RunnerEditor::SetUDPEnabledLabels(bool UDPEnabled) { + this->enableUDP.SetText((UDPEnabled ? "Disable" : "Enable")); +} + void RunnerEditor::SetName(std::string name) { gtk_widget_set_name(this->runnereditor, name.c_str()); } diff --git a/KiwiLight - Vision Code/ui/UI.h b/KiwiLight - Vision Code/ui/UI.h index 9e25e6c..0ba81fb 100644 --- a/KiwiLight - Vision Code/ui/UI.h +++ b/KiwiLight - Vision Code/ui/UI.h @@ -495,6 +495,7 @@ namespace KiwiLight { std::string GetUDPAddr(); void SetUDPPort(int port); int GetUDPPort(); + void SetUDPEnabledLabels(bool UDPEnabled); void SetTargetInformationLabelsFromString(std::string iterOutput); GtkWidget *GetWidget() { return overviewpanel; }; void SetName(std::string name); @@ -504,6 +505,7 @@ namespace KiwiLight { TextBox udpAddr; NumberBox udpPort; NumberBox cameraIndex; + Button enableUDP; Label targetSpotted, @@ -624,6 +626,7 @@ namespace KiwiLight { int GetUDPPort(); void SetUDPAddr(std::string newAddr); void SetUDPPort(int newPort); + void SetUDPEnabledLabels(bool UDPEnabled); GtkWidget *GetWidget() { return this->runnereditor; }; void SetName(std::string name); @@ -633,6 +636,8 @@ namespace KiwiLight { TextBox udpAddress; NumberBox udpPort; + Button enableUDP; + LabeledSlider offsetX, offsetY, @@ -659,6 +664,7 @@ namespace KiwiLight { void StartLearningDistance(); void ReconnectUDPFromEditor(); void SendOverUDP(std::string message); + void SetUDPEnabledLabels(bool UDPEnabled); void ApplyCameraSettings(); void SetCameraIndexBoxes(int index); void ReconnectUDPFromOverview(); From 890a2376a57e652af645f0419e2e4b92c814e59d Mon Sep 17 00:00:00 2001 From: BTK203 Date: Tue, 3 Dec 2019 20:57:59 -0600 Subject: [PATCH 02/11] Added support for fifth number. --- .../robot/Subsystems/SubsystemReceiver.java | 31 +++++++------------ 1 file changed, 12 insertions(+), 19 deletions(-) diff --git a/KiwiLight - Rio Code/src/main/java/frc/robot/Subsystems/SubsystemReceiver.java b/KiwiLight - Rio Code/src/main/java/frc/robot/Subsystems/SubsystemReceiver.java index 048e9af..aca20f6 100644 --- a/KiwiLight - Rio Code/src/main/java/frc/robot/Subsystems/SubsystemReceiver.java +++ b/KiwiLight - Rio Code/src/main/java/frc/robot/Subsystems/SubsystemReceiver.java @@ -52,7 +52,7 @@ public void initDefaultCommand() { } public SubsystemReceiver() { - latestSegment = "-1,-1,-1,-1"; + latestSegment = "-1,-1,-1,180, 180"; latestTime = System.currentTimeMillis(); SmartDashboard.putString("RPi Data", latestSegment); @@ -92,25 +92,18 @@ public SubsystemReceiver() { * {-1,-1,-1, 180} for no known location */ public double[] getLastKnownData() { - double[] data = new double[]{-1,-1,-1,-1}; - int[] indices = new int[]{2,5,8}; + double[] data = new double[]{-1,-1,-1,180,180}; + try { - indices = IntStream.range(0, latestSegment.length() - 1) - .filter(i -> latestSegment.charAt(i) == ',') - .toArray(); - data[0] = Integer.parseInt(latestSegment.substring(0, latestSegment.indexOf(",", indices[0]))); - data[1] = Integer.parseInt(latestSegment.substring(latestSegment.indexOf(",", indices[0]) + 1, latestSegment.indexOf(",", indices[1]))); - data[2] = Integer.parseInt(latestSegment.substring(latestSegment.indexOf(",", indices[1]) + 1, latestSegment.indexOf(",", indices[2]))); - data[3] = Integer.parseInt(latestSegment.substring(latestSegment.indexOf(",", indices[2]) + 1)); - } catch (NumberFormatException e) { - DriverStation.reportError("NUMBER FORMAT EXCEPTION", true); - DriverStation.reportError("latestSegment = " + latestSegment, false); - } catch (StringIndexOutOfBoundsException e) { - DriverStation.reportError("STRING INDEX OUT OF BOUNDS EXCEPTION", true); - DriverStation.reportError("latestSegment = " + latestSegment, false); - } catch (ArrayIndexOutOfBoundsException e) { - DriverStation.reportError("ARRAY INDEX OUT OF BOUNDS EXCEPTION", true); - DriverStation.reportError("latestSegment = " + latestSegment, false); + String formattedLatestSegment = latestSegment.substring(1, latestSegment.length() - 1); + String[] latestStrings = formattedLatestSegment.split(","); + + //convert all numbers in string to int and add to data. + for(int i=0; i<5; i++) { + data[i] = Integer.parseInt(latestStrings[i]); + } + } catch(IndexOutOfBoundsException ex) { + DriverStation.reportError("String formatting error!", true); } return data; } From 29002a14c45fe5e1232fb6815f8dd2a72dde972a Mon Sep 17 00:00:00 2001 From: BTK203 Date: Sun, 5 Jan 2020 16:08:03 -0600 Subject: [PATCH 03/11] Multiple Target support? --- KiwiLight - Vision Code/KiwiLight.cpp | 44 ++++++- KiwiLight - Vision Code/KiwiLight.h | 6 + KiwiLight - Vision Code/Main.cpp | 135 ++++++++++++++++++-- KiwiLight - Vision Code/generic.xml | 54 ++++++++ KiwiLight - Vision Code/install.sh | 17 ++- KiwiLight - Vision Code/runner/Runner.cpp | 52 +------- KiwiLight - Vision Code/runner/Runner.h | 14 +- KiwiLight - Vision Code/runner/Target.cpp | 20 +++ KiwiLight - Vision Code/ui/ConfigEditor.cpp | 17 +-- KiwiLight - Vision Code/ui/RunnerEditor.cpp | 4 +- KiwiLight - Vision Code/ui/UI.h | 2 - KiwiLight - Vision Code/util/UDP.cpp | 12 +- KiwiLight - Vision Code/util/Util.cpp | 2 +- KiwiLight - Vision Code/util/Util.h | 1 - 14 files changed, 275 insertions(+), 105 deletions(-) create mode 100644 KiwiLight - Vision Code/generic.xml diff --git a/KiwiLight - Vision Code/KiwiLight.cpp b/KiwiLight - Vision Code/KiwiLight.cpp index 5f30cfc..3a17648 100644 --- a/KiwiLight - Vision Code/KiwiLight.cpp +++ b/KiwiLight - Vision Code/KiwiLight.cpp @@ -10,9 +10,10 @@ using namespace KiwiLight; //define some static vars for KiwiLightApp. Vars will be defined for real on call to Create(); VideoCapture KiwiLightApp::camera; +UDP KiwiLightApp::udpSender; Runner KiwiLightApp::runner; ConfigEditor KiwiLightApp::configeditor; -GThread *KiwiLightApp::streamingThread; +GThread *KiwiLightApp::streamingThread; UIMode KiwiLightApp::mode = UIMode::UI_STREAM; bool KiwiLightApp::lastImageGrabSuccessful = false; bool KiwiLightApp::udpEnabled = false; @@ -35,6 +36,8 @@ void KiwiLightApp::Create(int argc, char *argv[]) { KiwiLightApp::mode = UIMode::UI_PAUSING; KiwiLightApp::cameraFailures = 0; KiwiLightApp:currentCameraIndex = 100; //just to define index. Camera will only open if currentCameraindex != 100 + + KiwiLightApp::udpSender = UDP("127.0.0.1", 3695); gtk_init(&argc, &argv); win = Window(GTK_WINDOW_TOPLEVEL); @@ -166,6 +169,9 @@ bool KiwiLightApp::LastImageCaptureSuccessful() { return KiwiLightApp::lastImageGrabSuccessful; } +UDP KiwiLightApp::GetUDP() { + return KiwiLightApp::udpSender; +} /** * Returns KiwiLight's menu bar @@ -299,6 +305,36 @@ void KiwiLightApp::OpenNewCameraOnIndex(int index) { } } +/** + * This method is ONLY to be used if KiwiLight is working headless (no UI)!!!!!!! + * Opens new camera without updating UI elements + */ +void KiwiLightApp::InitCameraOnly(int index) { + std::cout << "Configuring Auto Exposure setting on new camera" << std::endl; + Shell::ExecuteCommand( + std::string("v4l2-ctl -d ") + + std::to_string(index) + + std::string(" --set-ctrl=exposure_auto=1") + ); + + KiwiLightApp::camera = VideoCapture(index); +} + + +void KiwiLightApp::ReconnectUDP(std::string newAddress, int newPort) { + KiwiLightApp::udpSender = UDP(newAddress, newPort); +} + + +void KiwiLightApp::ReconnectUDP(std::string newAddress, int newPort, bool block) { + KiwiLightApp::udpSender = UDP(newAddress, newPort, block); +} + + +void KiwiLightApp::SendOverUDP(std::string message) { + KiwiLightApp::udpSender.Send(message); +} + /** * Causes the editor to apply all camera settings to the video stream. */ @@ -362,7 +398,7 @@ void KiwiLightApp::UpdateStreamsConstantly() { //now because some cameras like the jevois take a little longer for the stream to start, we will wait until it gives us a good frame //to avoid the VIDIOC_QBUF: Invalid Argument barage. bool retrieveSuccess = false; - while(!retrieveSuccess) { + while(!retrieveSuccess && KiwiLightApp::mode != UIMode::UI_PAUSING && streamThreadEnabled) { usleep(250000); //give camera some time to adjust and do things bool grabSuccess = KiwiLightApp::camera.grab(); if(grabSuccess) { @@ -397,7 +433,7 @@ void KiwiLightApp::UpdateStreams() { //if the udp is enabled, send the message if(KiwiLightApp::udpEnabled) { - KiwiLightApp::runner.SendOverUDP(output); + KiwiLightApp::udpSender.Send(output); } } break; @@ -409,7 +445,7 @@ void KiwiLightApp::UpdateStreams() { //send if udp enabled if(KiwiLightApp::udpEnabled) { - KiwiLightApp::configeditor.SendOverUDP(output); + KiwiLightApp::udpSender.Send(output); } } break; diff --git a/KiwiLight - Vision Code/KiwiLight.h b/KiwiLight - Vision Code/KiwiLight.h index 750568c..c0e759f 100644 --- a/KiwiLight - Vision Code/KiwiLight.h +++ b/KiwiLight - Vision Code/KiwiLight.h @@ -49,6 +49,7 @@ namespace KiwiLight { //general accessors static bool LastImageCaptureSuccessful(); static UIMode CurrentMode(); + static UDP GetUDP(); //misc. UI callbacks static void CloseEditor(bool saveFirst); @@ -61,6 +62,10 @@ namespace KiwiLight { static void EditorApplyCameraSettings(); static void EditorOpenNewCameraFromOverview(); static void OpenNewCameraOnIndex(int index); + static void InitCameraOnly(int index); + static void ReconnectUDP(std::string newAddress, int newPort); + static void ReconnectUDP(std::string newAddress, int newPort, bool block); + static void SendOverUDP(std::string message); //thread utilities static void LaunchStreamingThread(UIMode newMode); @@ -90,6 +95,7 @@ namespace KiwiLight { static Runner runner; static ConfigEditor configeditor; static VideoCapture camera; + static UDP udpSender; static GThread *streamingThread; //utilities diff --git a/KiwiLight - Vision Code/Main.cpp b/KiwiLight - Vision Code/Main.cpp index 8c19083..fb368c7 100644 --- a/KiwiLight - Vision Code/Main.cpp +++ b/KiwiLight - Vision Code/Main.cpp @@ -7,20 +7,137 @@ using namespace cv; using namespace KiwiLight; +void ShowHelp() { + std::cout << "KIWILIGHT HELP\n"; + std::cout << "Usage: Kiwilight [options] [config files]\n"; + std::cout << "\n"; + std::cout << "KiwiLight is a smart vision solution for FRC applications developed by FRC Team 3695: Foximus Prime.\n"; + std::cout << "\n"; + std::cout << "Options:\n"; + std::cout << "-c: Runs a config file, or multiple config files.\n"; + std::cout << "-h: Displays this help window.\n"; + std::cout << std::endl; +} + + +void RunConfigs(std::vector filePaths) { + //init needed KiwiLight variables + KiwiLightApp::InitCameraOnly(0); + KiwiLightApp::ReconnectUDP("127.0.0.1", 3695, false); + + std::cout << "Command: Run Configs\n"; + std::cout << "Config files found: " << filePaths.size() << "\n"; + std::cout << "Ensure that all config files share the same UDP Address and Port." << std::endl; + + //initalize the runners + std::cout << "\nInitalizing Runners" << std::endl; + const int numTargets = (const int) filePaths.size(); + Runner runners[numTargets]; + int totalContours = 0; + for(int i=0; i confsToRun; + + for(int i=0; i 4) { + if(argument.substr(argument.length() - 4) == ".xml") { + confsToRun.push_back(argument); + } + } + } + + if(runningConfig) { + RunConfigs(confsToRun); } } diff --git a/KiwiLight - Vision Code/generic.xml b/KiwiLight - Vision Code/generic.xml new file mode 100644 index 0000000..830b8ed --- /dev/null +++ b/KiwiLight - Vision Code/generic.xml @@ -0,0 +1,54 @@ + + + 600 + 400 + 1 + 512 + 1 + 512 + 1 + 512 + 512 + 512 + + + + + 0 + 0 + + + 250 + 145 + + + 75 + 3 + 5 + + 80 + 255 + 255 + + + + + + 0.000000 + 0.000000 + 0.000000 + 0.900000 + 1.000000 + 500.000000 + + 12 + 300 + 36 + -0.1 + + +
127.0.0.1
+ 3695 + + + diff --git a/KiwiLight - Vision Code/install.sh b/KiwiLight - Vision Code/install.sh index 02c82e6..354a5ce 100644 --- a/KiwiLight - Vision Code/install.sh +++ b/KiwiLight - Vision Code/install.sh @@ -42,18 +42,29 @@ Install() { cd ../.. echo "Preparing to compile KIWILIGHT" - mkdir bin - mkdir lib + make setup echo "Compiling KIWILIGHT" make -j2 KiwiLight + echo "Preparing KIWILIGHT" + #install the confs folder + currentDir = $PWD + cd + mkdir KiwiLightData + mkdir KiwiLightData/confs + mkdir KiwiLightData/tmp + cp $PWD/generic.xml KiwiLightData/confs/ + echo "" >> KiwiLightData/tmp/shell_out.log + + cd $currentDir + echo "KIWILIGHT has been successfully installed." } echo "Welcome to the KiwiLight installer!" -echo "Installing KiwiLight will download many packages and may take a long time." +echo "Installing KiwiLight from the sources will download many packages and may take a long time." echo "Would you like to continue? [y/n]: " read -N1 confirm diff --git a/KiwiLight - Vision Code/runner/Runner.cpp b/KiwiLight - Vision Code/runner/Runner.cpp index 494048d..15860ad 100644 --- a/KiwiLight - Vision Code/runner/Runner.cpp +++ b/KiwiLight - Vision Code/runner/Runner.cpp @@ -32,48 +32,6 @@ void Runner::SetImageResize(Size sz) { this->constantResize = sz; } -/** - * Puts the runner in a constant loop, and sends finished UDP messages. - * This method would be used in normal FRC situations - */ -void Runner::Loop() { - //give some information to stdout about the config - std::cout << std::endl; - std::cout << "------------------------------------" << std::endl; - std::cout << "KiwiLight Runner starting..." << std::endl; - std::cout << " Mode: " << (this->debug ? "Debug" : "Running") << std::endl; - std::cout << " Configuration Name: " << this->configName << std::endl; - std::cout << " Camera Index: " << this->cameraIndex << std::endl; - std::cout << " Preprocessor: " << (this->preprocessor.GetProperty(PreProcessorProperty::IS_FULL) == 1.0 ? "FULL" : "PARTIAL") << std::endl; - std::cout << " Postprocessor: FULL" << std::endl; - std::cout << " Number of Contours: " << this->postProcessorTargets[0].Contours().size() << std::endl; - std::cout << " UDP Destination Address: " << this->udp.GetAddress() << std::endl; - std::cout << " UDP Port: " << std::to_string(this->udp.GetPort()) << std::endl; - std::cout << "------------------------------------" << std::endl; - std::cout << std::endl; - - std::cout << "Waiting for UDP to connect" << std::endl; - while(true) { - bool connectSuccess = this->udp.AttemptToConnect(); - if(connectSuccess) { - std::cout << "UDP connected successfully." << std::endl; - break; - } - } - - //loops a lot until stopped - while(!stop) { - try { - //run algorithm and get the udp message to send to rio - std::string output = this->Iterate(); - this->udp.Send(output); - } catch(cv::Exception ex) { - std::cout << "An OpenCv Exception was encountered in the Loop!" << std::endl; - std::cout << "ex.what(): " << ex.what() << std::endl; - } - } -} - /** * Performs one iteration of the main loop, but does not send any file UDP messages. */ @@ -136,6 +94,7 @@ std::string Runner::Iterate() { } this->closestTarget = bestTarget; + this->lastFrameCenterPoint = Point(robotCenterX, robotCenterY); //figure out which target to send and then send the target int coordX = -1, @@ -236,13 +195,6 @@ void Runner::SetExampleTarget(int contourID, ExampleTarget target) { this->postprocessor.SetTarget(contourID, target); } -void Runner::ReconnectUDP(std::string udpAddr, int udpPort) { - this->udp = UDP(udpAddr, udpPort); -} - -void Runner::SendOverUDP(std::string message) { - this->udp.Send(message); -} void Runner::SetPreprocessorProperty(PreProcessorProperty prop, double value) { if(this->debug) { @@ -392,7 +344,7 @@ void Runner::parseDocument(XMLDocument doc) { //init the preprocessor and postprocessor here this->preprocessor = PreProcessor(preprocessorTypeIsFull, preprocessorColor, preprocessorThreshold, preprocessorErosion, preprocessorDilation, this->debug); this->postprocessor = PostProcessor(this->postProcessorTargets, this->debug); - this->udp = UDP(udpAddr, udpPort); + KiwiLightApp::ReconnectUDP(udpAddr, udpPort); } /** diff --git a/KiwiLight - Vision Code/runner/Runner.h b/KiwiLight - Vision Code/runner/Runner.h index 80b7979..80cb337 100644 --- a/KiwiLight - Vision Code/runner/Runner.h +++ b/KiwiLight - Vision Code/runner/Runner.h @@ -10,6 +10,8 @@ * Written By: Brach Knutson */ +using namespace cv; + namespace KiwiLight { /** @@ -158,6 +160,7 @@ namespace KiwiLight { int HorizontalAngle(double distanceToTarget, int imageCenterX); int VerticalAngle(int imageCenterY); int VerticalAngle(double distanceToTarget, int imageCenterY); + int ObliqueAngle(int imageCenterX, int imageCenterY); double KnownWidth() { return this->knownHeight; }; double FocalWidth() { return this->focalHeight; }; double DistanceErrorCorrection() { return this->distErrorCorrect; }; @@ -265,7 +268,6 @@ namespace KiwiLight { std::vector contoursFromLastFrame; }; - class CameraFrame { public: CameraFrame() {}; @@ -287,7 +289,6 @@ namespace KiwiLight { */ class Runner { public: - static const std::string NULL_MESSAGE; Runner() {}; @@ -296,21 +297,18 @@ namespace KiwiLight { PostProcessor GetPostProcessor() { return this->postprocessor; }; int GetCameraIndex() { return this->cameraIndex; }; void SetImageResize(Size sz); - void Loop(); - void ReconnectUDP(std::string udpAddr, int udpPort); - void SendOverUDP(std::string message); std::string Iterate(); int GetNumberOfTargets() { return this->postprocessor.NumberOfTargets(); }; int GetNumberOfContours(int target); bool GetLastFrameSuccessful() { return this->lastIterationSuccessful; }; std::vector GetLastFrameTargets() { return this->lastFrameTargets; }; Target GetClosestTargetToCenter() { return this->closestTarget; }; + Point GetLastFrameCenterPoint() { return this->lastFrameCenterPoint; }; std::string GetFileName() { return this->src; }; cv::Mat GetOriginalImage() { return this->originalImage; }; cv::Mat GetOutputImage() { return this->outputImage; }; Size GetConstantSize() { return this->constantResize; }; ExampleTarget GetExampleTargetByID(int id); - UDP GetUDP() { return this->udp; }; void SetExampleTarget(int targetID, ExampleTarget target); void SetPreprocessorProperty(PreProcessorProperty prop, double value); double GetPreprocessorProperty(PreProcessorProperty prop); @@ -339,14 +337,13 @@ namespace KiwiLight { std::vector postProcessorTargets; std::vector lastFrameTargets; + Point lastFrameCenterPoint; bool lastIterationSuccessful; bool stop, debug; double centerOffsetX, centerOffsetY; - - UDP udp; }; /** @@ -377,6 +374,7 @@ namespace KiwiLight { original; }; + /** * A tool that calculates the constants needed for accurate distance calculation */ diff --git a/KiwiLight - Vision Code/runner/Target.cpp b/KiwiLight - Vision Code/runner/Target.cpp index 40564b9..eba2884 100644 --- a/KiwiLight - Vision Code/runner/Target.cpp +++ b/KiwiLight - Vision Code/runner/Target.cpp @@ -129,6 +129,26 @@ int Target::VerticalAngle(int imageCenterY) { return this->VerticalAngle(this->Distance(), imageCenterY); } + +int Target::ObliqueAngle(int imageCenterX, int imageCenterY) { + double horizontalAngle = this->HorizontalAngle(imageCenterX) * (M_PI / 180); //convert angle from degrees to radians + double verticalAngle = this->VerticalAngle(imageCenterY) * (M_PI / 180); + double targetDistance = this->Distance(); + + double horizontalOffset = targetDistance * tan(horizontalAngle); + double verticalOffset = targetDistance * tan(verticalAngle); + double obliqueOffset = sqrt ( + pow(horizontalOffset, 2) + + pow(verticalOffset, 2) + ); + + double obliqueAngle = atan(obliqueOffset / targetDistance); + + //convert the angle back to degrees + obliqueAngle *= (180 / M_PI); + return obliqueAngle; +} + /** * Returns a rectangle that represents the bounds of the target. */ diff --git a/KiwiLight - Vision Code/ui/ConfigEditor.cpp b/KiwiLight - Vision Code/ui/ConfigEditor.cpp index e4ea5f0..aaf5e9b 100644 --- a/KiwiLight - Vision Code/ui/ConfigEditor.cpp +++ b/KiwiLight - Vision Code/ui/ConfigEditor.cpp @@ -119,7 +119,7 @@ ConfigEditor::ConfigEditor(std::string fileName) { this->window.SetPane(this->content); - this->window.SetOnWindowClosed(ConfigEditor::Closed); + this->window.SetOnWindowClosed(JustCloseButtonPressed); this->window.SetCSS("ui/Style.css"); this->window.Show(); @@ -601,17 +601,13 @@ void ConfigEditor::StartLearningDistance() { void ConfigEditor::ReconnectUDPFromEditor() { std::string newUDPAddr = this->runnerSettings.GetUDPAddr(); int newUDPPort = this->runnerSettings.GetUDPPort(); - this->runner.ReconnectUDP(newUDPAddr, newUDPPort); + KiwiLightApp::ReconnectUDP(newUDPAddr, newUDPPort); //set the things in the overview panel this->configOverview.SetUDPAddr(newUDPAddr); this->configOverview.SetUDPPort(newUDPPort); } -void ConfigEditor::SendOverUDP(std::string message) { - this->runner.SendOverUDP(message); -} - void ConfigEditor::SetUDPEnabledLabels(bool UDPEnabled) { this->configOverview.SetUDPEnabledLabels(UDPEnabled); @@ -653,7 +649,7 @@ void ConfigEditor::SetCameraIndexBoxes(int index) { void ConfigEditor::ReconnectUDPFromOverview() { std::string newAddr = this->configOverview.GetUDPAddr(); int newPort = this->configOverview.GetUDPPort(); - this->runner.ReconnectUDP(newAddr, newPort); + KiwiLightApp::ReconnectUDP(newAddr, newPort); //set the properties in the actual editor this->runnerSettings.SetUDPAddr(newAddr); @@ -674,13 +670,6 @@ void ConfigEditor::SetName(std::string name) { gtk_widget_set_name(this->configeditor, name.c_str()); } -/** - * Called when the X in the corner is pressed - */ -void ConfigEditor::Closed() { - KiwiLightApp::CloseEditor(false); -} - void ConfigEditor::UpdateImage() { this->runner.Iterate(); diff --git a/KiwiLight - Vision Code/ui/RunnerEditor.cpp b/KiwiLight - Vision Code/ui/RunnerEditor.cpp index a98a4c3..b9bfa7c 100644 --- a/KiwiLight - Vision Code/ui/RunnerEditor.cpp +++ b/KiwiLight - Vision Code/ui/RunnerEditor.cpp @@ -28,7 +28,7 @@ RunnerEditor::RunnerEditor(Runner runner) { Label udpAddressPanelHeader = Label("IPv4 Address: "); udpAddressPanel.Pack_start(udpAddressPanelHeader.GetWidget(), true, true, 0); - std::string realUDPAddress = runner.GetUDP().GetAddress(); + std::string realUDPAddress = KiwiLightApp::GetUDP().GetAddress(); this->udpAddress = TextBox(realUDPAddress); udpAddressPanel.Pack_start(this->udpAddress.GetWidget(), true, true, 0); @@ -38,7 +38,7 @@ RunnerEditor::RunnerEditor(Runner runner) { Label udpPortPanelHeader = Label("Port: "); udpPortPanel.Pack_start(udpPortPanelHeader.GetWidget(), true, true, 0); - int realUDPPort = runner.GetUDP().GetPort(); + int realUDPPort = KiwiLightApp::GetUDP().GetPort(); this->udpPort = NumberBox(0.0, 9999.0, 1.0, (double) realUDPPort); udpPortPanel.Pack_start(this->udpPort.GetWidget(), true, true, 0); udpInputPanel.Pack_start(udpPortPanel.GetWidget(), true, true, 0); diff --git a/KiwiLight - Vision Code/ui/UI.h b/KiwiLight - Vision Code/ui/UI.h index 0ba81fb..feab6f9 100644 --- a/KiwiLight - Vision Code/ui/UI.h +++ b/KiwiLight - Vision Code/ui/UI.h @@ -663,7 +663,6 @@ namespace KiwiLight { void StartLearningTarget(); void StartLearningDistance(); void ReconnectUDPFromEditor(); - void SendOverUDP(std::string message); void SetUDPEnabledLabels(bool UDPEnabled); void ApplyCameraSettings(); void SetCameraIndexBoxes(int index); @@ -675,7 +674,6 @@ namespace KiwiLight { void SetName(std::string name); private: - static void Closed(); void UpdateImage(); //universal config learning utility diff --git a/KiwiLight - Vision Code/util/UDP.cpp b/KiwiLight - Vision Code/util/UDP.cpp index 4ea6ff5..ee2df13 100644 --- a/KiwiLight - Vision Code/util/UDP.cpp +++ b/KiwiLight - Vision Code/util/UDP.cpp @@ -25,8 +25,6 @@ UDP::UDP(std::string dest_ip, int port) { this->address = dest_ip; this->port = port; - std::cout << "Setting up UDP..." << std::endl; - this->sock = socket(AF_INET, SOCK_DGRAM, 0); //"0" for wildcard of what protocol is best if(this->sock < 0) //socket creation didnt be like that tho err("SOCKET FAILED"); @@ -57,8 +55,6 @@ UDP::UDP(std::string dest_ip, int port, bool blockUntilConnected) { this->address = dest_ip; this->port = port; - std::cout << "Setting up UDP..." << std::endl; - this->sock = socket(AF_INET, SOCK_DGRAM, 0); //"0" for wildcard of what protocol is best if(this->sock < 0) //socket creation didnt be like that tho err("SOCKET FAILED"); @@ -73,24 +69,18 @@ UDP::UDP(std::string dest_ip, int port, bool blockUntilConnected) { err("PTON FAILED"); //wait for the connect to succeed before we go - std::cout << "Waiting to connect..." << std::endl; while(true) { //now connect int connect_result = connect(this->sock, (sockaddr*) &this->client_address, sizeof(this->client_address)); if(connect_result > -1 || !blockUntilConnected) //the connection was the big good break; } - - std::cout << "Connection set up." << std::endl; } UDP::UDP(std::string this_ip, std::string dest_ip, int port, bool blockUntilConnected) { this->address = dest_ip; - this->port = port; - - std::cout << "Setting up UDP..." << std::endl; - + this->port = port; this->sock = socket(AF_INET, SOCK_DGRAM, 0); //"0" for wildcard of what protocol is best if(this->sock < 0) //socket creation didnt be like that tho diff --git a/KiwiLight - Vision Code/util/Util.cpp b/KiwiLight - Vision Code/util/Util.cpp index 19240c4..5c60cf7 100644 --- a/KiwiLight - Vision Code/util/Util.cpp +++ b/KiwiLight - Vision Code/util/Util.cpp @@ -27,4 +27,4 @@ XMLTag Util::SearchCameraSettingsByID(std::vector settings, int id) { std::cout << "No Camera Setting could be found by ID " << id << "!" << std::endl; return settings[0]; -} \ No newline at end of file +} diff --git a/KiwiLight - Vision Code/util/Util.h b/KiwiLight - Vision Code/util/Util.h index 0b5bf76..fd00fbd 100644 --- a/KiwiLight - Vision Code/util/Util.h +++ b/KiwiLight - Vision Code/util/Util.h @@ -4,7 +4,6 @@ #include #include #include -#include "gtk-3.0/gtk/gtk.h" #include "opencv2/opencv.hpp" #include "netdb.h" #include "unistd.h" From 18d6834d813f4bfd92042c60b5f745ecefb4f894 Mon Sep 17 00:00:00 2001 From: BTK203 Date: Sun, 5 Jan 2020 17:11:41 -0600 Subject: [PATCH 04/11] Multi-Targeting is now supported. --- KiwiLight - Vision Code/Main.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/KiwiLight - Vision Code/Main.cpp b/KiwiLight - Vision Code/Main.cpp index fb368c7..f06f306 100644 --- a/KiwiLight - Vision Code/Main.cpp +++ b/KiwiLight - Vision Code/Main.cpp @@ -97,7 +97,7 @@ void RunConfigs(std::vector filePaths) { message = ":" + x + "," + y + "," + d + "," + ha + "," + va + ";"; } - + KiwiLightApp::SendOverUDP(message); } } From 3b588e83aaa7a558eb59e083336f05cc57f765fe Mon Sep 17 00:00:00 2001 From: BTK203 Date: Sun, 8 Mar 2020 22:23:19 -0500 Subject: [PATCH 05/11] Width and height reporting. --- KiwiLight - Vision Code/CppProperties.json | 21 + KiwiLight - Vision Code/KiwiLight.cpp | 1188 +++++++------- KiwiLight - Vision Code/KiwiLight.h | 248 +-- KiwiLight - Vision Code/Main.cpp | 290 ++-- KiwiLight - Vision Code/Makefile | 404 ++--- KiwiLight - Vision Code/confs/generic.xml | 122 +- KiwiLight - Vision Code/generic.xml | 108 +- KiwiLight - Vision Code/install.sh | 154 +- .../runner/CameraFrame.cpp | 196 +-- .../runner/ConfigLearner.cpp | 368 ++--- KiwiLight - Vision Code/runner/Contour.cpp | 66 +- .../runner/ExampleContour.cpp | 194 +-- .../runner/ExampleTarget.cpp | 710 ++++---- .../runner/PostProcessor.cpp | 222 +-- .../runner/PreProcessor.cpp | 296 ++-- KiwiLight - Vision Code/runner/Runner.cpp | 743 ++++----- KiwiLight - Vision Code/runner/Runner.h | 834 +++++----- .../runner/RunnerSettings.cpp | 16 +- KiwiLight - Vision Code/runner/Settings.h | 38 +- KiwiLight - Vision Code/runner/Target.cpp | 320 ++-- .../runner/TargetDistanceLearner.cpp | 116 +- .../runner/TargetTroubleshooter.cpp | 450 +++--- KiwiLight - Vision Code/ui/AboutWindow.cpp | 124 +- KiwiLight - Vision Code/ui/Button.cpp | 64 +- KiwiLight - Vision Code/ui/CameraSetting.cpp | 128 +- KiwiLight - Vision Code/ui/CheckBox.cpp | 70 +- KiwiLight - Vision Code/ui/ConfigEditor.cpp | 1369 ++++++++-------- KiwiLight - Vision Code/ui/ConfigPanel.cpp | 290 ++-- .../ui/ConfirmationDialog.cpp | 110 +- KiwiLight - Vision Code/ui/FileChooser.cpp | 118 +- KiwiLight - Vision Code/ui/Frame.cpp | 68 +- KiwiLight - Vision Code/ui/HelpWindow.cpp | 106 +- KiwiLight - Vision Code/ui/Image.cpp | 168 +- KiwiLight - Vision Code/ui/Label.cpp | 102 +- KiwiLight - Vision Code/ui/LabeledSlider.cpp | 98 +- KiwiLight - Vision Code/ui/MenuBar.cpp | 54 +- KiwiLight - Vision Code/ui/MenuItem.cpp | 52 +- KiwiLight - Vision Code/ui/NumberBox.cpp | 76 +- KiwiLight - Vision Code/ui/OverviewPanel.cpp | 402 ++--- KiwiLight - Vision Code/ui/Panel.cpp | 70 +- KiwiLight - Vision Code/ui/PopupTextBox.cpp | 74 +- .../ui/PostprocessorEditor.cpp | 512 +++--- .../ui/PreprocessorEditor.cpp | 368 ++--- KiwiLight - Vision Code/ui/RunnerEditor.cpp | 430 ++--- KiwiLight - Vision Code/ui/Scrollable.cpp | 54 +- KiwiLight - Vision Code/ui/Separator.cpp | 46 +- KiwiLight - Vision Code/ui/Settings.cpp | 336 ++-- KiwiLight - Vision Code/ui/Slider.cpp | 70 +- KiwiLight - Vision Code/ui/Style.css | 168 +- KiwiLight - Vision Code/ui/SubMenuItem.cpp | 40 +- KiwiLight - Vision Code/ui/TabView.cpp | 50 +- KiwiLight - Vision Code/ui/TextBox.cpp | 84 +- .../ui/TroubleshootingWindow.cpp | 78 +- KiwiLight - Vision Code/ui/UI.h | 1438 ++++++++--------- KiwiLight - Vision Code/ui/Window.cpp | 218 +-- KiwiLight - Vision Code/util/Color.cpp | 100 +- KiwiLight - Vision Code/util/DataUtils.cpp | 420 ++--- KiwiLight - Vision Code/util/Flags.cpp | 118 +- KiwiLight - Vision Code/util/SettingPair.cpp | 46 +- KiwiLight - Vision Code/util/Shell.cpp | 78 +- KiwiLight - Vision Code/util/StringUtils.cpp | 138 +- KiwiLight - Vision Code/util/UDP.cpp | 342 ++-- KiwiLight - Vision Code/util/Util.cpp | 60 +- KiwiLight - Vision Code/util/Util.h | 448 ++--- KiwiLight - Vision Code/util/XMLDocument.cpp | 372 ++--- KiwiLight - Vision Code/util/XMLTag.cpp | 266 +-- .../util/XMLTagAttribute.cpp | 34 +- 67 files changed, 8495 insertions(+), 8466 deletions(-) create mode 100644 KiwiLight - Vision Code/CppProperties.json diff --git a/KiwiLight - Vision Code/CppProperties.json b/KiwiLight - Vision Code/CppProperties.json new file mode 100644 index 0000000..14cc59e --- /dev/null +++ b/KiwiLight - Vision Code/CppProperties.json @@ -0,0 +1,21 @@ +{ + "configurations": [ + { + "inheritEnvironments": [ + "msvc_x86" + ], + "name": "x86-Debug", + "includePath": [ + "${env.INCLUDE}", + "${workspaceRoot}\\**" + ], + "defines": [ + "WIN32", + "_DEBUG", + "UNICODE", + "_UNICODE" + ], + "intelliSenseMode": "windows-msvc-x86" + } + ] +} \ No newline at end of file diff --git a/KiwiLight - Vision Code/KiwiLight.cpp b/KiwiLight - Vision Code/KiwiLight.cpp index 3a17648..68a7278 100644 --- a/KiwiLight - Vision Code/KiwiLight.cpp +++ b/KiwiLight - Vision Code/KiwiLight.cpp @@ -1,594 +1,594 @@ -#include "KiwiLight.h" - -/** - * Source file for the KiwiLightApp class. - * Written By: Brach Knutson - */ - -using namespace cv; -using namespace KiwiLight; - -//define some static vars for KiwiLightApp. Vars will be defined for real on call to Create(); -VideoCapture KiwiLightApp::camera; -UDP KiwiLightApp::udpSender; -Runner KiwiLightApp::runner; -ConfigEditor KiwiLightApp::configeditor; -GThread *KiwiLightApp::streamingThread; -UIMode KiwiLightApp::mode = UIMode::UI_STREAM; -bool KiwiLightApp::lastImageGrabSuccessful = false; -bool KiwiLightApp::udpEnabled = false; -bool KiwiLightApp::streamThreadEnabled = true; //acts as a kind of "enable switch" for the streamthread because it seems to like starting when its not supposed to -bool KiwiLightApp::outImgInUse = false; -Mat KiwiLightApp::lastFrameGrabImage; -Window KiwiLightApp::win; -ConfigPanel KiwiLightApp::confInfo; -NumberBox KiwiLightApp::cameraIndexBox; -Label KiwiLightApp::cameraStatusLabel; -Image KiwiLightApp::outputImage; -Button KiwiLightApp::toggleUDPButton; -int KiwiLightApp::cameraFailures; -int KiwiLightApp::currentCameraIndex = 100; - -/** - * Initializes GTK and builds KiwiLight - */ -void KiwiLightApp::Create(int argc, char *argv[]) { - KiwiLightApp::mode = UIMode::UI_PAUSING; - KiwiLightApp::cameraFailures = 0; - KiwiLightApp:currentCameraIndex = 100; //just to define index. Camera will only open if currentCameraindex != 100 - - KiwiLightApp::udpSender = UDP("127.0.0.1", 3695); - - gtk_init(&argc, &argv); - win = Window(GTK_WINDOW_TOPLEVEL); - Panel content = Panel(false, 0); - MenuBar menubar = KiwiLightApp::CreateMenuBar(); - content.Pack_start(menubar.GetWidget(), false, false, 0); - - Panel ribbon = Panel(true, 0); - Image logo = Image("banner_small.png"); - ribbon.Pack_start(logo.GetWidget(), false, false, 0); - - Separator sep = Separator(false); - ribbon.Pack_start(sep.GetWidget(), false, false, 0); - - Panel cameraSelectionPanel = Panel(false, 0); - Panel numberBoxPanel = Panel(true, 0); - Label numberBoxLabel = Label("Camera: "); - numberBoxPanel.Pack_start(numberBoxLabel.GetWidget(), false, false, 0); - - KiwiLightApp::cameraIndexBox = NumberBox(0, 10, 1, 0); - numberBoxPanel.Pack_start(KiwiLightApp::cameraIndexBox.GetWidget(), false, false, 0); - - cameraSelectionPanel.Pack_start(numberBoxPanel.GetWidget(), false, false, 0); - - Button openCameraButton = Button("Open", KiwiLightApp::OpenNewCameraFromMainIndex); - cameraSelectionPanel.Pack_start(openCameraButton.GetWidget(), false, false, 0); - - ribbon.Pack_start(cameraSelectionPanel.GetWidget(), false, false, 0); - - KiwiLightApp::cameraStatusLabel = Label(""); - ribbon.Pack_start(cameraStatusLabel.GetWidget(), false, false, 0); - - content.Pack_start(ribbon.GetWidget(), false, false, 0); - - Panel body = Panel(true, 0); - Panel configInfoPanel = Panel(false, 0); - KiwiLightApp::confInfo = ConfigPanel(XMLDocument("")); - configInfoPanel.Pack_start(KiwiLightApp::confInfo.GetWidget(), true, true, 0); - - Panel configButtonPanel = Panel(true, 0); - Button editButton = Button("Edit", KiwiLightApp::EditConfiguration); - configButtonPanel.Pack_start(editButton.GetWidget(), true, true, 0); - - KiwiLightApp::toggleUDPButton = Button("Enable UDP", ToggleUDP); - configButtonPanel.Pack_start(KiwiLightApp::toggleUDPButton.GetWidget(), true, true, 0); - - configInfoPanel.Pack_start(configButtonPanel.GetWidget(), true, false, 0); - body.Pack_start(configInfoPanel.GetWidget(), true, true, 0); - - KiwiLightApp::outputImage = Image(ImageColorspace::RGB); - body.Pack_start(KiwiLightApp::outputImage.GetWidget(), true, true, 0); - - content.Pack_start(body.GetWidget(), false, false, 0); - - win.SetPane(content); - win.SetCSS("ui/Style.css"); - win.SetOnAppClosed(KiwiLightApp::Quit); - win.SetInterval(75, KiwiLightApp::UpdateApp); - - OpenNewCameraOnIndex(0); -} - -/** - * Starts KiwiLight. - */ -void KiwiLightApp::Start() { - win.Show(); - KiwiLightApp::LaunchStreamingThread(UIMode::UI_STREAM); - win.Main(); -} - -/** - * Returns KiwiLight's runner. - */ -Runner KiwiLightApp::GetRunner() { return runner; } - -/** - * Returns KiwiLight's config editor. - */ -ConfigEditor KiwiLightApp::GetEditor() { return configeditor; } - -/** - * Takes an image with the KiwiLight camera and returns it - */ -Mat KiwiLightApp::TakeImage() { - Mat img; - if(KiwiLightApp::camera.isOpened()) { - bool success = KiwiLightApp::camera.grab(); - - if(success) { - success = KiwiLightApp::camera.retrieve(img); - } - KiwiLightApp::lastImageGrabSuccessful = success; - - //additionally... - if(img.empty()) { - lastImageGrabSuccessful = false; - } - } - - return img; -} - -/** - * Returns the value of KiwiLight's camera's property on the given ID (ID from opencv constants). - */ -double KiwiLightApp::GetCameraProperty(int propId) { - return KiwiLightApp::camera.get(propId); -} - -/** - * Returns true if KiwiLight's camera is open, false otherwise - */ -bool KiwiLightApp::CameraOpen() { - return KiwiLightApp::camera.isOpened(); -} - -/** - * Sets a property value on KiwiLight's camera to value. - */ -void KiwiLightApp::SetCameraProperty(int propId, double value) { - KiwiLightApp::camera.set(propId, value); -} - -/** - * Returns true if last image take was successful, false otherwise. - */ -bool KiwiLightApp::LastImageCaptureSuccessful() { - return KiwiLightApp::lastImageGrabSuccessful; -} - -UDP KiwiLightApp::GetUDP() { - return KiwiLightApp::udpSender; -} - -/** - * Returns KiwiLight's menu bar - */ -MenuBar KiwiLightApp::CreateMenuBar() { - MenuBar menubar = MenuBar(); - menubar.SetName("hover_gray"); - MenuItem file = MenuItem("File"); - SubMenuItem addConfig = SubMenuItem("New Configuration", KiwiLightApp::NewConfiguration); - file.AddSubmenuItem(addConfig); - - SubMenuItem openConfig = SubMenuItem("Open Configuration", KiwiLightApp::OpenConfiguration); - file.AddSubmenuItem(openConfig); - - SubMenuItem stopConfig = SubMenuItem("Close Config", KiwiLightApp::CloseConfiguration); - file.AddSubmenuItem(stopConfig); - - - SubMenuItem quit = SubMenuItem("Quit", KiwiLightApp::Quit); - file.AddSubmenuItem(quit); - - menubar.AddItem(file); - - MenuItem help = MenuItem("Help"); - SubMenuItem about = SubMenuItem("About", KiwiLightApp::ShowAboutWindow); - help.AddSubmenuItem(about); - - SubMenuItem helpme = SubMenuItem("How the heck does this work?", KiwiLightApp::ShowHelpWindow); - help.AddSubmenuItem(helpme); - - menubar.AddItem(help); - - return menubar; -} - -/** - * Starts the thread that constantly updates KiwiLight's streams. - */ -void KiwiLightApp::LaunchStreamingThread(UIMode newMode) { - if(newMode != UIMode::UI_PAUSING) { - streamThreadEnabled = true; - KiwiLightApp::mode = newMode; - std::cout << "Starting Stream Thread..." << std::endl; - KiwiLightApp::streamingThread = g_thread_new("stream monitor", GThreadFunc(KiwiLightApp::UpdateStreamsConstantly), NULL); - } -} - -/** - * Messages the streaming thread to stop and waits until it does - */ -void KiwiLightApp::StopStreamingThread() { - if(streamThreadEnabled) { - streamThreadEnabled = false; - KiwiLightApp::mode = UIMode::UI_PAUSING; - g_thread_join(KiwiLightApp::streamingThread); - } -} - -/** - * Closes the config editor (if it is open) - * @param saveFirst when true, causes the editor to save the open configuration to file. - */ -void KiwiLightApp::CloseEditor(bool saveFirst) { - if(saveFirst) { - KiwiLightApp::configeditor.Save(); - } - - KiwiLightApp::configeditor.Close(); - OpenConfigurationFromFile(KiwiLightApp::configeditor.GetFileName()); -} - -/** - * Causes the opened editor to begin the target learn process. - */ -void KiwiLightApp::StartEditorLearningTarget() { - KiwiLightApp::configeditor.StartLearningTarget(); -} - -/** - * Causes the editor to start learning distance constants. - */ -void KiwiLightApp::StartEditorLearningDistance() { - KiwiLightApp::configeditor.StartLearningDistance(); -} - -/** - * Causes the editor to recheck and reapply the user's UDP address and port - */ -void KiwiLightApp::EditorReconnectUDP() { - KiwiLightApp::configeditor.ReconnectUDPFromEditor(); -} - -/** - * Causes the editor to connect the UDP from the overview panel. - */ -void KiwiLightApp::EditorConnectUDPFromOverview() { - KiwiLightApp::configeditor.ReconnectUDPFromOverview(); -} - -/** - * Causes KiwiLight to open a new camera on the given index. - */ -void KiwiLightApp::OpenNewCameraOnIndex(int index) { - if(KiwiLightApp::currentCameraIndex != index || !KiwiLightApp::camera.isOpened()) { - KiwiLightApp::currentCameraIndex = index; - UIMode currentMode = KiwiLightApp::mode; - - if(KiwiLightApp::camera.isOpened()) { - KiwiLightApp::camera.~VideoCapture(); - } - - KiwiLightApp::camera = VideoCapture(index); - - //set the auto exposure menu in shell because opencv cant do it - //if this is not set then exposure cannot be set - - std::cout << "Configuring Auto Exposure setting on new camera" << std::endl; - Shell::ExecuteCommand( - std::string("v4l2-ctl -d ") + - std::to_string(index) + - std::string(" --set-ctrl=exposure_auto=1") - ); - - //set the text box on main UI - KiwiLightApp::cameraIndexBox.SetValue((double) index); - - //set editor text boxes if necessary - if(currentMode == UIMode::UI_EDITOR) { - KiwiLightApp::configeditor.SetCameraIndexBoxes(index); - } - } -} - -/** - * This method is ONLY to be used if KiwiLight is working headless (no UI)!!!!!!! - * Opens new camera without updating UI elements - */ -void KiwiLightApp::InitCameraOnly(int index) { - std::cout << "Configuring Auto Exposure setting on new camera" << std::endl; - Shell::ExecuteCommand( - std::string("v4l2-ctl -d ") + - std::to_string(index) + - std::string(" --set-ctrl=exposure_auto=1") - ); - - KiwiLightApp::camera = VideoCapture(index); -} - - -void KiwiLightApp::ReconnectUDP(std::string newAddress, int newPort) { - KiwiLightApp::udpSender = UDP(newAddress, newPort); -} - - -void KiwiLightApp::ReconnectUDP(std::string newAddress, int newPort, bool block) { - KiwiLightApp::udpSender = UDP(newAddress, newPort, block); -} - - -void KiwiLightApp::SendOverUDP(std::string message) { - KiwiLightApp::udpSender.Send(message); -} - -/** - * Causes the editor to apply all camera settings to the video stream. - */ -void KiwiLightApp::EditorApplyCameraSettings() { - KiwiLightApp::StopStreamingThread(); - KiwiLightApp::configeditor.ApplyCameraSettings(); - KiwiLightApp::LaunchStreamingThread(UIMode::UI_EDITOR); -} - -/** - * Causes the editor to connect tot a different camera using index from the overview panel. - */ -void KiwiLightApp::EditorOpenNewCameraFromOverview(){ - //we don't need to do stream things here because it is all handled in OpenNewCameraOnIndex() - KiwiLightApp::configeditor.OpenNewCameraFromOverview(); -} - -/** - * Updates KiwiLight's utilities depending on it's state. - */ -void KiwiLightApp::UpdateApp() { - try { - if(KiwiLightApp::mode == UIMode::UI_EDITOR) { - KiwiLightApp::configeditor.Update(); - } - - //update the camera error label based on how successful thread is being - if(lastImageGrabSuccessful) { - //wait for the output image to be updated by other thread - while(KiwiLightApp::outImgInUse) { - usleep(10); - } - KiwiLightApp::outImgInUse = true; - KiwiLightApp::outputImage.Update(KiwiLightApp::lastFrameGrabImage); - KiwiLightApp::outImgInUse = false; - KiwiLightApp::cameraStatusLabel.SetText(""); - } else { - KiwiLightApp::cameraStatusLabel.SetText("Camera Error!"); - KiwiLightApp::cameraFailures++; - - if(KiwiLightApp::cameraFailures > 50) { - //attempt to reconnect the camera stream - OpenNewCameraFromMainIndex(); - KiwiLightApp::cameraFailures = 0; - } - } - } catch(cv::Exception ex) { - std::cout << "An OpenCv Exception was encountered while running the Main thread!" << std::endl; - std::cout << "ex.what(): " << ex.what() << std::endl; - KiwiLightApp::lastImageGrabSuccessful = false; - } catch(std::invalid_argument ex) { - std::cout << "A std::invalid_argument Exception was encountered while running the Main thread!" << std::endl; - std::cout << "ex.what(): " << ex.what() << std::endl; - } -} - -/** - * Updates the streams nonstop until mode is set to UI_QUITTING - */ -void KiwiLightApp::UpdateStreamsConstantly() { - //now because some cameras like the jevois take a little longer for the stream to start, we will wait until it gives us a good frame - //to avoid the VIDIOC_QBUF: Invalid Argument barage. - bool retrieveSuccess = false; - while(!retrieveSuccess && KiwiLightApp::mode != UIMode::UI_PAUSING && streamThreadEnabled) { - usleep(250000); //give camera some time to adjust and do things - bool grabSuccess = KiwiLightApp::camera.grab(); - if(grabSuccess) { - Mat img; - retrieveSuccess = KiwiLightApp::camera.retrieve(img); - } - } - - std::cout << "Camera Stream confirmed." << std::endl; - - while(KiwiLightApp::mode != UIMode::UI_PAUSING && streamThreadEnabled) { - KiwiLightApp::UpdateStreams(); - } -} - -/** - * Updates KiwiLight's video streams. - */ -void KiwiLightApp::UpdateStreams() { - try { - //attempt to loop the things - Mat displayImage; - switch(KiwiLightApp::mode) { - case UIMode::UI_STREAM: { - displayImage = KiwiLightApp::TakeImage(); - } - break; - case UIMode::UI_RUNNER: { - std::string output = KiwiLightApp::runner.Iterate(); - KiwiLightApp::runner.GetLastFrameSuccessful(); //boolean - displayImage = KiwiLightApp::runner.GetOutputImage(); - - //if the udp is enabled, send the message - if(KiwiLightApp::udpEnabled) { - KiwiLightApp::udpSender.Send(output); - } - } - break; - case UIMode::UI_EDITOR: { - KiwiLightApp::configeditor.UpdateImageOnly(); //boolean - displayImage = KiwiLightApp::configeditor.GetOutputImage(); - - std::string output = KiwiLightApp::configeditor.GetLastFrameResult(); //gets the results of the last runner iteration - - //send if udp enabled - if(KiwiLightApp::udpEnabled) { - KiwiLightApp::udpSender.Send(output); - } - } - break; - } - // if successful, update the display image - if(KiwiLightApp::lastImageGrabSuccessful) { - //wait for out image to be used by other thread - while(KiwiLightApp::outImgInUse) { - usleep(10); - } - KiwiLightApp::outImgInUse = true; - KiwiLightApp::lastFrameGrabImage = displayImage; - KiwiLightApp::outImgInUse = false; - } - } catch(cv::Exception ex) { - std::cout << "An OpenCv Exception was encountered while running the Streaming thread!" << std::endl; - std::cout << "ex.what(): " << ex.what() << std::endl; - KiwiLightApp::lastImageGrabSuccessful = false; - } catch(std::invalid_argument ex) { - std::cout << "A std::invalid_argument Exception was encountered while running the Streaming thread!" << std::endl; - std::cout << "ex.what(): " << ex.what() << std::endl; - } -} - -/** - * Opens a new videostream on the index that the user selects. - */ -void KiwiLightApp::OpenNewCameraFromMainIndex() { - OpenNewCameraOnIndex((int) KiwiLightApp::cameraIndexBox.GetValue()); -} - -/** - * Enables or disables the runner's UDP. - */ -void KiwiLightApp::ToggleUDP() { - KiwiLightApp::udpEnabled = !KiwiLightApp::udpEnabled; - - //set the button text - KiwiLightApp::toggleUDPButton.SetText((KiwiLightApp::udpEnabled ? "Disable UDP" : "Enable UDP")); - - //set the buttons in the config editor if necessary - if(KiwiLightApp::mode == UIMode::UI_EDITOR) { - KiwiLightApp::configeditor.SetUDPEnabledLabels(KiwiLightApp::udpEnabled); - } -} - -/** - * Causes KiwiLight to create and open a new configuration. - */ -void KiwiLightApp::NewConfiguration() { - //set mode to stream and open a new editor. - KiwiLightApp::mode = UIMode::UI_STREAM; - EditConfiguration(); -} - -/** - * Causes KiwiLight to open the editor for the selected configuration. - * @param currentMode The UIMode active when callback was triggered - */ -void KiwiLightApp::EditConfiguration() { - //since this is a callback, close streamer - UIMode currentMode = KiwiLightApp::mode; - std::string pathToOpen = ""; - StopStreamingThread(); - - if(currentMode == UIMode::UI_STREAM) { - //find generic.xml (in /home/user/KiwiLightData/confs) - char *homedir = getenv("HOME"); - if(homedir == NULL) { - std::cout << "The HOME environment variable could not be found." << std::endl; - return; - } else { - pathToOpen = std::string(homedir) + "/KiwiLightData/confs/generic.xml"; - } - } else if(currentMode == UIMode::UI_RUNNER) { - std::cout << "taking runner path" << std::endl; - pathToOpen = KiwiLightApp::runner.GetFileName(); - } else if(currentMode == UIMode::UI_PAUSING) { - std::cout << "WARNING: UI mode unclear. Make sure EditConfiguration() is called before stream thread is terminated" << std::endl; - } - KiwiLightApp::configeditor = ConfigEditor(pathToOpen); - LaunchStreamingThread(UIMode::UI_EDITOR); -} - -/** - * Causes KiwiLight to open a new configuration. - */ -void KiwiLightApp::OpenConfiguration() { - StopStreamingThread(); - FileChooser chooser = FileChooser(false, ""); - std::string fileToOpen = chooser.Show(); - - OpenConfigurationFromFile(fileToOpen); - LaunchStreamingThread(UIMode::UI_RUNNER); -} - -/** - * Causes KiwiLight to open the configuration specified by the file - */ -void KiwiLightApp::OpenConfigurationFromFile(std::string fileName) { - XMLDocument newDoc = XMLDocument(fileName); - UIMode newMode = UIMode::UI_STREAM; - if(newDoc.HasContents()) { - KiwiLightApp::confInfo.LoadConfig(newDoc); - KiwiLightApp::runner = Runner(fileName, true); - - //open the specified camera - int camIndex = std::stoi(newDoc.GetTagsByName("camera")[0].GetAttributesByName("index")[0].Value()); - OpenNewCameraOnIndex(camIndex); - newMode = UIMode::UI_RUNNER; - } else { - std::cout << "New Document either empty or not specified. Taking no action." << std::endl; - } -} - -/** - * Causes KiwiLight to close the currently opened configuration. - */ -void KiwiLightApp::CloseConfiguration() { - KiwiLightApp::confInfo.Clear(); - KiwiLightApp::mode = UIMode::UI_STREAM; -} - -/** - * Causes KiwiLight to exit. - */ -void KiwiLightApp::Quit() { - StopStreamingThread(); - gtk_main_quit(); -} - -/** - * Causes KiwiLight to show the about window. - */ -void KiwiLightApp::ShowAboutWindow() { - AboutWindow win = AboutWindow(GTK_WINDOW_TOPLEVEL); - win.Show(); -} - -/** - * Causes KiwiLight to show the help window. - */ -void KiwiLightApp::ShowHelpWindow() { - HelpWindow win = HelpWindow(GTK_WINDOW_TOPLEVEL); - win.Show(); -} +#include "KiwiLight.h" + +/** + * Source file for the KiwiLightApp class. + * Written By: Brach Knutson + */ + +using namespace cv; +using namespace KiwiLight; + +//define some static vars for KiwiLightApp. Vars will be defined for real on call to Create(); +VideoCapture KiwiLightApp::camera; +UDP KiwiLightApp::udpSender; +Runner KiwiLightApp::runner; +ConfigEditor KiwiLightApp::configeditor; +GThread *KiwiLightApp::streamingThread; +UIMode KiwiLightApp::mode = UIMode::UI_STREAM; +bool KiwiLightApp::lastImageGrabSuccessful = false; +bool KiwiLightApp::udpEnabled = false; +bool KiwiLightApp::streamThreadEnabled = true; //acts as a kind of "enable switch" for the streamthread because it seems to like starting when its not supposed to +bool KiwiLightApp::outImgInUse = false; +Mat KiwiLightApp::lastFrameGrabImage; +Window KiwiLightApp::win; +ConfigPanel KiwiLightApp::confInfo; +NumberBox KiwiLightApp::cameraIndexBox; +Label KiwiLightApp::cameraStatusLabel; +Image KiwiLightApp::outputImage; +Button KiwiLightApp::toggleUDPButton; +int KiwiLightApp::cameraFailures; +int KiwiLightApp::currentCameraIndex = 100; + +/** + * Initializes GTK and builds KiwiLight + */ +void KiwiLightApp::Create(int argc, char *argv[]) { + KiwiLightApp::mode = UIMode::UI_PAUSING; + KiwiLightApp::cameraFailures = 0; + KiwiLightApp:currentCameraIndex = 100; //just to define index. Camera will only open if currentCameraindex != 100 + + KiwiLightApp::udpSender = UDP("127.0.0.1", 3695); + + gtk_init(&argc, &argv); + win = Window(GTK_WINDOW_TOPLEVEL); + Panel content = Panel(false, 0); + MenuBar menubar = KiwiLightApp::CreateMenuBar(); + content.Pack_start(menubar.GetWidget(), false, false, 0); + + Panel ribbon = Panel(true, 0); + Image logo = Image("banner_small.png"); + ribbon.Pack_start(logo.GetWidget(), false, false, 0); + + Separator sep = Separator(false); + ribbon.Pack_start(sep.GetWidget(), false, false, 0); + + Panel cameraSelectionPanel = Panel(false, 0); + Panel numberBoxPanel = Panel(true, 0); + Label numberBoxLabel = Label("Camera: "); + numberBoxPanel.Pack_start(numberBoxLabel.GetWidget(), false, false, 0); + + KiwiLightApp::cameraIndexBox = NumberBox(0, 10, 1, 0); + numberBoxPanel.Pack_start(KiwiLightApp::cameraIndexBox.GetWidget(), false, false, 0); + + cameraSelectionPanel.Pack_start(numberBoxPanel.GetWidget(), false, false, 0); + + Button openCameraButton = Button("Open", KiwiLightApp::OpenNewCameraFromMainIndex); + cameraSelectionPanel.Pack_start(openCameraButton.GetWidget(), false, false, 0); + + ribbon.Pack_start(cameraSelectionPanel.GetWidget(), false, false, 0); + + KiwiLightApp::cameraStatusLabel = Label(""); + ribbon.Pack_start(cameraStatusLabel.GetWidget(), false, false, 0); + + content.Pack_start(ribbon.GetWidget(), false, false, 0); + + Panel body = Panel(true, 0); + Panel configInfoPanel = Panel(false, 0); + KiwiLightApp::confInfo = ConfigPanel(XMLDocument("")); + configInfoPanel.Pack_start(KiwiLightApp::confInfo.GetWidget(), true, true, 0); + + Panel configButtonPanel = Panel(true, 0); + Button editButton = Button("Edit", KiwiLightApp::EditConfiguration); + configButtonPanel.Pack_start(editButton.GetWidget(), true, true, 0); + + KiwiLightApp::toggleUDPButton = Button("Enable UDP", ToggleUDP); + configButtonPanel.Pack_start(KiwiLightApp::toggleUDPButton.GetWidget(), true, true, 0); + + configInfoPanel.Pack_start(configButtonPanel.GetWidget(), true, false, 0); + body.Pack_start(configInfoPanel.GetWidget(), true, true, 0); + + KiwiLightApp::outputImage = Image(ImageColorspace::RGB); + body.Pack_start(KiwiLightApp::outputImage.GetWidget(), true, true, 0); + + content.Pack_start(body.GetWidget(), false, false, 0); + + win.SetPane(content); + win.SetCSS("ui/Style.css"); + win.SetOnAppClosed(KiwiLightApp::Quit); + win.SetInterval(75, KiwiLightApp::UpdateApp); + + OpenNewCameraOnIndex(0); +} + +/** + * Starts KiwiLight. + */ +void KiwiLightApp::Start() { + win.Show(); + KiwiLightApp::LaunchStreamingThread(UIMode::UI_STREAM); + win.Main(); +} + +/** + * Returns KiwiLight's runner. + */ +Runner KiwiLightApp::GetRunner() { return runner; } + +/** + * Returns KiwiLight's config editor. + */ +ConfigEditor KiwiLightApp::GetEditor() { return configeditor; } + +/** + * Takes an image with the KiwiLight camera and returns it + */ +Mat KiwiLightApp::TakeImage() { + Mat img; + if(KiwiLightApp::camera.isOpened()) { + bool success = KiwiLightApp::camera.grab(); + + if(success) { + success = KiwiLightApp::camera.retrieve(img); + } + KiwiLightApp::lastImageGrabSuccessful = success; + + //additionally... + if(img.empty()) { + lastImageGrabSuccessful = false; + } + } + + return img; +} + +/** + * Returns the value of KiwiLight's camera's property on the given ID (ID from opencv constants). + */ +double KiwiLightApp::GetCameraProperty(int propId) { + return KiwiLightApp::camera.get(propId); +} + +/** + * Returns true if KiwiLight's camera is open, false otherwise + */ +bool KiwiLightApp::CameraOpen() { + return KiwiLightApp::camera.isOpened(); +} + +/** + * Sets a property value on KiwiLight's camera to value. + */ +void KiwiLightApp::SetCameraProperty(int propId, double value) { + KiwiLightApp::camera.set(propId, value); +} + +/** + * Returns true if last image take was successful, false otherwise. + */ +bool KiwiLightApp::LastImageCaptureSuccessful() { + return KiwiLightApp::lastImageGrabSuccessful; +} + +UDP KiwiLightApp::GetUDP() { + return KiwiLightApp::udpSender; +} + +/** + * Returns KiwiLight's menu bar + */ +MenuBar KiwiLightApp::CreateMenuBar() { + MenuBar menubar = MenuBar(); + menubar.SetName("hover_gray"); + MenuItem file = MenuItem("File"); + SubMenuItem addConfig = SubMenuItem("New Configuration", KiwiLightApp::NewConfiguration); + file.AddSubmenuItem(addConfig); + + SubMenuItem openConfig = SubMenuItem("Open Configuration", KiwiLightApp::OpenConfiguration); + file.AddSubmenuItem(openConfig); + + SubMenuItem stopConfig = SubMenuItem("Close Config", KiwiLightApp::CloseConfiguration); + file.AddSubmenuItem(stopConfig); + + + SubMenuItem quit = SubMenuItem("Quit", KiwiLightApp::Quit); + file.AddSubmenuItem(quit); + + menubar.AddItem(file); + + MenuItem help = MenuItem("Help"); + SubMenuItem about = SubMenuItem("About", KiwiLightApp::ShowAboutWindow); + help.AddSubmenuItem(about); + + SubMenuItem helpme = SubMenuItem("How the heck does this work?", KiwiLightApp::ShowHelpWindow); + help.AddSubmenuItem(helpme); + + menubar.AddItem(help); + + return menubar; +} + +/** + * Starts the thread that constantly updates KiwiLight's streams. + */ +void KiwiLightApp::LaunchStreamingThread(UIMode newMode) { + if(newMode != UIMode::UI_PAUSING) { + streamThreadEnabled = true; + KiwiLightApp::mode = newMode; + std::cout << "Starting Stream Thread..." << std::endl; + KiwiLightApp::streamingThread = g_thread_new("stream monitor", GThreadFunc(KiwiLightApp::UpdateStreamsConstantly), NULL); + } +} + +/** + * Messages the streaming thread to stop and waits until it does + */ +void KiwiLightApp::StopStreamingThread() { + if(streamThreadEnabled) { + streamThreadEnabled = false; + KiwiLightApp::mode = UIMode::UI_PAUSING; + g_thread_join(KiwiLightApp::streamingThread); + } +} + +/** + * Closes the config editor (if it is open) + * @param saveFirst when true, causes the editor to save the open configuration to file. + */ +void KiwiLightApp::CloseEditor(bool saveFirst) { + if(saveFirst) { + KiwiLightApp::configeditor.Save(); + } + + KiwiLightApp::configeditor.Close(); + OpenConfigurationFromFile(KiwiLightApp::configeditor.GetFileName()); +} + +/** + * Causes the opened editor to begin the target learn process. + */ +void KiwiLightApp::StartEditorLearningTarget() { + KiwiLightApp::configeditor.StartLearningTarget(); +} + +/** + * Causes the editor to start learning distance constants. + */ +void KiwiLightApp::StartEditorLearningDistance() { + KiwiLightApp::configeditor.StartLearningDistance(); +} + +/** + * Causes the editor to recheck and reapply the user's UDP address and port + */ +void KiwiLightApp::EditorReconnectUDP() { + KiwiLightApp::configeditor.ReconnectUDPFromEditor(); +} + +/** + * Causes the editor to connect the UDP from the overview panel. + */ +void KiwiLightApp::EditorConnectUDPFromOverview() { + KiwiLightApp::configeditor.ReconnectUDPFromOverview(); +} + +/** + * Causes KiwiLight to open a new camera on the given index. + */ +void KiwiLightApp::OpenNewCameraOnIndex(int index) { + if(KiwiLightApp::currentCameraIndex != index || !KiwiLightApp::camera.isOpened()) { + KiwiLightApp::currentCameraIndex = index; + UIMode currentMode = KiwiLightApp::mode; + + if(KiwiLightApp::camera.isOpened()) { + KiwiLightApp::camera.~VideoCapture(); + } + + KiwiLightApp::camera = VideoCapture(index); + + //set the auto exposure menu in shell because opencv cant do it + //if this is not set then exposure cannot be set + + std::cout << "Configuring Auto Exposure setting on new camera" << std::endl; + Shell::ExecuteCommand( + std::string("v4l2-ctl -d ") + + std::to_string(index) + + std::string(" --set-ctrl=exposure_auto=1") + ); + + //set the text box on main UI + KiwiLightApp::cameraIndexBox.SetValue((double) index); + + //set editor text boxes if necessary + if(currentMode == UIMode::UI_EDITOR) { + KiwiLightApp::configeditor.SetCameraIndexBoxes(index); + } + } +} + +/** + * This method is ONLY to be used if KiwiLight is working headless (no UI)!!!!!!! + * Opens new camera without updating UI elements + */ +void KiwiLightApp::InitCameraOnly(int index) { + std::cout << "Configuring Auto Exposure setting on new camera" << std::endl; + Shell::ExecuteCommand( + std::string("v4l2-ctl -d ") + + std::to_string(index) + + std::string(" --set-ctrl=exposure_auto=1") + ); + + KiwiLightApp::camera = VideoCapture(index); +} + + +void KiwiLightApp::ReconnectUDP(std::string newAddress, int newPort) { + KiwiLightApp::udpSender = UDP(newAddress, newPort); +} + + +void KiwiLightApp::ReconnectUDP(std::string newAddress, int newPort, bool block) { + KiwiLightApp::udpSender = UDP(newAddress, newPort, block); +} + + +void KiwiLightApp::SendOverUDP(std::string message) { + KiwiLightApp::udpSender.Send(message); +} + +/** + * Causes the editor to apply all camera settings to the video stream. + */ +void KiwiLightApp::EditorApplyCameraSettings() { + KiwiLightApp::StopStreamingThread(); + KiwiLightApp::configeditor.ApplyCameraSettings(); + KiwiLightApp::LaunchStreamingThread(UIMode::UI_EDITOR); +} + +/** + * Causes the editor to connect tot a different camera using index from the overview panel. + */ +void KiwiLightApp::EditorOpenNewCameraFromOverview(){ + //we don't need to do stream things here because it is all handled in OpenNewCameraOnIndex() + KiwiLightApp::configeditor.OpenNewCameraFromOverview(); +} + +/** + * Updates KiwiLight's utilities depending on it's state. + */ +void KiwiLightApp::UpdateApp() { + try { + if(KiwiLightApp::mode == UIMode::UI_EDITOR) { + KiwiLightApp::configeditor.Update(); + } + + //update the camera error label based on how successful thread is being + if(lastImageGrabSuccessful) { + //wait for the output image to be updated by other thread + while(KiwiLightApp::outImgInUse) { + usleep(10); + } + KiwiLightApp::outImgInUse = true; + KiwiLightApp::outputImage.Update(KiwiLightApp::lastFrameGrabImage); + KiwiLightApp::outImgInUse = false; + KiwiLightApp::cameraStatusLabel.SetText(""); + } else { + KiwiLightApp::cameraStatusLabel.SetText("Camera Error!"); + KiwiLightApp::cameraFailures++; + + if(KiwiLightApp::cameraFailures > 50) { + //attempt to reconnect the camera stream + OpenNewCameraFromMainIndex(); + KiwiLightApp::cameraFailures = 0; + } + } + } catch(cv::Exception ex) { + std::cout << "An OpenCv Exception was encountered while running the Main thread!" << std::endl; + std::cout << "ex.what(): " << ex.what() << std::endl; + KiwiLightApp::lastImageGrabSuccessful = false; + } catch(std::invalid_argument ex) { + std::cout << "A std::invalid_argument Exception was encountered while running the Main thread!" << std::endl; + std::cout << "ex.what(): " << ex.what() << std::endl; + } +} + +/** + * Updates the streams nonstop until mode is set to UI_QUITTING + */ +void KiwiLightApp::UpdateStreamsConstantly() { + //now because some cameras like the jevois take a little longer for the stream to start, we will wait until it gives us a good frame + //to avoid the VIDIOC_QBUF: Invalid Argument barage. + bool retrieveSuccess = false; + while(!retrieveSuccess && KiwiLightApp::mode != UIMode::UI_PAUSING && streamThreadEnabled) { + usleep(250000); //give camera some time to adjust and do things + bool grabSuccess = KiwiLightApp::camera.grab(); + if(grabSuccess) { + Mat img; + retrieveSuccess = KiwiLightApp::camera.retrieve(img); + } + } + + std::cout << "Camera Stream confirmed." << std::endl; + + while(KiwiLightApp::mode != UIMode::UI_PAUSING && streamThreadEnabled) { + KiwiLightApp::UpdateStreams(); + } +} + +/** + * Updates KiwiLight's video streams. + */ +void KiwiLightApp::UpdateStreams() { + try { + //attempt to loop the things + Mat displayImage; + switch(KiwiLightApp::mode) { + case UIMode::UI_STREAM: { + displayImage = KiwiLightApp::TakeImage(); + } + break; + case UIMode::UI_RUNNER: { + std::string output = KiwiLightApp::runner.Iterate(); + KiwiLightApp::runner.GetLastFrameSuccessful(); //boolean + displayImage = KiwiLightApp::runner.GetOutputImage(); + + //if the udp is enabled, send the message + if(KiwiLightApp::udpEnabled) { + KiwiLightApp::udpSender.Send(output); + } + } + break; + case UIMode::UI_EDITOR: { + KiwiLightApp::configeditor.UpdateImageOnly(); //boolean + displayImage = KiwiLightApp::configeditor.GetOutputImage(); + + std::string output = KiwiLightApp::configeditor.GetLastFrameResult(); //gets the results of the last runner iteration + + //send if udp enabled + if(KiwiLightApp::udpEnabled) { + KiwiLightApp::udpSender.Send(output); + } + } + break; + } + // if successful, update the display image + if(KiwiLightApp::lastImageGrabSuccessful) { + //wait for out image to be used by other thread + while(KiwiLightApp::outImgInUse) { + usleep(10); + } + KiwiLightApp::outImgInUse = true; + KiwiLightApp::lastFrameGrabImage = displayImage; + KiwiLightApp::outImgInUse = false; + } + } catch(cv::Exception ex) { + std::cout << "An OpenCv Exception was encountered while running the Streaming thread!" << std::endl; + std::cout << "ex.what(): " << ex.what() << std::endl; + KiwiLightApp::lastImageGrabSuccessful = false; + } catch(std::invalid_argument ex) { + std::cout << "A std::invalid_argument Exception was encountered while running the Streaming thread!" << std::endl; + std::cout << "ex.what(): " << ex.what() << std::endl; + } +} + +/** + * Opens a new videostream on the index that the user selects. + */ +void KiwiLightApp::OpenNewCameraFromMainIndex() { + OpenNewCameraOnIndex((int) KiwiLightApp::cameraIndexBox.GetValue()); +} + +/** + * Enables or disables the runner's UDP. + */ +void KiwiLightApp::ToggleUDP() { + KiwiLightApp::udpEnabled = !KiwiLightApp::udpEnabled; + + //set the button text + KiwiLightApp::toggleUDPButton.SetText((KiwiLightApp::udpEnabled ? "Disable UDP" : "Enable UDP")); + + //set the buttons in the config editor if necessary + if(KiwiLightApp::mode == UIMode::UI_EDITOR) { + KiwiLightApp::configeditor.SetUDPEnabledLabels(KiwiLightApp::udpEnabled); + } +} + +/** + * Causes KiwiLight to create and open a new configuration. + */ +void KiwiLightApp::NewConfiguration() { + //set mode to stream and open a new editor. + KiwiLightApp::mode = UIMode::UI_STREAM; + EditConfiguration(); +} + +/** + * Causes KiwiLight to open the editor for the selected configuration. + * @param currentMode The UIMode active when callback was triggered + */ +void KiwiLightApp::EditConfiguration() { + //since this is a callback, close streamer + UIMode currentMode = KiwiLightApp::mode; + std::string pathToOpen = ""; + StopStreamingThread(); + + if(currentMode == UIMode::UI_STREAM) { + //find generic.xml (in /home/user/KiwiLightData/confs) + char *homedir = getenv("HOME"); + if(homedir == NULL) { + std::cout << "The HOME environment variable could not be found." << std::endl; + return; + } else { + pathToOpen = std::string(homedir) + "/KiwiLightData/confs/generic.xml"; + } + } else if(currentMode == UIMode::UI_RUNNER) { + std::cout << "taking runner path" << std::endl; + pathToOpen = KiwiLightApp::runner.GetFileName(); + } else if(currentMode == UIMode::UI_PAUSING) { + std::cout << "WARNING: UI mode unclear. Make sure EditConfiguration() is called before stream thread is terminated" << std::endl; + } + KiwiLightApp::configeditor = ConfigEditor(pathToOpen); + LaunchStreamingThread(UIMode::UI_EDITOR); +} + +/** + * Causes KiwiLight to open a new configuration. + */ +void KiwiLightApp::OpenConfiguration() { + StopStreamingThread(); + FileChooser chooser = FileChooser(false, ""); + std::string fileToOpen = chooser.Show(); + + OpenConfigurationFromFile(fileToOpen); + LaunchStreamingThread(UIMode::UI_RUNNER); +} + +/** + * Causes KiwiLight to open the configuration specified by the file + */ +void KiwiLightApp::OpenConfigurationFromFile(std::string fileName) { + XMLDocument newDoc = XMLDocument(fileName); + UIMode newMode = UIMode::UI_STREAM; + if(newDoc.HasContents()) { + KiwiLightApp::confInfo.LoadConfig(newDoc); + KiwiLightApp::runner = Runner(fileName, true); + + //open the specified camera + int camIndex = std::stoi(newDoc.GetTagsByName("camera")[0].GetAttributesByName("index")[0].Value()); + OpenNewCameraOnIndex(camIndex); + newMode = UIMode::UI_RUNNER; + } else { + std::cout << "New Document either empty or not specified. Taking no action." << std::endl; + } +} + +/** + * Causes KiwiLight to close the currently opened configuration. + */ +void KiwiLightApp::CloseConfiguration() { + KiwiLightApp::confInfo.Clear(); + KiwiLightApp::mode = UIMode::UI_STREAM; +} + +/** + * Causes KiwiLight to exit. + */ +void KiwiLightApp::Quit() { + StopStreamingThread(); + gtk_main_quit(); +} + +/** + * Causes KiwiLight to show the about window. + */ +void KiwiLightApp::ShowAboutWindow() { + AboutWindow win = AboutWindow(GTK_WINDOW_TOPLEVEL); + win.Show(); +} + +/** + * Causes KiwiLight to show the help window. + */ +void KiwiLightApp::ShowHelpWindow() { + HelpWindow win = HelpWindow(GTK_WINDOW_TOPLEVEL); + win.Show(); +} diff --git a/KiwiLight - Vision Code/KiwiLight.h b/KiwiLight - Vision Code/KiwiLight.h index c0e759f..59a74e8 100644 --- a/KiwiLight - Vision Code/KiwiLight.h +++ b/KiwiLight - Vision Code/KiwiLight.h @@ -1,124 +1,124 @@ -#ifndef KiwiLight_H -#define KiwiLight_H - -#include -#include -#include -#include "ui/UI.h" -#include "util/Util.h" -#include "runner/Runner.h" - -/** - * the main header for the KiwiLight program and namespace - * Written by: Brach Knutson - */ - - -using namespace cv; - -namespace KiwiLight { - - enum UIMode { - UI_STREAM, - UI_RUNNER, - UI_EDITOR, - UI_PAUSING - }; - - /** - * Its KiwiLight! Handles everything from building, starting, calling and things in the UI. - */ - class KiwiLightApp { - public: - //UI building and starting - static void Create(int argc, char *argv[]); - static void Start(); - - //UI accessors - static Runner GetRunner(); - static ConfigEditor GetEditor(); - - //camera accessors - static Mat TakeImage(); - static double GetCameraProperty(int propId); - static bool CameraOpen(); - - //camera mutators - static void SetCameraProperty(int propId, double value); - - //general accessors - static bool LastImageCaptureSuccessful(); - static UIMode CurrentMode(); - static UDP GetUDP(); - - //misc. UI callbacks - static void CloseEditor(bool saveFirst); - static void StartEditorLearningTarget(); - static void StartEditorLearningDistance(); - static void EditorReconnectUDP(); - static void ToggleUDP(); - static void EditorSetImageResolutionFromOverview(); - static void EditorConnectUDPFromOverview(); - static void EditorApplyCameraSettings(); - static void EditorOpenNewCameraFromOverview(); - static void OpenNewCameraOnIndex(int index); - static void InitCameraOnly(int index); - static void ReconnectUDP(std::string newAddress, int newPort); - static void ReconnectUDP(std::string newAddress, int newPort, bool block); - static void SendOverUDP(std::string message); - - //thread utilities - static void LaunchStreamingThread(UIMode newMode); - static void StopStreamingThread(); - - private: - //menu bar utility - static MenuBar CreateMenuBar(); - - //UI constant callbacks - static void UpdateApp(); - static void UpdateStreamsConstantly(); - static void UpdateStreams(); - - //UI button callbacks - static void OpenNewCameraFromMainIndex(); - static void NewConfiguration(); - static void EditConfiguration(); - static void OpenConfiguration(); - static void OpenConfigurationFromFile(std::string fileName); - static void CloseConfiguration(); - static void Quit(); - static void ShowAboutWindow(); - static void ShowHelpWindow(); - - //essential objects - static Runner runner; - static ConfigEditor configeditor; - static VideoCapture camera; - static UDP udpSender; - static GThread *streamingThread; - - //utilities - static UIMode mode; - static bool lastImageGrabSuccessful; - static bool udpEnabled; - static bool streamThreadEnabled; - static bool outImgInUse; - static Mat lastFrameGrabImage; - static int currentCameraIndex; - - //ui widgets - static Window win; - static ConfigPanel confInfo; - static NumberBox cameraIndexBox; - static Label cameraStatusLabel; - static Image outputImage; - static Button toggleUDPButton; - - //counters - static int cameraFailures; - }; - -} - -#endif +#ifndef KiwiLight_H +#define KiwiLight_H + +#include +#include +#include +#include "ui/UI.h" +#include "util/Util.h" +#include "runner/Runner.h" + +/** + * the main header for the KiwiLight program and namespace + * Written by: Brach Knutson + */ + + +using namespace cv; + +namespace KiwiLight { + + enum UIMode { + UI_STREAM, + UI_RUNNER, + UI_EDITOR, + UI_PAUSING + }; + + /** + * Its KiwiLight! Handles everything from building, starting, calling and things in the UI. + */ + class KiwiLightApp { + public: + //UI building and starting + static void Create(int argc, char *argv[]); + static void Start(); + + //UI accessors + static Runner GetRunner(); + static ConfigEditor GetEditor(); + + //camera accessors + static Mat TakeImage(); + static double GetCameraProperty(int propId); + static bool CameraOpen(); + + //camera mutators + static void SetCameraProperty(int propId, double value); + + //general accessors + static bool LastImageCaptureSuccessful(); + static UIMode CurrentMode(); + static UDP GetUDP(); + + //misc. UI callbacks + static void CloseEditor(bool saveFirst); + static void StartEditorLearningTarget(); + static void StartEditorLearningDistance(); + static void EditorReconnectUDP(); + static void ToggleUDP(); + static void EditorSetImageResolutionFromOverview(); + static void EditorConnectUDPFromOverview(); + static void EditorApplyCameraSettings(); + static void EditorOpenNewCameraFromOverview(); + static void OpenNewCameraOnIndex(int index); + static void InitCameraOnly(int index); + static void ReconnectUDP(std::string newAddress, int newPort); + static void ReconnectUDP(std::string newAddress, int newPort, bool block); + static void SendOverUDP(std::string message); + + //thread utilities + static void LaunchStreamingThread(UIMode newMode); + static void StopStreamingThread(); + + private: + //menu bar utility + static MenuBar CreateMenuBar(); + + //UI constant callbacks + static void UpdateApp(); + static void UpdateStreamsConstantly(); + static void UpdateStreams(); + + //UI button callbacks + static void OpenNewCameraFromMainIndex(); + static void NewConfiguration(); + static void EditConfiguration(); + static void OpenConfiguration(); + static void OpenConfigurationFromFile(std::string fileName); + static void CloseConfiguration(); + static void Quit(); + static void ShowAboutWindow(); + static void ShowHelpWindow(); + + //essential objects + static Runner runner; + static ConfigEditor configeditor; + static VideoCapture camera; + static UDP udpSender; + static GThread *streamingThread; + + //utilities + static UIMode mode; + static bool lastImageGrabSuccessful; + static bool udpEnabled; + static bool streamThreadEnabled; + static bool outImgInUse; + static Mat lastFrameGrabImage; + static int currentCameraIndex; + + //ui widgets + static Window win; + static ConfigPanel confInfo; + static NumberBox cameraIndexBox; + static Label cameraStatusLabel; + static Image outputImage; + static Button toggleUDPButton; + + //counters + static int cameraFailures; + }; + +} + +#endif diff --git a/KiwiLight - Vision Code/Main.cpp b/KiwiLight - Vision Code/Main.cpp index f06f306..ae2b9df 100644 --- a/KiwiLight - Vision Code/Main.cpp +++ b/KiwiLight - Vision Code/Main.cpp @@ -1,145 +1,145 @@ -#include "KiwiLight.h" - -/** - * 3695 thing here - */ - -using namespace cv; -using namespace KiwiLight; - -void ShowHelp() { - std::cout << "KIWILIGHT HELP\n"; - std::cout << "Usage: Kiwilight [options] [config files]\n"; - std::cout << "\n"; - std::cout << "KiwiLight is a smart vision solution for FRC applications developed by FRC Team 3695: Foximus Prime.\n"; - std::cout << "\n"; - std::cout << "Options:\n"; - std::cout << "-c: Runs a config file, or multiple config files.\n"; - std::cout << "-h: Displays this help window.\n"; - std::cout << std::endl; -} - - -void RunConfigs(std::vector filePaths) { - //init needed KiwiLight variables - KiwiLightApp::InitCameraOnly(0); - KiwiLightApp::ReconnectUDP("127.0.0.1", 3695, false); - - std::cout << "Command: Run Configs\n"; - std::cout << "Config files found: " << filePaths.size() << "\n"; - std::cout << "Ensure that all config files share the same UDP Address and Port." << std::endl; - - //initalize the runners - std::cout << "\nInitalizing Runners" << std::endl; - const int numTargets = (const int) filePaths.size(); - Runner runners[numTargets]; - int totalContours = 0; - for(int i=0; i confsToRun; - - for(int i=0; i 4) { - if(argument.substr(argument.length() - 4) == ".xml") { - confsToRun.push_back(argument); - } - } - } - - if(runningConfig) { - RunConfigs(confsToRun); - } - } - - return 0; -} +#include "KiwiLight.h" + +/** + * 3695 thing here + */ + +using namespace cv; +using namespace KiwiLight; + +void ShowHelp() { + std::cout << "KIWILIGHT HELP\n"; + std::cout << "Usage: Kiwilight [options] [config files]\n"; + std::cout << "\n"; + std::cout << "KiwiLight is a smart vision solution for FRC applications developed by FRC Team 3695: Foximus Prime.\n"; + std::cout << "\n"; + std::cout << "Options:\n"; + std::cout << "-c: Runs a config file, or multiple config files.\n"; + std::cout << "-h: Displays this help window.\n"; + std::cout << std::endl; +} + + +void RunConfigs(std::vector filePaths) { + //init needed KiwiLight variables + KiwiLightApp::InitCameraOnly(0); + KiwiLightApp::ReconnectUDP("127.0.0.1", 3695, false); + + std::cout << "Command: Run Configs\n"; + std::cout << "Config files found: " << filePaths.size() << "\n"; + std::cout << "Ensure that all config files share the same UDP Address and Port." << std::endl; + + //initalize the runners + std::cout << "\nInitalizing Runners" << std::endl; + const int numTargets = (const int) filePaths.size(); + Runner runners[numTargets]; + int totalContours = 0; + for(int i=0; i confsToRun; + + for(int i=0; i 4) { + if(argument.substr(argument.length() - 4) == ".xml") { + confsToRun.push_back(argument); + } + } + } + + if(runningConfig) { + RunConfigs(confsToRun); + } + } + + return 0; +} diff --git a/KiwiLight - Vision Code/Makefile b/KiwiLight - Vision Code/Makefile index eafbc43..1cd6579 100644 --- a/KiwiLight - Vision Code/Makefile +++ b/KiwiLight - Vision Code/Makefile @@ -1,202 +1,202 @@ - - -# Makefile for the KiwiLight program. -# Written By: Brach Knutson - -CXX = g++ -CV = `pkg-config --cflags --libs opencv` -GTK = `pkg-config --cflags --libs gtk+-3.0` - -#UI -bin/ui/ConfirmationDialog.o: ui/ConfirmationDialog.cpp - $(CXX) -c -o bin/ui/ConfirmationDialog.o ui/ConfirmationDialog.cpp $(GTK) - -bin/ui/SubMenuItem.o: ui/SubMenuItem.cpp - $(CXX) -c -o bin/ui/SubMenuItem.o ui/SubMenuItem.cpp $(GTK) - -bin/ui/MenuItem.o: ui/MenuItem.cpp - $(CXX) -c -o bin/ui/MenuItem.o ui/MenuItem.cpp $(GTK) - -bin/ui/MenuBar.o: ui/MenuBar.cpp - $(CXX) -c -o bin/ui/MenuBar.o ui/MenuBar.cpp $(GTK) - -bin/ui/Button.o: ui/Button.cpp - $(CXX) -c -o bin/ui/Button.o ui/Button.cpp $(GTK) - -bin/ui/Label.o: ui/Label.cpp - $(CXX) -c -o bin/ui/Label.o ui/Label.cpp $(GTK) - -bin/ui/LabeledSlider.o: ui/LabeledSlider.cpp - $(CXX) -c -o bin/ui/LabeledSlider.o ui/LabeledSlider.cpp $(GTK) - -bin/ui/AboutWindow.o: ui/AboutWindow.cpp - $(CXX) -c -o bin/ui/AboutWindow.o ui/AboutWindow.cpp $(GTK) - -bin/ui/HelpWindow.o: ui/HelpWindow.cpp - $(CXX) -c -o bin/ui/HelpWindow.o ui/HelpWindow.cpp $(GTK) - -bin/ui/Panel.o: ui/Panel.cpp - $(CXX) -c -o bin/ui/Panel.o ui/Panel.cpp $(GTK) - -bin/ui/Scrollable.o: ui/Scrollable.cpp - $(CXX) -c -o bin/ui/Scrollable.o ui/Scrollable.cpp $(GTK) - -bin/ui/Frame.o: ui/Frame.cpp - $(CXX) -c -o bin/ui/Frame.o ui/Frame.cpp $(GTK) - -bin/ui/Separator.o: ui/Separator.cpp - $(CXX) -c -o bin/ui/Separator.o ui/Separator.cpp $(GTK) - -bin/ui/Slider.o: ui/Slider.cpp - $(CXX) -c -o bin/ui/Slider.o ui/Slider.cpp $(GTK) - -bin/ui/CheckBox.o: ui/CheckBox.cpp - $(CXX) -c -o bin/ui/CheckBox.o ui/CheckBox.cpp $(GTK) - -bin/ui/TextBox.o: ui/TextBox.cpp - $(CXX) -c -o bin/ui/TextBox.o ui/TextBox.cpp $(GTK) - -bin/ui/NumberBox.o: ui/NumberBox.cpp - $(CXX) -c -o bin/ui/NumberBox.o ui/NumberBox.cpp $(GTK) - -bin/ui/FileChooser.o: ui/FileChooser.cpp - $(CXX) -c -o bin/ui/FileChooser.o ui/FileChooser.cpp $(GTK) - -bin/ui/TabView.o: ui/TabView.cpp - $(CXX) -c -o bin/ui/TabView.o ui/TabView.cpp $(GTK) - -bin/ui/PopupTextBox.o: ui/PopupTextBox.cpp - $(CXX) -c -o bin/ui/PopupTextBox.o ui/PopupTextBox.cpp $(GTK) - -bin/ui/Image.o: ui/Image.cpp - $(CXX) -c -o bin/ui/Image.o ui/Image.cpp $(GTK) $(CV) - -bin/ui/Window.o: ui/Window.cpp - $(CXX) -c -o bin/ui/Window.o ui/Window.cpp $(GTK) - -bin/ui/ConfigPanel.o: ui/ConfigPanel.cpp - $(CXX) -c -o bin/ui/ConfigPanel.o ui/ConfigPanel.cpp $(GTK) - -bin/ui/OverviewPanel.o: ui/OverviewPanel.cpp - $(CXX) -c -o bin/ui/OverviewPanel.o ui/OverviewPanel.cpp $(GTK) $(CV) - -bin/ui/Settings.o: ui/Settings.cpp - $(CXX) -c -o bin/ui/Settings.o ui/Settings.cpp $(GTK) - -bin/ui/PreprocessorEditor.o: ui/PreprocessorEditor.cpp - $(CXX) -c -o bin/ui/PreprocessorEditor.o ui/PreprocessorEditor.cpp $(CV) $(GTK) - -bin/ui/PostprocessorEditor.o: ui/PostprocessorEditor.cpp - $(CXX) -c -o bin/ui/PostprocessorEditor.o ui/PostprocessorEditor.cpp $(CV) $(GTK) - -bin/ui/RunnerEditor.o: ui/RunnerEditor.cpp - $(CXX) -c -o bin/ui/RunnerEditor.o ui/RunnerEditor.cpp $(CV) $(GTK) - -bin/ui/ConfigEditor.o: ui/ConfigEditor.cpp - $(CXX) -c -o bin/ui/ConfigEditor.o ui/ConfigEditor.cpp $(CV) $(GTK) - -bin/ui/CameraSetting.o: ui/CameraSetting.cpp - $(CXX) -c -o bin/ui/CameraSetting.o ui/CameraSetting.cpp $(GTK) - -lib/UI.a: bin/ui/ConfirmationDialog.o bin/ui/SubMenuItem.o bin/ui/MenuItem.o bin/ui/MenuBar.o bin/ui/Button.o bin/ui/Label.o bin/ui/LabeledSlider.o bin/ui/AboutWindow.o bin/ui/HelpWindow.o bin/ui/Panel.o bin/ui/Scrollable.o bin/ui/Frame.o bin/ui/Separator.o bin/ui/Slider.o bin/ui/CheckBox.o bin/ui/TextBox.o bin/ui/NumberBox.o bin/ui/FileChooser.o bin/ui/TabView.o bin/ui/PopupTextBox.o bin/ui/Image.o bin/ui/Window.o bin/ui/ConfigPanel.o bin/ui/OverviewPanel.o bin/ui/Settings.o bin/ui/PreprocessorEditor.o bin/ui/PostprocessorEditor.o bin/ui/RunnerEditor.o bin/ui/ConfigEditor.o bin/ui/CameraSetting.o - ar rs lib/UI.a bin/ui/ConfirmationDialog.o bin/ui/SubMenuItem.o bin/ui/MenuItem.o bin/ui/MenuBar.o bin/ui/Button.o bin/ui/Label.o bin/ui/LabeledSlider.o bin/ui/AboutWindow.o bin/ui/HelpWindow.o bin/ui/Panel.o bin/ui/Scrollable.o bin/ui/Frame.o bin/ui/Separator.o bin/ui/Slider.o bin/ui/CheckBox.o bin/ui/TextBox.o bin/ui/NumberBox.o bin/ui/FileChooser.o bin/ui/TabView.o bin/ui/PopupTextBox.o bin/ui/Image.o bin/ui/Window.o bin/ui/ConfigPanel.o bin/ui/OverviewPanel.o bin/ui/Settings.o bin/ui/PreprocessorEditor.o bin/ui/PostprocessorEditor.o bin/ui/RunnerEditor.o bin/ui/ConfigEditor.o bin/ui/CameraSetting.o - -#UTIL -bin/util/Flags.o: util/Flags.cpp - $(CXX) -c -o bin/util/Flags.o util/Flags.cpp $(GTK) - -bin/util/Shell.o: util/Shell.cpp - $(CXX) -c -o bin/util/Shell.o util/Shell.cpp $(GTK) - -bin/util/Util.o: util/Util.cpp - $(CXX) -c -o bin/util/Util.o util/Util.cpp $(GTK) - -bin/util/StringUtils.o: util/StringUtils.cpp - $(CXX) -c -o bin/util/StringUtils.o util/StringUtils.cpp $(GTK) - -bin/util/DataUtils.o: util/DataUtils.cpp - $(CXX) -c -o bin/util/DataUtils.o util/DataUtils.cpp $(GTK) - -bin/util/UDP.o: util/UDP.cpp - $(CXX) -c -o bin/util/UDP.o util/UDP.cpp $(GTK) - -bin/util/XMLDocument.o: util/XMLDocument.cpp - $(CXX) -c -o bin/util/XMLDocument.o util/XMLDocument.cpp $(GTK) - -bin/util/XMLTag.o: util/XMLTag.cpp - $(CXX) -c -o bin/util/XMLTag.o util/XMLTag.cpp $(GTK) - -bin/util/XMLTagAttribute.o: util/XMLTagAttribute.cpp - $(CXX) -c -o bin/util/XMLTagAttribute.o util/XMLTagAttribute.cpp $(GTK) - -bin/util/SettingPair.o: util/SettingPair.cpp - $(CXX) -c -o bin/util/SettingPair.o util/SettingPair.cpp $(GTK) - -bin/util/Color.o: util/Color.cpp - $(CXX) -c -o bin/util/Color.o util/Color.cpp $(GTK) $(CV) - -lib/Util.a: bin/util/Flags.o bin/util/Shell.o bin/util/Util.o bin/util/StringUtils.o bin/util/DataUtils.o bin/util/UDP.o bin/util/XMLDocument.o bin/util/XMLTag.o bin/util/XMLTagAttribute.o bin/util/SettingPair.o bin/util/Color.o - ar rs lib/Util.a bin/util/Flags.o bin/util/Shell.o bin/util/Util.o bin/util/StringUtils.o bin/util/DataUtils.o bin/util/UDP.o bin/util/XMLDocument.o bin/util/XMLTag.o bin/util/XMLTagAttribute.o bin/util/SettingPair.o bin/util/Color.o - -#RUNNER -bin/runner/Contour.o: runner/Contour.cpp - $(CXX) -c -o bin/runner/Contour.o runner/Contour.cpp $(GTK) $(CV) - -bin/runner/ExampleContour.o: runner/ExampleContour.cpp - $(CXX) -c -o bin/runner/ExampleContour.o runner/ExampleContour.cpp $(GTK) $(CV) - -bin/runner/ExampleTarget.o: runner/ExampleTarget.cpp - $(CXX) -c -o bin/runner/ExampleTarget.o runner/ExampleTarget.cpp $(GTK) $(CV) - -bin/runner/PostProcessor.o: runner/PostProcessor.cpp - $(CXX) -c -o bin/runner/PostProcessor.o runner/PostProcessor.cpp $(GTK) $(CV) - -bin/runner/PreProcessor.o: runner/PreProcessor.cpp - $(CXX) -c -o bin/runner/PreProcessor.o runner/PreProcessor.cpp $(GTK) $(CV) - -bin/runner/CameraFrame.o: runner/CameraFrame.cpp - $(CXX) -c -o bin/runner/CameraFrame.o runner/CameraFrame.cpp $(GTK) $(CV) - -bin/runner/ConfigLearner.o: runner/ConfigLearner.cpp - $(CXX) -c -o bin/runner/ConfigLearner.o runner/ConfigLearner.cpp $(GTK) $(CV) - -bin/runner/Runner.o: runner/Runner.cpp - $(CXX) -c -o bin/runner/Runner.o runner/Runner.cpp $(GTK) $(CV) - -bin/runner/TargetDistanceLearner.o: runner/TargetDistanceLearner.cpp - $(CXX) -c -o bin/runner/TargetDistanceLearner.o runner/TargetDistanceLearner.cpp $(GTK) $(CV) - -bin/runner/Target.o: runner/Target.cpp - $(CXX) -c -o bin/runner/Target.o runner/Target.cpp $(GTK) $(CV) - -bin/runner/TargetTroubleshooter.o: runner/TargetTroubleshooter.cpp - $(CXX) -c -o bin/runner/TargetTroubleshooter.o runner/TargetTroubleshooter.cpp $(GTK) $(CV) - -bin/runner/RunnerSettings.o: runner/RunnerSettings.cpp - $(CXX) -c -o bin/runner/RunnerSettings.o runner/RunnerSettings.cpp - -lib/Runner.a: bin/runner/Contour.o bin/runner/ExampleContour.o bin/runner/ExampleTarget.o bin/runner/PostProcessor.o bin/runner/PreProcessor.o bin/runner/CameraFrame.o bin/runner/ConfigLearner.o bin/runner/Runner.o bin/runner/Target.o bin/runner/TargetDistanceLearner.o bin/runner/TargetTroubleshooter.o bin/runner/RunnerSettings.o - ar rs lib/Runner.a bin/runner/Runner.o bin/runner/ConfigLearner.o bin/runner/Contour.o bin/runner/ExampleContour.o bin/runner/ExampleTarget.o bin/runner/PostProcessor.o bin/runner/PreProcessor.o bin/runner/CameraFrame.o bin/runner/Target.o bin/runner/TargetDistanceLearner.o bin/runner/TargetTroubleshooter.o bin/runner/RunnerSettings.o - -#MAIN FILE -bin/KiwiLight.o: KiwiLight.cpp - $(CXX) -c -o bin/KiwiLight.o KiwiLight.cpp $(CV) $(GTK) - -KiwiLight: Main.cpp bin/KiwiLight.o lib/UI.a lib/Util.a lib/Runner.a - $(CXX) -o KiwiLight Main.cpp bin/KiwiLight.o lib/UI.a lib/Runner.a lib/Util.a $(CV) $(GTK) - -#SET UP THE FILES AND FOLDERS -setup: - mkdir lib - mkdir bin - mkdir bin/ui - mkdir bin/util - mkdir bin/runner - -#UNINSTALL -clean: - $(info Uninstalling KiwiLight Executables...) - rm -r bin - rm -r lib - make setup - rm KiwiLight + + +# Makefile for the KiwiLight program. +# Written By: Brach Knutson + +CXX = g++ +CV = `pkg-config --cflags --libs opencv` +GTK = `pkg-config --cflags --libs gtk+-3.0` + +#UI +bin/ui/ConfirmationDialog.o: ui/ConfirmationDialog.cpp + $(CXX) -c -o bin/ui/ConfirmationDialog.o ui/ConfirmationDialog.cpp $(GTK) + +bin/ui/SubMenuItem.o: ui/SubMenuItem.cpp + $(CXX) -c -o bin/ui/SubMenuItem.o ui/SubMenuItem.cpp $(GTK) + +bin/ui/MenuItem.o: ui/MenuItem.cpp + $(CXX) -c -o bin/ui/MenuItem.o ui/MenuItem.cpp $(GTK) + +bin/ui/MenuBar.o: ui/MenuBar.cpp + $(CXX) -c -o bin/ui/MenuBar.o ui/MenuBar.cpp $(GTK) + +bin/ui/Button.o: ui/Button.cpp + $(CXX) -c -o bin/ui/Button.o ui/Button.cpp $(GTK) + +bin/ui/Label.o: ui/Label.cpp + $(CXX) -c -o bin/ui/Label.o ui/Label.cpp $(GTK) + +bin/ui/LabeledSlider.o: ui/LabeledSlider.cpp + $(CXX) -c -o bin/ui/LabeledSlider.o ui/LabeledSlider.cpp $(GTK) + +bin/ui/AboutWindow.o: ui/AboutWindow.cpp + $(CXX) -c -o bin/ui/AboutWindow.o ui/AboutWindow.cpp $(GTK) + +bin/ui/HelpWindow.o: ui/HelpWindow.cpp + $(CXX) -c -o bin/ui/HelpWindow.o ui/HelpWindow.cpp $(GTK) + +bin/ui/Panel.o: ui/Panel.cpp + $(CXX) -c -o bin/ui/Panel.o ui/Panel.cpp $(GTK) + +bin/ui/Scrollable.o: ui/Scrollable.cpp + $(CXX) -c -o bin/ui/Scrollable.o ui/Scrollable.cpp $(GTK) + +bin/ui/Frame.o: ui/Frame.cpp + $(CXX) -c -o bin/ui/Frame.o ui/Frame.cpp $(GTK) + +bin/ui/Separator.o: ui/Separator.cpp + $(CXX) -c -o bin/ui/Separator.o ui/Separator.cpp $(GTK) + +bin/ui/Slider.o: ui/Slider.cpp + $(CXX) -c -o bin/ui/Slider.o ui/Slider.cpp $(GTK) + +bin/ui/CheckBox.o: ui/CheckBox.cpp + $(CXX) -c -o bin/ui/CheckBox.o ui/CheckBox.cpp $(GTK) + +bin/ui/TextBox.o: ui/TextBox.cpp + $(CXX) -c -o bin/ui/TextBox.o ui/TextBox.cpp $(GTK) + +bin/ui/NumberBox.o: ui/NumberBox.cpp + $(CXX) -c -o bin/ui/NumberBox.o ui/NumberBox.cpp $(GTK) + +bin/ui/FileChooser.o: ui/FileChooser.cpp + $(CXX) -c -o bin/ui/FileChooser.o ui/FileChooser.cpp $(GTK) + +bin/ui/TabView.o: ui/TabView.cpp + $(CXX) -c -o bin/ui/TabView.o ui/TabView.cpp $(GTK) + +bin/ui/PopupTextBox.o: ui/PopupTextBox.cpp + $(CXX) -c -o bin/ui/PopupTextBox.o ui/PopupTextBox.cpp $(GTK) + +bin/ui/Image.o: ui/Image.cpp + $(CXX) -c -o bin/ui/Image.o ui/Image.cpp $(GTK) $(CV) + +bin/ui/Window.o: ui/Window.cpp + $(CXX) -c -o bin/ui/Window.o ui/Window.cpp $(GTK) + +bin/ui/ConfigPanel.o: ui/ConfigPanel.cpp + $(CXX) -c -o bin/ui/ConfigPanel.o ui/ConfigPanel.cpp $(GTK) + +bin/ui/OverviewPanel.o: ui/OverviewPanel.cpp + $(CXX) -c -o bin/ui/OverviewPanel.o ui/OverviewPanel.cpp $(GTK) $(CV) + +bin/ui/Settings.o: ui/Settings.cpp + $(CXX) -c -o bin/ui/Settings.o ui/Settings.cpp $(GTK) + +bin/ui/PreprocessorEditor.o: ui/PreprocessorEditor.cpp + $(CXX) -c -o bin/ui/PreprocessorEditor.o ui/PreprocessorEditor.cpp $(CV) $(GTK) + +bin/ui/PostprocessorEditor.o: ui/PostprocessorEditor.cpp + $(CXX) -c -o bin/ui/PostprocessorEditor.o ui/PostprocessorEditor.cpp $(CV) $(GTK) + +bin/ui/RunnerEditor.o: ui/RunnerEditor.cpp + $(CXX) -c -o bin/ui/RunnerEditor.o ui/RunnerEditor.cpp $(CV) $(GTK) + +bin/ui/ConfigEditor.o: ui/ConfigEditor.cpp + $(CXX) -c -o bin/ui/ConfigEditor.o ui/ConfigEditor.cpp $(CV) $(GTK) + +bin/ui/CameraSetting.o: ui/CameraSetting.cpp + $(CXX) -c -o bin/ui/CameraSetting.o ui/CameraSetting.cpp $(GTK) + +lib/UI.a: bin/ui/ConfirmationDialog.o bin/ui/SubMenuItem.o bin/ui/MenuItem.o bin/ui/MenuBar.o bin/ui/Button.o bin/ui/Label.o bin/ui/LabeledSlider.o bin/ui/AboutWindow.o bin/ui/HelpWindow.o bin/ui/Panel.o bin/ui/Scrollable.o bin/ui/Frame.o bin/ui/Separator.o bin/ui/Slider.o bin/ui/CheckBox.o bin/ui/TextBox.o bin/ui/NumberBox.o bin/ui/FileChooser.o bin/ui/TabView.o bin/ui/PopupTextBox.o bin/ui/Image.o bin/ui/Window.o bin/ui/ConfigPanel.o bin/ui/OverviewPanel.o bin/ui/Settings.o bin/ui/PreprocessorEditor.o bin/ui/PostprocessorEditor.o bin/ui/RunnerEditor.o bin/ui/ConfigEditor.o bin/ui/CameraSetting.o + ar rs lib/UI.a bin/ui/ConfirmationDialog.o bin/ui/SubMenuItem.o bin/ui/MenuItem.o bin/ui/MenuBar.o bin/ui/Button.o bin/ui/Label.o bin/ui/LabeledSlider.o bin/ui/AboutWindow.o bin/ui/HelpWindow.o bin/ui/Panel.o bin/ui/Scrollable.o bin/ui/Frame.o bin/ui/Separator.o bin/ui/Slider.o bin/ui/CheckBox.o bin/ui/TextBox.o bin/ui/NumberBox.o bin/ui/FileChooser.o bin/ui/TabView.o bin/ui/PopupTextBox.o bin/ui/Image.o bin/ui/Window.o bin/ui/ConfigPanel.o bin/ui/OverviewPanel.o bin/ui/Settings.o bin/ui/PreprocessorEditor.o bin/ui/PostprocessorEditor.o bin/ui/RunnerEditor.o bin/ui/ConfigEditor.o bin/ui/CameraSetting.o + +#UTIL +bin/util/Flags.o: util/Flags.cpp + $(CXX) -c -o bin/util/Flags.o util/Flags.cpp $(GTK) + +bin/util/Shell.o: util/Shell.cpp + $(CXX) -c -o bin/util/Shell.o util/Shell.cpp $(GTK) + +bin/util/Util.o: util/Util.cpp + $(CXX) -c -o bin/util/Util.o util/Util.cpp $(GTK) + +bin/util/StringUtils.o: util/StringUtils.cpp + $(CXX) -c -o bin/util/StringUtils.o util/StringUtils.cpp $(GTK) + +bin/util/DataUtils.o: util/DataUtils.cpp + $(CXX) -c -o bin/util/DataUtils.o util/DataUtils.cpp $(GTK) + +bin/util/UDP.o: util/UDP.cpp + $(CXX) -c -o bin/util/UDP.o util/UDP.cpp $(GTK) + +bin/util/XMLDocument.o: util/XMLDocument.cpp + $(CXX) -c -o bin/util/XMLDocument.o util/XMLDocument.cpp $(GTK) + +bin/util/XMLTag.o: util/XMLTag.cpp + $(CXX) -c -o bin/util/XMLTag.o util/XMLTag.cpp $(GTK) + +bin/util/XMLTagAttribute.o: util/XMLTagAttribute.cpp + $(CXX) -c -o bin/util/XMLTagAttribute.o util/XMLTagAttribute.cpp $(GTK) + +bin/util/SettingPair.o: util/SettingPair.cpp + $(CXX) -c -o bin/util/SettingPair.o util/SettingPair.cpp $(GTK) + +bin/util/Color.o: util/Color.cpp + $(CXX) -c -o bin/util/Color.o util/Color.cpp $(GTK) $(CV) + +lib/Util.a: bin/util/Flags.o bin/util/Shell.o bin/util/Util.o bin/util/StringUtils.o bin/util/DataUtils.o bin/util/UDP.o bin/util/XMLDocument.o bin/util/XMLTag.o bin/util/XMLTagAttribute.o bin/util/SettingPair.o bin/util/Color.o + ar rs lib/Util.a bin/util/Flags.o bin/util/Shell.o bin/util/Util.o bin/util/StringUtils.o bin/util/DataUtils.o bin/util/UDP.o bin/util/XMLDocument.o bin/util/XMLTag.o bin/util/XMLTagAttribute.o bin/util/SettingPair.o bin/util/Color.o + +#RUNNER +bin/runner/Contour.o: runner/Contour.cpp + $(CXX) -c -o bin/runner/Contour.o runner/Contour.cpp $(GTK) $(CV) + +bin/runner/ExampleContour.o: runner/ExampleContour.cpp + $(CXX) -c -o bin/runner/ExampleContour.o runner/ExampleContour.cpp $(GTK) $(CV) + +bin/runner/ExampleTarget.o: runner/ExampleTarget.cpp + $(CXX) -c -o bin/runner/ExampleTarget.o runner/ExampleTarget.cpp $(GTK) $(CV) + +bin/runner/PostProcessor.o: runner/PostProcessor.cpp + $(CXX) -c -o bin/runner/PostProcessor.o runner/PostProcessor.cpp $(GTK) $(CV) + +bin/runner/PreProcessor.o: runner/PreProcessor.cpp + $(CXX) -c -o bin/runner/PreProcessor.o runner/PreProcessor.cpp $(GTK) $(CV) + +bin/runner/CameraFrame.o: runner/CameraFrame.cpp + $(CXX) -c -o bin/runner/CameraFrame.o runner/CameraFrame.cpp $(GTK) $(CV) + +bin/runner/ConfigLearner.o: runner/ConfigLearner.cpp + $(CXX) -c -o bin/runner/ConfigLearner.o runner/ConfigLearner.cpp $(GTK) $(CV) + +bin/runner/Runner.o: runner/Runner.cpp + $(CXX) -c -o bin/runner/Runner.o runner/Runner.cpp $(GTK) $(CV) + +bin/runner/TargetDistanceLearner.o: runner/TargetDistanceLearner.cpp + $(CXX) -c -o bin/runner/TargetDistanceLearner.o runner/TargetDistanceLearner.cpp $(GTK) $(CV) + +bin/runner/Target.o: runner/Target.cpp + $(CXX) -c -o bin/runner/Target.o runner/Target.cpp $(GTK) $(CV) + +bin/runner/TargetTroubleshooter.o: runner/TargetTroubleshooter.cpp + $(CXX) -c -o bin/runner/TargetTroubleshooter.o runner/TargetTroubleshooter.cpp $(GTK) $(CV) + +bin/runner/RunnerSettings.o: runner/RunnerSettings.cpp + $(CXX) -c -o bin/runner/RunnerSettings.o runner/RunnerSettings.cpp + +lib/Runner.a: bin/runner/Contour.o bin/runner/ExampleContour.o bin/runner/ExampleTarget.o bin/runner/PostProcessor.o bin/runner/PreProcessor.o bin/runner/CameraFrame.o bin/runner/ConfigLearner.o bin/runner/Runner.o bin/runner/Target.o bin/runner/TargetDistanceLearner.o bin/runner/TargetTroubleshooter.o bin/runner/RunnerSettings.o + ar rs lib/Runner.a bin/runner/Runner.o bin/runner/ConfigLearner.o bin/runner/Contour.o bin/runner/ExampleContour.o bin/runner/ExampleTarget.o bin/runner/PostProcessor.o bin/runner/PreProcessor.o bin/runner/CameraFrame.o bin/runner/Target.o bin/runner/TargetDistanceLearner.o bin/runner/TargetTroubleshooter.o bin/runner/RunnerSettings.o + +#MAIN FILE +bin/KiwiLight.o: KiwiLight.cpp + $(CXX) -c -o bin/KiwiLight.o KiwiLight.cpp $(CV) $(GTK) + +KiwiLight: Main.cpp bin/KiwiLight.o lib/UI.a lib/Util.a lib/Runner.a + $(CXX) -o KiwiLight Main.cpp bin/KiwiLight.o lib/UI.a lib/Runner.a lib/Util.a $(CV) $(GTK) + +#SET UP THE FILES AND FOLDERS +setup: + mkdir lib + mkdir bin + mkdir bin/ui + mkdir bin/util + mkdir bin/runner + +#UNINSTALL +clean: + $(info Uninstalling KiwiLight Executables...) + rm -r bin + rm -r lib + make setup + rm KiwiLight diff --git a/KiwiLight - Vision Code/confs/generic.xml b/KiwiLight - Vision Code/confs/generic.xml index 1f655e2..c3b2000 100644 --- a/KiwiLight - Vision Code/confs/generic.xml +++ b/KiwiLight - Vision Code/confs/generic.xml @@ -1,61 +1,61 @@ - - - 600 - 400 - - - 35 - 5 - 150 - -1 - 2 - 2800 - 25 - 0 - 3 - 5 - 0 - 0 - 0 - - - - - 0 - 0 - - - 250 - 145 - - - 75 - 3 - 5 - - 80 - 255 - 255 - - - - - - 0.000000 - 0.000000 - 0.000000 - 0.900000 - 1.000000 - 500.000000 - - 12 - 300 - 36 - -0.1 - - -
127.0.0.1
- 3695 - - - + + + 600 + 400 + + + 35 + 5 + 150 + -1 + 2 + 2800 + 25 + 0 + 3 + 5 + 0 + 0 + 0 + + + + + 0 + 0 + + + 250 + 145 + + + 75 + 3 + 5 + + 80 + 255 + 255 + + + + + + 0.000000 + 0.000000 + 0.000000 + 0.900000 + 1.000000 + 500.000000 + + 12 + 300 + 36 + -0.1 + + +
127.0.0.1
+ 3695 + + + diff --git a/KiwiLight - Vision Code/generic.xml b/KiwiLight - Vision Code/generic.xml index 830b8ed..486b534 100644 --- a/KiwiLight - Vision Code/generic.xml +++ b/KiwiLight - Vision Code/generic.xml @@ -1,54 +1,54 @@ - - - 600 - 400 - 1 - 512 - 1 - 512 - 1 - 512 - 512 - 512 - - - - - 0 - 0 - - - 250 - 145 - - - 75 - 3 - 5 - - 80 - 255 - 255 - - - - - - 0.000000 - 0.000000 - 0.000000 - 0.900000 - 1.000000 - 500.000000 - - 12 - 300 - 36 - -0.1 - - -
127.0.0.1
- 3695 - - - + + + 600 + 400 + 1 + 512 + 1 + 512 + 1 + 512 + 512 + 512 + + + + + 0 + 0 + + + 250 + 145 + + + 75 + 3 + 5 + + 80 + 255 + 255 + + + + + + 0.000000 + 0.000000 + 0.000000 + 0.900000 + 1.000000 + 500.000000 + + 12 + 300 + 36 + -0.1 + + +
127.0.0.1
+ 3695 + + + diff --git a/KiwiLight - Vision Code/install.sh b/KiwiLight - Vision Code/install.sh index 354a5ce..343fdd6 100644 --- a/KiwiLight - Vision Code/install.sh +++ b/KiwiLight - Vision Code/install.sh @@ -1,77 +1,77 @@ -# ---------------------------------- # -# # -# UNIX INSTALLER FOR KIWILIGHT # -# # -# ---------------------------------- # - -Install() { - echo "Downloading Packages" - - sudo apt-get --assume-yes install pkg-config - sudo apt-get --assume-yes install cmake - sudo apt-get --assume-yes install libgtk-3-dev - sudo apt-get --assume-yes install libv4l-dev - sudo apt-get --assume-yes install v4l-utils - - echo "Preparing to download OPENCV" - mkdir opencv - cd opencv - - echo "downloading OPENCV" - wget https://github.com/opencv/opencv/archive/3.4.5.zip - mkdir src - - echo "unzipping OPENCV" - unzip 3.4.5.zip -d src - mkdir build - cd build - - echo "Preparing to compile OPENCV" - cmake -D CMAKE_BUILD_TYPE=RELEASE \ - -D CMAKE_INSTALL_PREFIX=/usr/local \ - -D WITH_GTK_2_X=FALSE \ - -D WITH_GTK=TRUE \ - -D BUILD_TESTS=FALSE \ - ../src/opencv-3.4.5 - - echo "Compiling OPENCV (this will take a while!)" - sudo make -j2 install - sudo ldconfig - - #return back to normal directory - cd ../.. - - echo "Preparing to compile KIWILIGHT" - make setup - - echo "Compiling KIWILIGHT" - make -j2 KiwiLight - - echo "Preparing KIWILIGHT" - #install the confs folder - currentDir = $PWD - cd - mkdir KiwiLightData - mkdir KiwiLightData/confs - mkdir KiwiLightData/tmp - cp $PWD/generic.xml KiwiLightData/confs/ - echo "" >> KiwiLightData/tmp/shell_out.log - - cd $currentDir - - echo "KIWILIGHT has been successfully installed." -} - - -echo "Welcome to the KiwiLight installer!" -echo "Installing KiwiLight from the sources will download many packages and may take a long time." -echo "Would you like to continue? [y/n]: " - -read -N1 confirm -echo - -if [ ${confirm} = 'y' ]; then - Install - else - echo "Aborting." -fi +# ---------------------------------- # +# # +# UNIX INSTALLER FOR KIWILIGHT # +# # +# ---------------------------------- # + +Install() { + echo "Downloading Packages" + + sudo apt-get --assume-yes install pkg-config + sudo apt-get --assume-yes install cmake + sudo apt-get --assume-yes install libgtk-3-dev + sudo apt-get --assume-yes install libv4l-dev + sudo apt-get --assume-yes install v4l-utils + + echo "Preparing to download OPENCV" + mkdir opencv + cd opencv + + echo "downloading OPENCV" + wget https://github.com/opencv/opencv/archive/3.4.5.zip + mkdir src + + echo "unzipping OPENCV" + unzip 3.4.5.zip -d src + mkdir build + cd build + + echo "Preparing to compile OPENCV" + cmake -D CMAKE_BUILD_TYPE=RELEASE \ + -D CMAKE_INSTALL_PREFIX=/usr/local \ + -D WITH_GTK_2_X=FALSE \ + -D WITH_GTK=TRUE \ + -D BUILD_TESTS=FALSE \ + ../src/opencv-3.4.5 + + echo "Compiling OPENCV (this will take a while!)" + sudo make -j2 install + sudo ldconfig + + #return back to normal directory + cd ../.. + + echo "Preparing to compile KIWILIGHT" + make setup + + echo "Compiling KIWILIGHT" + make -j2 KiwiLight + + echo "Preparing KIWILIGHT" + #install the confs folder + currentDir = $PWD + cd + mkdir KiwiLightData + mkdir KiwiLightData/confs + mkdir KiwiLightData/tmp + cp $PWD/generic.xml KiwiLightData/confs/ + echo "" >> KiwiLightData/tmp/shell_out.log + + cd $currentDir + + echo "KIWILIGHT has been successfully installed." +} + + +echo "Welcome to the KiwiLight installer!" +echo "Installing KiwiLight from the sources will download many packages and may take a long time." +echo "Would you like to continue? [y/n]: " + +read -N1 confirm +echo + +if [ ${confirm} = 'y' ]; then + Install + else + echo "Aborting." +fi diff --git a/KiwiLight - Vision Code/runner/CameraFrame.cpp b/KiwiLight - Vision Code/runner/CameraFrame.cpp index fb9ddb2..c911e00 100644 --- a/KiwiLight - Vision Code/runner/CameraFrame.cpp +++ b/KiwiLight - Vision Code/runner/CameraFrame.cpp @@ -1,98 +1,98 @@ -#include "Runner.h" - -/** - * Source file for the CameraFrame class. - * Written By: Brach Knutson - */ - -using namespace cv; -using namespace KiwiLight; - -/** - * Creates a new CameraFrame describing information from the passed Mat. - * Precondition: "img" is already preprocessed. - */ -CameraFrame::CameraFrame(Mat img, int minimumArea) { - img.copyTo(this->image); - - //find the contours - std::vector > contours; - findContours(img, contours, RETR_EXTERNAL, CHAIN_APPROX_SIMPLE); - - //wrap the contours - std::vector targetContours; - for(int i=0; i minimumArea) { - targetContours.push_back(newContour); - } - } - - this->seenTarget = Target(0, targetContours, 0.0, 0.0, 0.0, 0.0); -} - -/** - * Groups the contours by their position in the image. - */ -std::vector CameraFrame::GetContoursGrouped() { - std::vector contours = this->seenTarget.Contours(); - std::vector groupedContours; - - for(int i=0; i insertPosValue) { - groupedContours.push_back(contourToInsert); - } else { - //find a place in the vector to insert the contour - bool objectInserted = false; - for(int k=1; k= insertPosValue) { - - //insert HERE - groupedContours.emplace(groupedContours.begin() + k); - objectInserted = true; - } - } - - //if the contour does not belong anywhere else... - if(!objectInserted) { - groupedContours.emplace(groupedContours.end(), contourToInsert); - } - } - } - - return groupedContours; -} - - -int CameraFrame::PositionValue(Contour contour) { - int imgWidth = this->image.cols; - - int pointValue = (contour.Center().y * imgWidth) + contour.Center().x; - return pointValue; -} - - -Distance CameraFrame::GetContourDistance(Contour contour) { - Point targetCenter = this->seenTarget.Center(); - - //find the amount of contour widths to the center of the target and return the distance - - double targWidth = this->seenTarget.Bounds().width; - double xDifference = targetCenter.x - contour.Center().x; - double yDifference = targetCenter.y - contour.Center().y; - - xDifference /= targWidth; - yDifference /= targWidth; - - return Distance(xDifference, yDifference); -} +#include "Runner.h" + +/** + * Source file for the CameraFrame class. + * Written By: Brach Knutson + */ + +using namespace cv; +using namespace KiwiLight; + +/** + * Creates a new CameraFrame describing information from the passed Mat. + * Precondition: "img" is already preprocessed. + */ +CameraFrame::CameraFrame(Mat img, int minimumArea) { + img.copyTo(this->image); + + //find the contours + std::vector > contours; + findContours(img, contours, RETR_EXTERNAL, CHAIN_APPROX_SIMPLE); + + //wrap the contours + std::vector targetContours; + for(int i=0; i minimumArea) { + targetContours.push_back(newContour); + } + } + + this->seenTarget = Target(0, targetContours, 0.0, 0.0, 0.0, 0.0); +} + +/** + * Groups the contours by their position in the image. + */ +std::vector CameraFrame::GetContoursGrouped() { + std::vector contours = this->seenTarget.Contours(); + std::vector groupedContours; + + for(int i=0; i insertPosValue) { + groupedContours.push_back(contourToInsert); + } else { + //find a place in the vector to insert the contour + bool objectInserted = false; + for(int k=1; k= insertPosValue) { + + //insert HERE + groupedContours.emplace(groupedContours.begin() + k); + objectInserted = true; + } + } + + //if the contour does not belong anywhere else... + if(!objectInserted) { + groupedContours.emplace(groupedContours.end(), contourToInsert); + } + } + } + + return groupedContours; +} + + +int CameraFrame::PositionValue(Contour contour) { + int imgWidth = this->image.cols; + + int pointValue = (contour.Center().y * imgWidth) + contour.Center().x; + return pointValue; +} + + +Distance CameraFrame::GetContourDistance(Contour contour) { + Point targetCenter = this->seenTarget.Center(); + + //find the amount of contour widths to the center of the target and return the distance + + double targWidth = this->seenTarget.Bounds().width; + double xDifference = targetCenter.x - contour.Center().x; + double yDifference = targetCenter.y - contour.Center().y; + + xDifference /= targWidth; + yDifference /= targWidth; + + return Distance(xDifference, yDifference); +} diff --git a/KiwiLight - Vision Code/runner/ConfigLearner.cpp b/KiwiLight - Vision Code/runner/ConfigLearner.cpp index 7bad4a6..5299f21 100644 --- a/KiwiLight - Vision Code/runner/ConfigLearner.cpp +++ b/KiwiLight - Vision Code/runner/ConfigLearner.cpp @@ -1,185 +1,185 @@ -#include "Runner.h" - -/** - * Source file for the ConfigLearner class. - * Written By: Brach Knutson - */ - -using namespace cv; -using namespace KiwiLight; - - -ConfigLearner::ConfigLearner(PreProcessor preprocessor) { - this->preprocessor = preprocessor; - this->currentlyLearning = false; - this->failedFrames = 0; -} - - -void ConfigLearner::StartLearning() { - this->currentlyLearning = true; -} - -/** - * Feeds an unprocessed image into the learner for possible processing. - */ -void ConfigLearner::FeedImage(Mat img, int minimumContourArea) { - //if the camera grab has failed and the image doesn't exist... - if(img.empty()) { - failedFrames++; - return; - } - - img.copyTo(this->original); - Mat preprocessed = this->preprocessor.ProcessImage(img); - preprocessed.copyTo(this->out); - - cvtColor(this->out, this->out, cv::COLOR_GRAY2BGR); - - //find contours and highlight all contours that are bigger than a certain area - std::vector > contours; //all contours in image - std::vector > bigContours; // contours that are bigger than minArea - findContours(preprocessed, contours, cv::RETR_EXTERNAL, cv::CHAIN_APPROX_SIMPLE); - - //find all contours that are bigger than minimumArea, then highlight them. - for(int i=0; i contour = contours[i]; - - Rect bounds = boundingRect(contour); - int area = bounds.width * bounds.height; - - if(area > minimumContourArea) { - bigContours.push_back(contour); - } - } - - if(bigContours.size() > 0) { - std::vector contourObjects; - for(int i=0; iout, targ.Bounds(), Scalar(255, 0, 0), 3); - circle(this->out, targ.Center(), 3, Scalar(0,255,0), 4); - } - - //if the learner is learning we should make a camera frame and store it for further processing - if(this->currentlyLearning) { - CameraFrame newFrame = CameraFrame(preprocessed, minimumContourArea); - this->currentFrames.push_back(newFrame); - } -} - - -ExampleTarget ConfigLearner::StopLearning(int minimumContourArea) { - this->currentlyLearning = false; - - //create a sorted list of the number of contours in each image (it is double because DataUtils sorts doubles) - std::vector numberContoursList; - for(int i=0; icurrentFrames.size(); i++) { - numberContoursList.push_back(this->currentFrames[i].GetContoursGrouped().size()); - } - - double regularNumberOfContours = DataUtils::MostCommonValue(numberContoursList); - - std::vector > groupedContours; //vector of contours grouped by their distance from target center - for(int i=0; icurrentFrames.size(); i++) { - if(currentFrames[i].GetContoursGrouped().size() == regularNumberOfContours) { - groupedContours.push_back(this->currentFrames[i].GetContoursGrouped()); - numberContoursList.push_back((double) this->currentFrames[i].NumberOfContours()); - } - } - - //go through groupedContours to get and format data. - std::vector finishedContours; - for(int i=0; i horizontalDistances = std::vector(); - std::vector verticalDistances = std::vector(); - std::vector angles = std::vector(); - std::vector solidities = std::vector(); - std::vector aspectRatios = std::vector(); - - for(int k=0; kcurrentFrames[k].GetContourDistance(contourToAnalyze); - - horizontalDistances.push_back(contourDistToCenter.x); - verticalDistances.push_back(contourDistToCenter.y); - angles.push_back(contourToAnalyze.Angle()); - solidities.push_back(contourToAnalyze.Solidity()); - aspectRatios.push_back(contourToAnalyze.AspectRatio()); - } - - horizontalDistances = DataUtils::SortLeastGreatestDouble(horizontalDistances); - verticalDistances = DataUtils::SortLeastGreatestDouble(verticalDistances); - angles = DataUtils::SortLeastGreatestDouble(angles); - solidities = DataUtils::SortLeastGreatestDouble(solidities); - aspectRatios = DataUtils::SortLeastGreatestDouble(aspectRatios); - - //record the sizes of each array so we can see how many outliers are removed - std::vector dataSizes; - dataSizes.push_back((double) horizontalDistances.size()); - dataSizes.push_back((double) verticalDistances.size()); - dataSizes.push_back((double) angles.size()); - dataSizes.push_back((double) solidities.size()); - dataSizes.push_back((double) aspectRatios.size()); - - //remove outliers - horizontalDistances = DataUtils::RemoveOutliers(horizontalDistances, 0.5); - verticalDistances = DataUtils::RemoveOutliers(verticalDistances, 0.5); - angles = DataUtils::RemoveOutliers(angles, 10.0); - solidities = DataUtils::RemoveOutliers(solidities, 0.25); - aspectRatios = DataUtils::RemoveOutliers(aspectRatios, 0.25); - - std::vector newDataSizes; - newDataSizes.push_back((double) horizontalDistances.size()); - newDataSizes.push_back((double) verticalDistances.size()); - newDataSizes.push_back((double) angles.size()); - newDataSizes.push_back((double) solidities.size()); - newDataSizes.push_back((double) aspectRatios.size()); - - double originalTotal = DataUtils::Total(dataSizes); - double removedTotal = DataUtils::Total(newDataSizes); - - double totalRemoved = originalTotal - removedTotal; - double avgRemoved = totalRemoved / newDataSizes.size(); - - double averageHorizontalDistance = DataUtils::Average(horizontalDistances); - double averageVerticaldistance = DataUtils::Average(verticalDistances); - double averageAngle = DataUtils::Average(angles); - double averageSolidity = DataUtils::Average(solidities); - double averageAspectRatio = DataUtils::Average(aspectRatios); - - SettingPair horizontalDistancePair = SettingPair(averageHorizontalDistance, 0.25); - SettingPair verticalDistancePair = SettingPair(averageVerticaldistance, 0.25); - SettingPair anglePair = SettingPair(averageAngle, 10.0); - SettingPair solidityPair = SettingPair(averageSolidity, 0.25); - SettingPair aspectRatioPair = SettingPair(averageAspectRatio, 0.25); - - ExampleContour newExampleContour = ExampleContour(i, horizontalDistancePair, verticalDistancePair, anglePair, aspectRatioPair, solidityPair, minimumContourArea); - finishedContours.push_back(newExampleContour); - - double percentComplete = (((double) i / (double) regularNumberOfContours) * 10.0) + 90.0; - } - - ExampleTarget newTarget = ExampleTarget(0, finishedContours, 0.0, 0.0, 0.0, 0.0); - - //clear info from the last learn - this->currentlyLearning = false; - this->currentFrames = std::vector(); - return newTarget; -} - - -int ConfigLearner::GetFramesLearned() { - return this->currentFrames.size(); +#include "Runner.h" + +/** + * Source file for the ConfigLearner class. + * Written By: Brach Knutson + */ + +using namespace cv; +using namespace KiwiLight; + + +ConfigLearner::ConfigLearner(PreProcessor preprocessor) { + this->preprocessor = preprocessor; + this->currentlyLearning = false; + this->failedFrames = 0; +} + + +void ConfigLearner::StartLearning() { + this->currentlyLearning = true; +} + +/** + * Feeds an unprocessed image into the learner for possible processing. + */ +void ConfigLearner::FeedImage(Mat img, int minimumContourArea) { + //if the camera grab has failed and the image doesn't exist... + if(img.empty()) { + failedFrames++; + return; + } + + img.copyTo(this->original); + Mat preprocessed = this->preprocessor.ProcessImage(img); + preprocessed.copyTo(this->out); + + cvtColor(this->out, this->out, cv::COLOR_GRAY2BGR); + + //find contours and highlight all contours that are bigger than a certain area + std::vector > contours; //all contours in image + std::vector > bigContours; // contours that are bigger than minArea + findContours(preprocessed, contours, cv::RETR_EXTERNAL, cv::CHAIN_APPROX_SIMPLE); + + //find all contours that are bigger than minimumArea, then highlight them. + for(int i=0; i contour = contours[i]; + + Rect bounds = boundingRect(contour); + int area = bounds.width * bounds.height; + + if(area > minimumContourArea) { + bigContours.push_back(contour); + } + } + + if(bigContours.size() > 0) { + std::vector contourObjects; + for(int i=0; iout, targ.Bounds(), Scalar(255, 0, 0), 3); + circle(this->out, targ.Center(), 3, Scalar(0,255,0), 4); + } + + //if the learner is learning we should make a camera frame and store it for further processing + if(this->currentlyLearning) { + CameraFrame newFrame = CameraFrame(preprocessed, minimumContourArea); + this->currentFrames.push_back(newFrame); + } +} + + +ExampleTarget ConfigLearner::StopLearning(int minimumContourArea) { + this->currentlyLearning = false; + + //create a sorted list of the number of contours in each image (it is double because DataUtils sorts doubles) + std::vector numberContoursList; + for(int i=0; icurrentFrames.size(); i++) { + numberContoursList.push_back(this->currentFrames[i].GetContoursGrouped().size()); + } + + double regularNumberOfContours = DataUtils::MostCommonValue(numberContoursList); + + std::vector > groupedContours; //vector of contours grouped by their distance from target center + for(int i=0; icurrentFrames.size(); i++) { + if(currentFrames[i].GetContoursGrouped().size() == regularNumberOfContours) { + groupedContours.push_back(this->currentFrames[i].GetContoursGrouped()); + numberContoursList.push_back((double) this->currentFrames[i].NumberOfContours()); + } + } + + //go through groupedContours to get and format data. + std::vector finishedContours; + for(int i=0; i horizontalDistances = std::vector(); + std::vector verticalDistances = std::vector(); + std::vector angles = std::vector(); + std::vector solidities = std::vector(); + std::vector aspectRatios = std::vector(); + + for(int k=0; kcurrentFrames[k].GetContourDistance(contourToAnalyze); + + horizontalDistances.push_back(contourDistToCenter.x); + verticalDistances.push_back(contourDistToCenter.y); + angles.push_back(contourToAnalyze.Angle()); + solidities.push_back(contourToAnalyze.Solidity()); + aspectRatios.push_back(contourToAnalyze.AspectRatio()); + } + + horizontalDistances = DataUtils::SortLeastGreatestDouble(horizontalDistances); + verticalDistances = DataUtils::SortLeastGreatestDouble(verticalDistances); + angles = DataUtils::SortLeastGreatestDouble(angles); + solidities = DataUtils::SortLeastGreatestDouble(solidities); + aspectRatios = DataUtils::SortLeastGreatestDouble(aspectRatios); + + //record the sizes of each array so we can see how many outliers are removed + std::vector dataSizes; + dataSizes.push_back((double) horizontalDistances.size()); + dataSizes.push_back((double) verticalDistances.size()); + dataSizes.push_back((double) angles.size()); + dataSizes.push_back((double) solidities.size()); + dataSizes.push_back((double) aspectRatios.size()); + + //remove outliers + horizontalDistances = DataUtils::RemoveOutliers(horizontalDistances, 0.5); + verticalDistances = DataUtils::RemoveOutliers(verticalDistances, 0.5); + angles = DataUtils::RemoveOutliers(angles, 10.0); + solidities = DataUtils::RemoveOutliers(solidities, 0.25); + aspectRatios = DataUtils::RemoveOutliers(aspectRatios, 0.25); + + std::vector newDataSizes; + newDataSizes.push_back((double) horizontalDistances.size()); + newDataSizes.push_back((double) verticalDistances.size()); + newDataSizes.push_back((double) angles.size()); + newDataSizes.push_back((double) solidities.size()); + newDataSizes.push_back((double) aspectRatios.size()); + + double originalTotal = DataUtils::Total(dataSizes); + double removedTotal = DataUtils::Total(newDataSizes); + + double totalRemoved = originalTotal - removedTotal; + double avgRemoved = totalRemoved / newDataSizes.size(); + + double averageHorizontalDistance = DataUtils::Average(horizontalDistances); + double averageVerticaldistance = DataUtils::Average(verticalDistances); + double averageAngle = DataUtils::Average(angles); + double averageSolidity = DataUtils::Average(solidities); + double averageAspectRatio = DataUtils::Average(aspectRatios); + + SettingPair horizontalDistancePair = SettingPair(averageHorizontalDistance, 0.25); + SettingPair verticalDistancePair = SettingPair(averageVerticaldistance, 0.25); + SettingPair anglePair = SettingPair(averageAngle, 10.0); + SettingPair solidityPair = SettingPair(averageSolidity, 0.25); + SettingPair aspectRatioPair = SettingPair(averageAspectRatio, 0.25); + + ExampleContour newExampleContour = ExampleContour(i, horizontalDistancePair, verticalDistancePair, anglePair, aspectRatioPair, solidityPair, minimumContourArea); + finishedContours.push_back(newExampleContour); + + double percentComplete = (((double) i / (double) regularNumberOfContours) * 10.0) + 90.0; + } + + ExampleTarget newTarget = ExampleTarget(0, finishedContours, 0.0, 0.0, 0.0, 0.0); + + //clear info from the last learn + this->currentlyLearning = false; + this->currentFrames = std::vector(); + return newTarget; +} + + +int ConfigLearner::GetFramesLearned() { + return this->currentFrames.size(); } \ No newline at end of file diff --git a/KiwiLight - Vision Code/runner/Contour.cpp b/KiwiLight - Vision Code/runner/Contour.cpp index 0cd6b46..827bdb9 100644 --- a/KiwiLight - Vision Code/runner/Contour.cpp +++ b/KiwiLight - Vision Code/runner/Contour.cpp @@ -1,34 +1,34 @@ -#include "Runner.h" - -/** - * Source file for the Contour class. - * Written By: Brach Knutson - */ - -using namespace cv; -using namespace KiwiLight; - -/** - * Creates a new contour object given the vector of points. - */ -Contour::Contour(std::vector points) { - this->points = points; - - //find out the basic information of the contour - cv::Rect boundingRect = cv::boundingRect(points); - this->x = boundingRect.x; - this->y = boundingRect.y; - this->width = boundingRect.width; - this->height = boundingRect.height; - - int centerX = (this->width / 2) + this->x; - int centerY = (this->height / 2) + this->y; - this->center = Point(centerX, centerY); - - cv::RotatedRect angleRect = cv::minAreaRect(points); - this->angle = (int) angleRect.angle; - this->angle = this->angle % 90; - - int trueArea = cv::contourArea(points); - this->solidity = trueArea / (double) this->Area(); +#include "Runner.h" + +/** + * Source file for the Contour class. + * Written By: Brach Knutson + */ + +using namespace cv; +using namespace KiwiLight; + +/** + * Creates a new contour object given the vector of points. + */ +Contour::Contour(std::vector points) { + this->points = points; + + //find out the basic information of the contour + cv::Rect boundingRect = cv::boundingRect(points); + this->x = boundingRect.x; + this->y = boundingRect.y; + this->width = boundingRect.width; + this->height = boundingRect.height; + + int centerX = (this->width / 2) + this->x; + int centerY = (this->height / 2) + this->y; + this->center = Point(centerX, centerY); + + cv::RotatedRect angleRect = cv::minAreaRect(points); + this->angle = (int) angleRect.angle; + this->angle = this->angle % 90; + + int trueArea = cv::contourArea(points); + this->solidity = trueArea / (double) this->Area(); } \ No newline at end of file diff --git a/KiwiLight - Vision Code/runner/ExampleContour.cpp b/KiwiLight - Vision Code/runner/ExampleContour.cpp index 31a9859..0947afa 100644 --- a/KiwiLight - Vision Code/runner/ExampleContour.cpp +++ b/KiwiLight - Vision Code/runner/ExampleContour.cpp @@ -1,98 +1,98 @@ -#include "Runner.h" - -/** - * Source file for the ExampleContour class. - * Written By: Brach Knutson - */ - -using namespace cv; -using namespace KiwiLight; - -/** - * Creates an instance of the default ExampleContour, a square. - */ -ExampleContour::ExampleContour(int id) { - this->id = id; - this->distX = SettingPair(0, 0.25); - this->distY = SettingPair(0, 0.25); - this->angle = SettingPair(0, 90); - this->aspectRatio = SettingPair(1, 0.25); - this->solidity = SettingPair(1, 0.125); - this->minimumArea = 500; -} - -/** - * Creates an ExampleContour to model a real contour using the given information. - */ -ExampleContour::ExampleContour(int id, SettingPair distX, SettingPair distY, SettingPair angle,SettingPair aspectRatio,SettingPair solidity,int minimumArea) { - this->id = id; - this->distX = distX; - this->distY = distY; - this->angle = angle; - this->aspectRatio = aspectRatio; - this->solidity = solidity; - this->minimumArea = minimumArea; -} - - -bool ExampleContour::IsContour(Contour contour) { - bool angleTest = false; - bool arTest = false; - bool solidTest = false; - bool areaTest = false; - - //conduct all five tests and return result of all five - - bool angleLower = (contour.Angle() > this->angle.LowerBound()); - bool angleUpper = (contour.Angle() < this->angle.UpperBound()); - angleTest = angleLower && angleUpper; - - bool arLower = (contour.AspectRatio() > this->aspectRatio.LowerBound()); - bool arUpper = (contour.AspectRatio() < this->aspectRatio.UpperBound()); - arTest = arLower && arUpper; - - bool solidLower = (contour.Solidity() > this->solidity.LowerBound()); - bool solidUpper = (contour.Solidity() < this->solidity.UpperBound()); - solidTest = solidLower && solidUpper; - - areaTest = (contour.Area() > this->minimumArea); - - return (angleTest && arTest && solidTest && areaTest); -} - -// void SetDistX(SettingPair distX); -// void SetDistY(SettingPair distY); -// void SetAngle(SettingPair angle); -// void SetAspectRatio(SettingPair aspectRatio); -// void SetSolidity(SettingPair solidity); -// void SetMinimumArea(int minimumArea); - - -void ExampleContour::SetDistX(SettingPair distX) { - this->distX = distX; -} - - -void ExampleContour::SetDistY(SettingPair distY) { - this->distY = distY; -} - - -void ExampleContour::SetAngle(SettingPair angle) { - this->angle = angle; -} - - -void ExampleContour::SetAspectRatio(SettingPair aspectRatio) { - this->aspectRatio = aspectRatio; -} - - -void ExampleContour::SetSolidity(SettingPair solidity) { - this->solidity = solidity; -} - - -void ExampleContour::SetMinimumArea(int minimumArea) { - this->minimumArea = minimumArea; +#include "Runner.h" + +/** + * Source file for the ExampleContour class. + * Written By: Brach Knutson + */ + +using namespace cv; +using namespace KiwiLight; + +/** + * Creates an instance of the default ExampleContour, a square. + */ +ExampleContour::ExampleContour(int id) { + this->id = id; + this->distX = SettingPair(0, 0.25); + this->distY = SettingPair(0, 0.25); + this->angle = SettingPair(0, 90); + this->aspectRatio = SettingPair(1, 0.25); + this->solidity = SettingPair(1, 0.125); + this->minimumArea = 500; +} + +/** + * Creates an ExampleContour to model a real contour using the given information. + */ +ExampleContour::ExampleContour(int id, SettingPair distX, SettingPair distY, SettingPair angle,SettingPair aspectRatio,SettingPair solidity,int minimumArea) { + this->id = id; + this->distX = distX; + this->distY = distY; + this->angle = angle; + this->aspectRatio = aspectRatio; + this->solidity = solidity; + this->minimumArea = minimumArea; +} + + +bool ExampleContour::IsContour(Contour contour) { + bool angleTest = false; + bool arTest = false; + bool solidTest = false; + bool areaTest = false; + + //conduct all five tests and return result of all five + + bool angleLower = (contour.Angle() > this->angle.LowerBound()); + bool angleUpper = (contour.Angle() < this->angle.UpperBound()); + angleTest = angleLower && angleUpper; + + bool arLower = (contour.AspectRatio() > this->aspectRatio.LowerBound()); + bool arUpper = (contour.AspectRatio() < this->aspectRatio.UpperBound()); + arTest = arLower && arUpper; + + bool solidLower = (contour.Solidity() > this->solidity.LowerBound()); + bool solidUpper = (contour.Solidity() < this->solidity.UpperBound()); + solidTest = solidLower && solidUpper; + + areaTest = (contour.Area() > this->minimumArea); + + return (angleTest && arTest && solidTest && areaTest); +} + +// void SetDistX(SettingPair distX); +// void SetDistY(SettingPair distY); +// void SetAngle(SettingPair angle); +// void SetAspectRatio(SettingPair aspectRatio); +// void SetSolidity(SettingPair solidity); +// void SetMinimumArea(int minimumArea); + + +void ExampleContour::SetDistX(SettingPair distX) { + this->distX = distX; +} + + +void ExampleContour::SetDistY(SettingPair distY) { + this->distY = distY; +} + + +void ExampleContour::SetAngle(SettingPair angle) { + this->angle = angle; +} + + +void ExampleContour::SetAspectRatio(SettingPair aspectRatio) { + this->aspectRatio = aspectRatio; +} + + +void ExampleContour::SetSolidity(SettingPair solidity) { + this->solidity = solidity; +} + + +void ExampleContour::SetMinimumArea(int minimumArea) { + this->minimumArea = minimumArea; } \ No newline at end of file diff --git a/KiwiLight - Vision Code/runner/ExampleTarget.cpp b/KiwiLight - Vision Code/runner/ExampleTarget.cpp index 8a89bf1..84e67b1 100644 --- a/KiwiLight - Vision Code/runner/ExampleTarget.cpp +++ b/KiwiLight - Vision Code/runner/ExampleTarget.cpp @@ -1,355 +1,355 @@ -#include "Runner.h" - -/** - * Source file for the ExampleTarget class. - * Written By: Brach Knutson - */ - -using namespace cv; -using namespace KiwiLight; - -/** - * Creates a new ExampleTarget with given ExampleContours, to model a real target. - */ -ExampleTarget::ExampleTarget(int id, std::vector contours, double knownHeight, double focalHeight, double distErrorCorrect, double calibratedDistance) { - this->id = id; - this->contours = contours; - this->knownHeight = knownHeight; - this->focalHeight = focalHeight; - this->distErrorCorrect = distErrorCorrect; - this->calibratedDistance = calibratedDistance; -} - -/** - * returns a vector containing all targets found within the vector of contours. - */ -std::vector ExampleTarget::GetTargets(std::vector objects) { - std::vector foundTargets = std::vector(); - std::vector validContours = std::vector(); - - validContours = this->GetValidContours(objects); - - int numTargetContours = this->contours.size(); - int numImageContours = validContours.size(); - - if(numTargetContours == 1) { - for(int i=0; i potentialTarget = std::vector(); - potentialTarget.push_back(validContours[i]); - if(isTarget(potentialTarget)) { - Target newTarg = Target(this->id, potentialTarget, this->knownHeight, this->focalHeight, this->distErrorCorrect, this->calibratedDistance); - foundTargets.push_back(newTarg); - } - } - } - else { - int places[(const int) numTargetContours] = {}; - for(int i=0; i > originalCombos; - - //while new combos are possible, generate and test combos of targets - while(!ArrayMaxed(places, numTargetContours, numImageContours)) { - if(!ContainsDuplicates(places, numTargetContours)) { - if(!CombonationAlreadyTested(places, originalCombos, numTargetContours)) { - //add to original combos and then test; - - //we create new vector to protect it from being changed in the vector - std::vector newOriginalCombo; - - for(int i=0; i potentialTarget = std::vector(); - for(int i=0; iid, potentialTarget, this->knownHeight, this->focalHeight, this->distErrorCorrect, this->calibratedDistance); - foundTargets.push_back(newTarget); - } - } - } - - //calculate the next combo of contours - for(int i=0; i 0) { - places[i-1] = 0; - } - - if(places[i] < numImageContours) { - break; - } - } - } - } - - return foundTargets; -} - -/** - * Given the vector of contours, returns whether the contours could be a target(true) or not(false). - * precondition: objects.size() == this->contours.size(); - */ -bool ExampleTarget::isTarget(std::vector objects) { - /** - * Determine if the passed vector of contours is a target or not by comparing the - * distances from the center of the target in target widths. - * if a contour passes, it is removed from the array. - * if the array is empty by the end of the method, return true - */ - - std::vector imageContours = objects; - std::vector targetContours = this->contours; - - int totalGood = 0; - - Target potentialTarg = Target(0, imageContours, 0, 0, 0, 0); - int centerX = potentialTarg.Center().x; - int centerY = potentialTarg.Center().y; - - int objectWidth = potentialTarg.Bounds().width; - - for(int i=0; i targetContours[k].DistX().LowerBound() && - widthsToCenterX < targetContours[k].DistX().UpperBound() ); - - bool distYValid = (widthsToCenterY > targetContours[k].DistY().LowerBound() && - widthsToCenterY < targetContours[k].DistY().UpperBound() ); - - if(distXValid && distYValid && targetContours[k].IsContour(imageContours[i])) { - totalGood++; - } - } - - } - - return (this->contours.size() == totalGood); -} - - -std::vector ExampleTarget::GetValidContours(std::vector objects) { - std::vector validContours; - - for(int i=0; icontours.size(); k++) { - if(this->contours[k].IsContour(objects[i])) { - validContours.push_back(objects[i]); - break; - } - } - } - - return validContours; -} - -/** - * Returns the exampleContour with "id". returns the first contour if none found. - */ -ExampleContour ExampleTarget::GetExampleContourByID(int id) { - for(int i=0; icontours.size(); i++) { - if(this->contours[i].ID() == id) { - return this->contours[i]; - } - } - std::cout << "WARNING: ExampleContour with id " << id << " does not exist in target with id " << this->ID() << "!" << std::endl; - return this->contours[0]; -} - - -void ExampleTarget::SetContourProperty(int contour, TargetProperty prop, SettingPair values) { - //get the index of the contour we want to change, that way we directly set the values instead of taking a reference - - // //make sure we have a contour with the id "contour" - // while(contour >= this->contours.size()) { - // this->AddGenericContour(); - // } - if(contour > this->contours.size()) { - return; - } - - int contourIndex = 0; - for(int i=0; icontours.size(); i++) { - if(this->contours[i].ID() == contour) { - contourIndex = i; - break; - } - } - - switch(prop) { - case TargetProperty::DIST_X: - this->contours[contourIndex].SetDistX(values); - break; - case TargetProperty::DIST_Y: - this->contours[contourIndex].SetDistY(values); - break; - case TargetProperty::ANGLE: - this->contours[contourIndex].SetAngle(values); - break; - case TargetProperty::ASPECT_RATIO: - this->contours[contourIndex].SetAspectRatio(values); - break; - case TargetProperty::SOLIDITY: - this->contours[contourIndex].SetSolidity(values); - break; - case TargetProperty::MINIMUM_AREA: - this->contours[contourIndex].SetMinimumArea((int) values.Value()); - break; - } -} - - -SettingPair ExampleTarget::GetContourProperty(int contour, TargetProperty prop) { - SettingPair finalValue = SettingPair(-1,-1); - - int contourIndex = 0; - for(int i=0; icontours.size(); i++) { - if(this->contours[i].ID() == contour) { - contourIndex = i; - break; - } - } - - switch(prop) { - case TargetProperty::DIST_X: - finalValue = this->contours[contourIndex].DistX(); - break; - case TargetProperty::DIST_Y: - finalValue = this->contours[contourIndex].DistY(); - break; - case TargetProperty::ANGLE: - finalValue = this->contours[contourIndex].Angle(); - break; - case TargetProperty::ASPECT_RATIO: - finalValue = this->contours[contourIndex].AspectRatio(); - break; - case TargetProperty::SOLIDITY: - finalValue = this->contours[contourIndex].Solidity(); - break; - case TargetProperty::MINIMUM_AREA: - finalValue = SettingPair((double) this->contours[contourIndex].MinimumArea(), 0); - break; - } - - return finalValue; -} - - -void ExampleTarget::SetTargetProperty(RunnerProperty prop, double value) { - switch(prop) { - case RunnerProperty::TRUE_WIDTH: - this->knownHeight = value; - break; - case RunnerProperty::PERCEIVED_WIDTH: - this->focalHeight = value; - break; - case RunnerProperty::CALIBRATED_DISTANCE: - this->calibratedDistance = value; - break; - case RunnerProperty::ERROR_CORRECTION: - this->distErrorCorrect = value; - break; - } -} - - -double ExampleTarget::GetTargetProperty(RunnerProperty prop) { - double value = -1.0; - - switch(prop) { - case RunnerProperty::TRUE_WIDTH: - value = this->knownHeight; - break; - case RunnerProperty::PERCEIVED_WIDTH: - value = this->focalHeight; - break; - case RunnerProperty::CALIBRATED_DISTANCE: - value = this->calibratedDistance; - break; - case RunnerProperty::ERROR_CORRECTION: - value = this->distErrorCorrect; - break; - } - - return value; -} - - -void ExampleTarget::AddGenericContour() { - SettingPair genericDistX = SettingPair(0.0, 0.4); - SettingPair genericDistY = SettingPair(0.0, 0.4); - SettingPair genericAngle = SettingPair(0.0, 12.0); - SettingPair genericSolidity = SettingPair(1.0, 0.35); - SettingPair genericAspectRatio = SettingPair(1.0, 0.35); - - ExampleContour newContour = ExampleContour(this->contours.size(), genericDistX, genericDistY, genericAngle, genericAspectRatio, genericSolidity, 1000); - this->contours.push_back(newContour); -} - - -bool ExampleTarget::ArrayMaxed(int arr[], int size, int max) { - if(arr[size - 1] < max) { - return false; - } - - return true; -} - - -bool ExampleTarget::ContainsDuplicates(int arr[], int size) { - for(int i=0; i > testedCombos, int comboSize) { - for(int i=0; i originalCombo = testedCombos[i]; - int matchingNumbers = 0; - - //compare all numbers between the two arrays - for(int x=0; x contours, double knownHeight, double focalHeight, double distErrorCorrect, double calibratedDistance) { + this->id = id; + this->contours = contours; + this->knownHeight = knownHeight; + this->focalHeight = focalHeight; + this->distErrorCorrect = distErrorCorrect; + this->calibratedDistance = calibratedDistance; +} + +/** + * returns a vector containing all targets found within the vector of contours. + */ +std::vector ExampleTarget::GetTargets(std::vector objects) { + std::vector foundTargets = std::vector(); + std::vector validContours = std::vector(); + + validContours = this->GetValidContours(objects); + + int numTargetContours = this->contours.size(); + int numImageContours = validContours.size(); + + if(numTargetContours == 1) { + for(int i=0; i potentialTarget = std::vector(); + potentialTarget.push_back(validContours[i]); + if(isTarget(potentialTarget)) { + Target newTarg = Target(this->id, potentialTarget, this->knownHeight, this->focalHeight, this->distErrorCorrect, this->calibratedDistance); + foundTargets.push_back(newTarg); + } + } + } + else { + int places[(const int) numTargetContours] = {}; + for(int i=0; i > originalCombos; + + //while new combos are possible, generate and test combos of targets + while(!ArrayMaxed(places, numTargetContours, numImageContours)) { + if(!ContainsDuplicates(places, numTargetContours)) { + if(!CombonationAlreadyTested(places, originalCombos, numTargetContours)) { + //add to original combos and then test; + + //we create new vector to protect it from being changed in the vector + std::vector newOriginalCombo; + + for(int i=0; i potentialTarget = std::vector(); + for(int i=0; iid, potentialTarget, this->knownHeight, this->focalHeight, this->distErrorCorrect, this->calibratedDistance); + foundTargets.push_back(newTarget); + } + } + } + + //calculate the next combo of contours + for(int i=0; i 0) { + places[i-1] = 0; + } + + if(places[i] < numImageContours) { + break; + } + } + } + } + + return foundTargets; +} + +/** + * Given the vector of contours, returns whether the contours could be a target(true) or not(false). + * precondition: objects.size() == this->contours.size(); + */ +bool ExampleTarget::isTarget(std::vector objects) { + /** + * Determine if the passed vector of contours is a target or not by comparing the + * distances from the center of the target in target widths. + * if a contour passes, it is removed from the array. + * if the array is empty by the end of the method, return true + */ + + std::vector imageContours = objects; + std::vector targetContours = this->contours; + + int totalGood = 0; + + Target potentialTarg = Target(0, imageContours, 0, 0, 0, 0); + int centerX = potentialTarg.Center().x; + int centerY = potentialTarg.Center().y; + + int objectWidth = potentialTarg.Bounds().width; + + for(int i=0; i targetContours[k].DistX().LowerBound() && + widthsToCenterX < targetContours[k].DistX().UpperBound() ); + + bool distYValid = (widthsToCenterY > targetContours[k].DistY().LowerBound() && + widthsToCenterY < targetContours[k].DistY().UpperBound() ); + + if(distXValid && distYValid && targetContours[k].IsContour(imageContours[i])) { + totalGood++; + } + } + + } + + return (this->contours.size() == totalGood); +} + + +std::vector ExampleTarget::GetValidContours(std::vector objects) { + std::vector validContours; + + for(int i=0; icontours.size(); k++) { + if(this->contours[k].IsContour(objects[i])) { + validContours.push_back(objects[i]); + break; + } + } + } + + return validContours; +} + +/** + * Returns the exampleContour with "id". returns the first contour if none found. + */ +ExampleContour ExampleTarget::GetExampleContourByID(int id) { + for(int i=0; icontours.size(); i++) { + if(this->contours[i].ID() == id) { + return this->contours[i]; + } + } + std::cout << "WARNING: ExampleContour with id " << id << " does not exist in target with id " << this->ID() << "!" << std::endl; + return this->contours[0]; +} + + +void ExampleTarget::SetContourProperty(int contour, TargetProperty prop, SettingPair values) { + //get the index of the contour we want to change, that way we directly set the values instead of taking a reference + + // //make sure we have a contour with the id "contour" + // while(contour >= this->contours.size()) { + // this->AddGenericContour(); + // } + if(contour > this->contours.size()) { + return; + } + + int contourIndex = 0; + for(int i=0; icontours.size(); i++) { + if(this->contours[i].ID() == contour) { + contourIndex = i; + break; + } + } + + switch(prop) { + case TargetProperty::DIST_X: + this->contours[contourIndex].SetDistX(values); + break; + case TargetProperty::DIST_Y: + this->contours[contourIndex].SetDistY(values); + break; + case TargetProperty::ANGLE: + this->contours[contourIndex].SetAngle(values); + break; + case TargetProperty::ASPECT_RATIO: + this->contours[contourIndex].SetAspectRatio(values); + break; + case TargetProperty::SOLIDITY: + this->contours[contourIndex].SetSolidity(values); + break; + case TargetProperty::MINIMUM_AREA: + this->contours[contourIndex].SetMinimumArea((int) values.Value()); + break; + } +} + + +SettingPair ExampleTarget::GetContourProperty(int contour, TargetProperty prop) { + SettingPair finalValue = SettingPair(-1,-1); + + int contourIndex = 0; + for(int i=0; icontours.size(); i++) { + if(this->contours[i].ID() == contour) { + contourIndex = i; + break; + } + } + + switch(prop) { + case TargetProperty::DIST_X: + finalValue = this->contours[contourIndex].DistX(); + break; + case TargetProperty::DIST_Y: + finalValue = this->contours[contourIndex].DistY(); + break; + case TargetProperty::ANGLE: + finalValue = this->contours[contourIndex].Angle(); + break; + case TargetProperty::ASPECT_RATIO: + finalValue = this->contours[contourIndex].AspectRatio(); + break; + case TargetProperty::SOLIDITY: + finalValue = this->contours[contourIndex].Solidity(); + break; + case TargetProperty::MINIMUM_AREA: + finalValue = SettingPair((double) this->contours[contourIndex].MinimumArea(), 0); + break; + } + + return finalValue; +} + + +void ExampleTarget::SetTargetProperty(RunnerProperty prop, double value) { + switch(prop) { + case RunnerProperty::TRUE_WIDTH: + this->knownHeight = value; + break; + case RunnerProperty::PERCEIVED_WIDTH: + this->focalHeight = value; + break; + case RunnerProperty::CALIBRATED_DISTANCE: + this->calibratedDistance = value; + break; + case RunnerProperty::ERROR_CORRECTION: + this->distErrorCorrect = value; + break; + } +} + + +double ExampleTarget::GetTargetProperty(RunnerProperty prop) { + double value = -1.0; + + switch(prop) { + case RunnerProperty::TRUE_WIDTH: + value = this->knownHeight; + break; + case RunnerProperty::PERCEIVED_WIDTH: + value = this->focalHeight; + break; + case RunnerProperty::CALIBRATED_DISTANCE: + value = this->calibratedDistance; + break; + case RunnerProperty::ERROR_CORRECTION: + value = this->distErrorCorrect; + break; + } + + return value; +} + + +void ExampleTarget::AddGenericContour() { + SettingPair genericDistX = SettingPair(0.0, 0.4); + SettingPair genericDistY = SettingPair(0.0, 0.4); + SettingPair genericAngle = SettingPair(0.0, 12.0); + SettingPair genericSolidity = SettingPair(1.0, 0.35); + SettingPair genericAspectRatio = SettingPair(1.0, 0.35); + + ExampleContour newContour = ExampleContour(this->contours.size(), genericDistX, genericDistY, genericAngle, genericAspectRatio, genericSolidity, 1000); + this->contours.push_back(newContour); +} + + +bool ExampleTarget::ArrayMaxed(int arr[], int size, int max) { + if(arr[size - 1] < max) { + return false; + } + + return true; +} + + +bool ExampleTarget::ContainsDuplicates(int arr[], int size) { + for(int i=0; i > testedCombos, int comboSize) { + for(int i=0; i originalCombo = testedCombos[i]; + int matchingNumbers = 0; + + //compare all numbers between the two arrays + for(int x=0; x targets, bool debugging) { - this->debugging = debugging; - this->targets = targets; - ExampleTarget targ = this->targets[0]; -} - -void PostProcessor::SetTarget(int id, ExampleTarget target) { - //find the id to replace - for(int i=0; itargets.size(); i++) { - if(this->targets[i].ID() == id) { - this->targets[i] = target; - return; - } - } -} - -int PostProcessor::NumberOfContours(int target) { - //find the target with the id, and return its contour count - for(int i=0; itargets[i].ID() == target) { - return this->targets[i].Contours().size(); - } - } - - return -1; -} - -/** - * Processes the given image (from the preprocessor) and returns a vector containing any - * targets it finds. - */ -std::vector PostProcessor::ProcessImage(cv::Mat img) { - std::vector foundTargets = std::vector(); - - //find contours with input image - std::vector< std::vector< Point > > contours; - cv::findContours(img, contours, cv::RETR_EXTERNAL, cv::CHAIN_APPROX_SIMPLE); - - //create contour wrappers and prepare to compare with targets - std::vector objects = std::vector(); - for(int i=0; icontoursFromLastFrame = objects; - - for(int k=0; ktargets.size(); k++) { - std::vector targs = this->targets[k].GetTargets(objects); - - // add results to our found targets - for(int a=0; a PostProcessor::GetValidContoursForTarget(std::vector contours) { - return this->targets[0].GetValidContours(contours); -} - - -void PostProcessor::SetTargetContourProperty(int contour, TargetProperty prop, SettingPair values) { - if(this->debugging) { - this->targets[0].SetContourProperty(contour, prop, values); - } -} - - -SettingPair PostProcessor::GetTargetContourProperty(int contour, TargetProperty prop) { - return this->targets[0].GetContourProperty(contour, prop); -} - - -ExampleTarget PostProcessor::GetExampleTargetByID(int id) { - for(int i=0; itargets.size(); i++) { - if(this->targets[i].ID() == id) { - return this->targets[i]; - } - } - - std::cout << "WARNING: Target at ID " << id << " does not exist!" << std::endl; - return targets[0]; -} - - -void PostProcessor::SetRunnerProperty(RunnerProperty prop, double value) { - this->targets[0].SetTargetProperty(prop, value); -} - - -double PostProcessor::GetRunnerProperty(RunnerProperty prop) { - return this->targets[0].GetTargetProperty(prop); -} +#include "Runner.h" + +/** + * Source file for the Runner class. + * Written By: Brach Knutson + */ + +using namespace cv; +using namespace KiwiLight; + +/** + * Creates a new PostProcessor with the given settings. + * Just give it all the runner settings, PostProcessor will pick out the ones it will use. + */ +PostProcessor::PostProcessor(std::vector targets, bool debugging) { + this->debugging = debugging; + this->targets = targets; + ExampleTarget targ = this->targets[0]; +} + +void PostProcessor::SetTarget(int id, ExampleTarget target) { + //find the id to replace + for(int i=0; itargets.size(); i++) { + if(this->targets[i].ID() == id) { + this->targets[i] = target; + return; + } + } +} + +int PostProcessor::NumberOfContours(int target) { + //find the target with the id, and return its contour count + for(int i=0; itargets[i].ID() == target) { + return this->targets[i].Contours().size(); + } + } + + return -1; +} + +/** + * Processes the given image (from the preprocessor) and returns a vector containing any + * targets it finds. + */ +std::vector PostProcessor::ProcessImage(cv::Mat img) { + std::vector foundTargets = std::vector(); + + //find contours with input image + std::vector< std::vector< Point > > contours; + cv::findContours(img, contours, cv::RETR_EXTERNAL, cv::CHAIN_APPROX_SIMPLE); + + //create contour wrappers and prepare to compare with targets + std::vector objects = std::vector(); + for(int i=0; icontoursFromLastFrame = objects; + + for(int k=0; ktargets.size(); k++) { + std::vector targs = this->targets[k].GetTargets(objects); + + // add results to our found targets + for(int a=0; a PostProcessor::GetValidContoursForTarget(std::vector contours) { + return this->targets[0].GetValidContours(contours); +} + + +void PostProcessor::SetTargetContourProperty(int contour, TargetProperty prop, SettingPair values) { + if(this->debugging) { + this->targets[0].SetContourProperty(contour, prop, values); + } +} + + +SettingPair PostProcessor::GetTargetContourProperty(int contour, TargetProperty prop) { + return this->targets[0].GetContourProperty(contour, prop); +} + + +ExampleTarget PostProcessor::GetExampleTargetByID(int id) { + for(int i=0; itargets.size(); i++) { + if(this->targets[i].ID() == id) { + return this->targets[i]; + } + } + + std::cout << "WARNING: Target at ID " << id << " does not exist!" << std::endl; + return targets[0]; +} + + +void PostProcessor::SetRunnerProperty(RunnerProperty prop, double value) { + this->targets[0].SetTargetProperty(prop, value); +} + + +double PostProcessor::GetRunnerProperty(RunnerProperty prop) { + return this->targets[0].GetTargetProperty(prop); +} diff --git a/KiwiLight - Vision Code/runner/PreProcessor.cpp b/KiwiLight - Vision Code/runner/PreProcessor.cpp index f1e3aa3..e3dfc02 100644 --- a/KiwiLight - Vision Code/runner/PreProcessor.cpp +++ b/KiwiLight - Vision Code/runner/PreProcessor.cpp @@ -1,148 +1,148 @@ -#include "Runner.h" - -/** - * Source file for the PreProcessor class. - * Written By: Brach Knutson - */ - -using namespace cv; -using namespace KiwiLight; - - -PreProcessor::PreProcessor(bool fullPreprocessor, Color targetColor, int threshold, int erosion, int dilation, bool debug) { - this->isFullPreprocessor = fullPreprocessor; - this->debugging = debug; - this->targetColor = targetColor; - this->threshold = threshold; - this->threshValue = 255; - this->threshtype = 0; - this->erode = erosion; - this->dilate = dilation; -} - - -/** - * Takes the given generic image and makes it usable for the PostProcessor. - */ -cv::Mat PreProcessor::ProcessImage(cv::Mat img) { - cv::Mat out; - - if(this->isFullPreprocessor) { - cv::threshold(img, img, this->threshold, this->threshValue, this->threshtype); - cv::Mat dilateKernel = cv::getStructuringElement(cv::MORPH_RECT, - cv::Size(this->dilate, this->dilate)); - - cv::Mat erodeKernel = cv::getStructuringElement(cv::MORPH_RECT, - cv::Size(this->erode, this->erode)); - - cv::erode(img, img, erodeKernel); - cv::dilate(img, img, dilateKernel); - cv::cvtColor(img, img, cv::COLOR_BGR2HSV); - cv::inRange(img, this->targetColor.GetLowerBound(), this->targetColor.GetUpperBound(), out); - } else { - cv::cvtColor(img, out, cv::COLOR_BGR2GRAY); - } - - return out; -} - - -void PreProcessor::SetProperty(PreProcessorProperty prop, double value) { - switch(prop) { - case PreProcessorProperty::IS_FULL: - this->isFullPreprocessor = (value == 1 ? true : false); - break; - case PreProcessorProperty::THRESHOLD: - this->threshold = value; - break; - case PreProcessorProperty::EROSION: - this->erode = value; - break; - case PreProcessorProperty::DILATION: - this->dilate = value; - break; - case PreProcessorProperty::COLOR_HUE: - { - Color newColor = Color((int) value, this->targetColor.GetS(), this->targetColor.GetV(), this->targetColor.GetHError(), this->targetColor.GetSError(), this->targetColor.GetVError()); - this->targetColor = newColor; - break; - } - case PreProcessorProperty::COLOR_SATURATION: - { - Color newColor = Color(this->targetColor.GetH(), (int) value, this->targetColor.GetV(), this->targetColor.GetHError(), this->targetColor. GetSError(), this->targetColor.GetVError()); - this->targetColor = newColor; - break; - } - case PreProcessorProperty::COLOR_VALUE: - { - Color newColor = Color(this->targetColor.GetH(), this->targetColor.GetS(), (int) value, this->targetColor.GetHError(), this->targetColor.GetSError(), this->targetColor.GetVError()); - this->targetColor = newColor; - break; - } - - case PreProcessorProperty::COLOR_ERROR: - { - Color newColor = Color(this->targetColor.GetH(), this->targetColor.GetS(), this->targetColor.GetV(), value, value, value); - this->targetColor = newColor; - break; - } - } -} - - -double PreProcessor::GetProperty(PreProcessorProperty prop) { - double finalValue = -1.0; - - switch(prop) { - case PreProcessorProperty::IS_FULL: - finalValue = (this->isFullPreprocessor ? 1 : 0); - break; - case PreProcessorProperty::THRESHOLD: - finalValue = this->threshold; - break; - case PreProcessorProperty::EROSION: - finalValue = this->erode; - break; - case PreProcessorProperty::DILATION: - finalValue = this->dilate; - break; - case PreProcessorProperty::COLOR_HUE: - finalValue = this->targetColor.GetH(); - break; - case PreProcessorProperty::COLOR_SATURATION: - finalValue = this->targetColor.GetS(); - break; - case PreProcessorProperty::COLOR_VALUE: - finalValue = this->targetColor.GetV(); - break; - case PreProcessorProperty::COLOR_ERROR: - finalValue = this->targetColor.GetHError(); - break; - default: - std::cout << "PROPERTY NOT FOUND" << std::endl; - break; - } - - return finalValue; -} - - -std::string PreProcessor::toString() { - std::string endline = "\n"; - std::string thisString = ""; - thisString += std::string("Debugging: ") + std::string((this->debugging ? "YES" : "NO")) + endline; - - if(this->isFullPreprocessor) { - std::string("Type: FULL\n") + - std::string("Threshold Value: ") + std::to_string(this->threshold) + endline + - std::string("Dilation: ") + std::to_string(this->dilate) + endline + - std::string("Color H: ") + std::to_string(this->targetColor.GetH()) + endline + - std::string("Color S: ") + std::to_string(this->targetColor.GetS()) + endline + - std::string("Color V: ") + std::to_string(this->targetColor.GetV()) + endline + - std::string("Color Error: ") + std::to_string(this->targetColor.GetHError()) + endline; - } else { - thisString += std::string("Type: PARTIAL") + endline; - } - - return thisString; -} +#include "Runner.h" + +/** + * Source file for the PreProcessor class. + * Written By: Brach Knutson + */ + +using namespace cv; +using namespace KiwiLight; + + +PreProcessor::PreProcessor(bool fullPreprocessor, Color targetColor, int threshold, int erosion, int dilation, bool debug) { + this->isFullPreprocessor = fullPreprocessor; + this->debugging = debug; + this->targetColor = targetColor; + this->threshold = threshold; + this->threshValue = 255; + this->threshtype = 0; + this->erode = erosion; + this->dilate = dilation; +} + + +/** + * Takes the given generic image and makes it usable for the PostProcessor. + */ +cv::Mat PreProcessor::ProcessImage(cv::Mat img) { + cv::Mat out; + + if(this->isFullPreprocessor) { + cv::threshold(img, img, this->threshold, this->threshValue, this->threshtype); + cv::Mat dilateKernel = cv::getStructuringElement(cv::MORPH_RECT, + cv::Size(this->dilate, this->dilate)); + + cv::Mat erodeKernel = cv::getStructuringElement(cv::MORPH_RECT, + cv::Size(this->erode, this->erode)); + + cv::erode(img, img, erodeKernel); + cv::dilate(img, img, dilateKernel); + cv::cvtColor(img, img, cv::COLOR_BGR2HSV); + cv::inRange(img, this->targetColor.GetLowerBound(), this->targetColor.GetUpperBound(), out); + } else { + cv::cvtColor(img, out, cv::COLOR_BGR2GRAY); + } + + return out; +} + + +void PreProcessor::SetProperty(PreProcessorProperty prop, double value) { + switch(prop) { + case PreProcessorProperty::IS_FULL: + this->isFullPreprocessor = (value == 1 ? true : false); + break; + case PreProcessorProperty::THRESHOLD: + this->threshold = value; + break; + case PreProcessorProperty::EROSION: + this->erode = value; + break; + case PreProcessorProperty::DILATION: + this->dilate = value; + break; + case PreProcessorProperty::COLOR_HUE: + { + Color newColor = Color((int) value, this->targetColor.GetS(), this->targetColor.GetV(), this->targetColor.GetHError(), this->targetColor.GetSError(), this->targetColor.GetVError()); + this->targetColor = newColor; + break; + } + case PreProcessorProperty::COLOR_SATURATION: + { + Color newColor = Color(this->targetColor.GetH(), (int) value, this->targetColor.GetV(), this->targetColor.GetHError(), this->targetColor. GetSError(), this->targetColor.GetVError()); + this->targetColor = newColor; + break; + } + case PreProcessorProperty::COLOR_VALUE: + { + Color newColor = Color(this->targetColor.GetH(), this->targetColor.GetS(), (int) value, this->targetColor.GetHError(), this->targetColor.GetSError(), this->targetColor.GetVError()); + this->targetColor = newColor; + break; + } + + case PreProcessorProperty::COLOR_ERROR: + { + Color newColor = Color(this->targetColor.GetH(), this->targetColor.GetS(), this->targetColor.GetV(), value, value, value); + this->targetColor = newColor; + break; + } + } +} + + +double PreProcessor::GetProperty(PreProcessorProperty prop) { + double finalValue = -1.0; + + switch(prop) { + case PreProcessorProperty::IS_FULL: + finalValue = (this->isFullPreprocessor ? 1 : 0); + break; + case PreProcessorProperty::THRESHOLD: + finalValue = this->threshold; + break; + case PreProcessorProperty::EROSION: + finalValue = this->erode; + break; + case PreProcessorProperty::DILATION: + finalValue = this->dilate; + break; + case PreProcessorProperty::COLOR_HUE: + finalValue = this->targetColor.GetH(); + break; + case PreProcessorProperty::COLOR_SATURATION: + finalValue = this->targetColor.GetS(); + break; + case PreProcessorProperty::COLOR_VALUE: + finalValue = this->targetColor.GetV(); + break; + case PreProcessorProperty::COLOR_ERROR: + finalValue = this->targetColor.GetHError(); + break; + default: + std::cout << "PROPERTY NOT FOUND" << std::endl; + break; + } + + return finalValue; +} + + +std::string PreProcessor::toString() { + std::string endline = "\n"; + std::string thisString = ""; + thisString += std::string("Debugging: ") + std::string((this->debugging ? "YES" : "NO")) + endline; + + if(this->isFullPreprocessor) { + std::string("Type: FULL\n") + + std::string("Threshold Value: ") + std::to_string(this->threshold) + endline + + std::string("Dilation: ") + std::to_string(this->dilate) + endline + + std::string("Color H: ") + std::to_string(this->targetColor.GetH()) + endline + + std::string("Color S: ") + std::to_string(this->targetColor.GetS()) + endline + + std::string("Color V: ") + std::to_string(this->targetColor.GetV()) + endline + + std::string("Color Error: ") + std::to_string(this->targetColor.GetHError()) + endline; + } else { + thisString += std::string("Type: PARTIAL") + endline; + } + + return thisString; +} diff --git a/KiwiLight - Vision Code/runner/Runner.cpp b/KiwiLight - Vision Code/runner/Runner.cpp index 15860ad..ca61317 100644 --- a/KiwiLight - Vision Code/runner/Runner.cpp +++ b/KiwiLight - Vision Code/runner/Runner.cpp @@ -1,368 +1,375 @@ -#include "../KiwiLight.h" - -/** - * Source file for the Runner class. - * Written By: Brach Knutson - */ - -using namespace cv; -using namespace KiwiLight; - -const std::string Runner::NULL_MESSAGE = ":-1,-1,-1,180,180;"; - -/** - * Creates a new runner which runs the configuration described by the given file - */ -Runner::Runner(std::string fileName, bool debugging) { - this->src = fileName; - this->debug = debugging; - this->postProcessorTargets = std::vector(); - this->lastIterationSuccessful = false; - XMLDocument file = XMLDocument(fileName); - if(file.HasContents()) { - this->parseDocument(file); - } else { - std::cout << "sorry! the file " << fileName << " could not be found. " << std::endl; - } - this->applySettings(file); - this->stop = false; -} - -void Runner::SetImageResize(Size sz) { - this->constantResize = sz; -} - -/** - * Performs one iteration of the main loop, but does not send any file UDP messages. - */ -std::string Runner::Iterate() { - cv::Mat img; - cv::Mat out; //output image we draw on for debugging - if(RunnerSettings::USE_CAMERA) { - img = KiwiLightApp::TakeImage(); - - if(img.empty()) { - //oops we shall exit now because there be nothing in image - return NULL_MESSAGE; - } - } else { - this->lastIterationSuccessful = true; - img = cv::imread(RunnerSettings::IMAGE_TO_USE); - } - - resize(img, img, this->constantResize); - img.copyTo(this->originalImage); - img = this->preprocessor.ProcessImage(img); - img.copyTo(out); - std::vector targets = this->postprocessor.ProcessImage(img); - //find the percieved robot center using this->centerOffset - int trueCenterX = (this->constantResize.width / 2); - int robotCenterX = trueCenterX; - - int trueCenterY = (this->constantResize.height / 2); - int robotCenterY = trueCenterY; - - //find the target that is closest to the robot center - Target bestTarget; - int closestDist = 5000; // closest horizontal distance to the center - for(int i=0; icenterOffsetX; - double offestInchesY = centerInchesY - this->centerOffsetY; - - //convert back to pixels - double offsetPixelsX = offsetInchesX / inchesPerPixel; - double offsetPixelsY = offestInchesY / inchesPerPixel; - - //calculate the distance from the offset center - double distFromCenterX = offsetPixelsX - targ.Center().x; - double distFromCenterY = offsetPixelsY - targ.Center().y; - double trueDistance = sqrt(pow(distFromCenterX, 2) + pow(distFromCenterY, 2)); - - if(trueDistance < closestDist) { - closestDist = trueDistance; - bestTarget = targ; - robotCenterX = (int) offsetPixelsX; - robotCenterY = (int) offsetPixelsY; - } - } - - this->closestTarget = bestTarget; - this->lastFrameCenterPoint = Point(robotCenterX, robotCenterY); - - //figure out which target to send and then send the target - int coordX = -1, - coordY = -1, - distance = -1, - HAngle = 180, - VAngle = 180; - - std::string rioMessage = ""; - - if(targets.size() > 0) { - //use the best target to fill in the information to send to the rio - coordX = bestTarget.Center().x; - coordY = bestTarget.Center().y; - - distance = bestTarget.Distance(); - - HAngle = bestTarget.HorizontalAngle(distance, robotCenterX); - VAngle = bestTarget.VerticalAngle(distance, robotCenterY); - } - - this->lastFrameTargets = targets; - - std::string x = std::to_string(coordX), - y = std::to_string(coordY), - d = std::to_string(distance), - ax = std::to_string(HAngle), - ay = std::to_string(VAngle); - - rioMessage = ":" + x + "," + y + "," + d + "," + ax + "," + ay + ";"; - - //mark up the image with some stuff for the programmers to look at :) - if(this->debug) { - cv::cvtColor(out, out, cv::COLOR_GRAY2BGR); - - //write the out string onto the image - cv::putText(out, rioMessage, cv::Point(5, 15), cv::FONT_HERSHEY_PLAIN, 1.0, cv::Scalar(0,0,255), 2); - - //draw a line where the perceived horizontal robot center is - int camHeight = this->constantResize.height; - cv::Point HlineTopPoint = cv::Point(robotCenterX, 0); - cv::Point HlineBottomPoint = cv::Point(robotCenterX, camHeight); - cv::line(out, HlineTopPoint, HlineBottomPoint, cv::Scalar(255,0,255)); - - //draw another line where the vertical robot center is - int camWidth = this->constantResize.width; - cv::Point VlineTopPoint = cv::Point(0, robotCenterY); - cv::Point VlineBottomPoint = cv::Point(camWidth, robotCenterY); - cv::line(out, VlineTopPoint, VlineBottomPoint, cv::Scalar(255, 0, 255)); - - //draw a dot in the center of each valid contour - std::vector contoursFromFrame = this->postprocessor.GetContoursFromLastFrame(); - std::vector validContours = this->postprocessor.GetValidContoursForTarget(contoursFromFrame); - - Target targ = Target(0, validContours, 0, 0, 0, 0); - rectangle(out, targ.Bounds(), Scalar(0, 0, 255), 3); - - for(int i=0; ioutputImage); - } - - return rioMessage; -} - - -int Runner::GetNumberOfContours(int target) { - return this->postprocessor.NumberOfContours(target); -} - -/** - * Returns the example target at the given id. Returns the 0th exampletarget if id is out of bounds. - */ -ExampleTarget Runner::GetExampleTargetByID(int id) { - return this->postprocessor.GetExampleTargetByID(id); -} - -void Runner::SetExampleTarget(int contourID, ExampleTarget target) { - this->postprocessor.SetTarget(contourID, target); -} - - -void Runner::SetPreprocessorProperty(PreProcessorProperty prop, double value) { - if(this->debug) { - this->preprocessor.SetProperty(prop, value); - } -} - - -double Runner::GetPreprocessorProperty(PreProcessorProperty prop) { - return this->preprocessor.GetProperty(prop); -} - - -void Runner::SetPostProcessorContourProperty(int contour, TargetProperty prop, SettingPair values) { - if(this->debug) { - this->postprocessor.SetTargetContourProperty(contour, prop, values); - } -} - - -SettingPair Runner::GetPostProcessorContourProperty(int contour, TargetProperty prop) { - return this->postprocessor.GetTargetContourProperty(contour, prop); -} - - -void Runner::SetRunnerProperty(RunnerProperty prop, double value) { - switch(prop) { - case RunnerProperty::OFFSET_X: - this->centerOffsetX = value; - break; - case RunnerProperty::OFFSET_Y: - this->centerOffsetY = value; - break; - case RunnerProperty::IMAGE_WIDTH: - this->constantResize.width = (int) value; - break; - case RunnerProperty::IMAGE_HEIGHT: - this->constantResize.height = (int) value; - break; - default: - this->postprocessor.SetRunnerProperty(prop, value); - break; - } -} - - -double Runner::GetRunnerProperty(RunnerProperty prop) { - switch(prop) { - case RunnerProperty::OFFSET_X: - return this->centerOffsetX; - case RunnerProperty::OFFSET_Y: - return this->centerOffsetY; - case RunnerProperty::IMAGE_WIDTH: - return this->constantResize.width; - case RunnerProperty::IMAGE_HEIGHT: - return this->constantResize.height; - } - - return this->postprocessor.GetRunnerProperty(prop); -} - -/** - * Parses the XMLdocument doc and initalizes all runner settings and variables. - */ -void Runner::parseDocument(XMLDocument doc) { - XMLTag camera = doc.GetTagsByName("camera")[0]; - this->cameraIndex = std::stoi(camera.GetAttributesByName("index")[0].Value()); - - std::vector camSettings = - camera.GetTagsByName("settings")[0] - .GetTagsByName("setting"); - - XMLTag config = doc.GetTagsByName("configuration")[0]; - this->configName = doc.GetTagsByName("configuration")[0].GetAttributesByName("name")[0].Value(); - - XMLTag cameraOffset = config.GetTagsByName("cameraOffset")[0]; - this->centerOffsetX = std::stod(cameraOffset.GetTagsByName("horizontal")[0].Content()); - this->centerOffsetY = std::stod(cameraOffset.GetTagsByName("vertical")[0].Content()); - - XMLTag constResize = config.GetTagsByName("constantResize")[0]; - int resizeX = std::stoi(constResize.GetTagsByName("width")[0].Content()); - int resizeY = std::stoi(constResize.GetTagsByName("height")[0].Content()); - this->constantResize = Size(resizeX, resizeY); - - XMLTag preprocess = config.GetTagsByName("preprocessor")[0]; - bool preprocessorTypeIsFull = (preprocess.GetAttributesByName("type")[0].Value() == "full" ? true : false); - - int preprocessorThreshold = std::stoi(preprocess.GetTagsByName("threshold")[0].Content()); - int preprocessorErosion = std::stoi(preprocess.GetTagsByName("erosion")[0].Content()); - int preprocessorDilation = std::stoi(preprocess.GetTagsByName("dilation")[0].Content()); - XMLTag color = preprocess.GetTagsByName("targetColor")[0]; - int error = std::stoi(color.GetAttributesByName("error")[0].Value()); - int h = std::stoi(color.GetTagsByName("h")[0].Content()); - int s = std::stoi(color.GetTagsByName("s")[0].Content()); - int v = std::stoi(color.GetTagsByName("v")[0].Content()); - Color preprocessorColor = Color(h, s, v, error, error, error); - - XMLTag postprocess = config.GetTagsByName("postprocessor")[0]; - XMLTag udp = postprocess.GetTagsByName("UDP")[0]; - std::string udpAddr = udp.GetTagsByName("address")[0].Content(); - int udpPort = std::stoi(udp.GetTagsByName("port")[0].Content()); - - std::vector targets = postprocess.GetTagsByName("target"); - for(int i=0; i targContours = targetTag.GetTagsByName("contour"); - - int targetId = std::stoi(targetTag.GetAttributesByName("id")[0].Value()); - std::vector contours; - - //find all contours and populate the vector - for(int k=0; kpostProcessorTargets.push_back(newTarget); - } - - //init the preprocessor and postprocessor here - this->preprocessor = PreProcessor(preprocessorTypeIsFull, preprocessorColor, preprocessorThreshold, preprocessorErosion, preprocessorDilation, this->debug); - this->postprocessor = PostProcessor(this->postProcessorTargets, this->debug); - KiwiLightApp::ReconnectUDP(udpAddr, udpPort); -} - -/** - * Applies the camera settings via shell. - */ -void Runner::applySettings(XMLDocument document) { - std::vector camSettings = - document.GetTagsByName("camera")[0] - .GetTagsByName("settings")[0] - .GetTagsByName("setting"); - - int camIndex = std::stoi(document.GetTagsByName("camera")[0].GetAttributesByName("index")[0].Value()); - KiwiLightApp::OpenNewCameraOnIndex(camIndex); - - for(int i=0; isrc = fileName; + this->debug = debugging; + this->postProcessorTargets = std::vector(); + this->lastIterationSuccessful = false; + XMLDocument file = XMLDocument(fileName); + if(file.HasContents()) { + this->parseDocument(file); + } else { + std::cout << "sorry! the file " << fileName << " could not be found. " << std::endl; + } + this->applySettings(file); + this->stop = false; +} + +void Runner::SetImageResize(Size sz) { + this->constantResize = sz; +} + +/** + * Performs one iteration of the main loop, but does not send any file UDP messages. + */ +std::string Runner::Iterate() { + cv::Mat img; + cv::Mat out; //output image we draw on for debugging + if(RunnerSettings::USE_CAMERA) { + img = KiwiLightApp::TakeImage(); + + if(img.empty()) { + //oops we shall exit now because there be nothing in image + return NULL_MESSAGE; + } + } else { + this->lastIterationSuccessful = true; + img = cv::imread(RunnerSettings::IMAGE_TO_USE); + } + + resize(img, img, this->constantResize); + img.copyTo(this->originalImage); + img = this->preprocessor.ProcessImage(img); + img.copyTo(out); + std::vector targets = this->postprocessor.ProcessImage(img); + //find the percieved robot center using this->centerOffset + int trueCenterX = (this->constantResize.width / 2); + int robotCenterX = trueCenterX; + + int trueCenterY = (this->constantResize.height / 2); + int robotCenterY = trueCenterY; + + //find the target that is closest to the robot center + Target bestTarget; + int closestDist = 5000; // closest horizontal distance to the center + for(int i=0; icenterOffsetX; + double offestInchesY = centerInchesY - this->centerOffsetY; + + //convert back to pixels + double offsetPixelsX = offsetInchesX / inchesPerPixel; + double offsetPixelsY = offestInchesY / inchesPerPixel; + + //calculate the distance from the offset center + double distFromCenterX = offsetPixelsX - targ.Center().x; + double distFromCenterY = offsetPixelsY - targ.Center().y; + double trueDistance = sqrt(pow(distFromCenterX, 2) + pow(distFromCenterY, 2)); + + if(trueDistance < closestDist) { + closestDist = trueDistance; + bestTarget = targ; + robotCenterX = (int) offsetPixelsX; + robotCenterY = (int) offsetPixelsY; + } + } + + this->closestTarget = bestTarget; + this->lastFrameCenterPoint = Point(robotCenterX, robotCenterY); + + //figure out which target to send and then send the target + int coordX = -1, + coordY = -1, + width = -1, + height = -1, + distance = -1, + HAngle = 180, + VAngle = 180; + + std::string rioMessage = ""; + + if(targets.size() > 0) { + //use the best target to fill in the information to send to the rio + coordX = bestTarget.Center().x; + coordY = bestTarget.Center().y; + + width = bestTarget.Bounds().width; + height = bestTarget.Bounds().height; + + distance = bestTarget.Distance(); + + HAngle = bestTarget.HorizontalAngle(distance, robotCenterX); + VAngle = bestTarget.VerticalAngle(distance, robotCenterY); + } + + this->lastFrameTargets = targets; + + std::string x = std::to_string(coordX), + y = std::to_string(coordY), + w = std::to_string(width), + h = std::to_string(height), + d = std::to_string(distance), + ax = std::to_string(HAngle), + ay = std::to_string(VAngle); + + rioMessage = ":" + x + "," + y + "," + w + "," + h +"," + d + "," + ax + "," + ay + ";"; + + //mark up the image with some stuff for the programmers to look at :) + if(this->debug) { + cv::cvtColor(out, out, cv::COLOR_GRAY2BGR); + + //write the out string onto the image + cv::putText(out, rioMessage, cv::Point(5, 15), cv::FONT_HERSHEY_PLAIN, 1.0, cv::Scalar(0,0,255), 2); + + //draw a line where the perceived horizontal robot center is + int camHeight = this->constantResize.height; + cv::Point HlineTopPoint = cv::Point(robotCenterX, 0); + cv::Point HlineBottomPoint = cv::Point(robotCenterX, camHeight); + cv::line(out, HlineTopPoint, HlineBottomPoint, cv::Scalar(255,0,255)); + + //draw another line where the vertical robot center is + int camWidth = this->constantResize.width; + cv::Point VlineTopPoint = cv::Point(0, robotCenterY); + cv::Point VlineBottomPoint = cv::Point(camWidth, robotCenterY); + cv::line(out, VlineTopPoint, VlineBottomPoint, cv::Scalar(255, 0, 255)); + + //draw a dot in the center of each valid contour + std::vector contoursFromFrame = this->postprocessor.GetContoursFromLastFrame(); + std::vector validContours = this->postprocessor.GetValidContoursForTarget(contoursFromFrame); + + Target targ = Target(0, validContours, 0, 0, 0, 0); + rectangle(out, targ.Bounds(), Scalar(0, 0, 255), 3); + + for(int i=0; ioutputImage); + } + + return rioMessage; +} + + +int Runner::GetNumberOfContours(int target) { + return this->postprocessor.NumberOfContours(target); +} + +/** + * Returns the example target at the given id. Returns the 0th exampletarget if id is out of bounds. + */ +ExampleTarget Runner::GetExampleTargetByID(int id) { + return this->postprocessor.GetExampleTargetByID(id); +} + +void Runner::SetExampleTarget(int contourID, ExampleTarget target) { + this->postprocessor.SetTarget(contourID, target); +} + + +void Runner::SetPreprocessorProperty(PreProcessorProperty prop, double value) { + if(this->debug) { + this->preprocessor.SetProperty(prop, value); + } +} + + +double Runner::GetPreprocessorProperty(PreProcessorProperty prop) { + return this->preprocessor.GetProperty(prop); +} + + +void Runner::SetPostProcessorContourProperty(int contour, TargetProperty prop, SettingPair values) { + if(this->debug) { + this->postprocessor.SetTargetContourProperty(contour, prop, values); + } +} + + +SettingPair Runner::GetPostProcessorContourProperty(int contour, TargetProperty prop) { + return this->postprocessor.GetTargetContourProperty(contour, prop); +} + + +void Runner::SetRunnerProperty(RunnerProperty prop, double value) { + switch(prop) { + case RunnerProperty::OFFSET_X: + this->centerOffsetX = value; + break; + case RunnerProperty::OFFSET_Y: + this->centerOffsetY = value; + break; + case RunnerProperty::IMAGE_WIDTH: + this->constantResize.width = (int) value; + break; + case RunnerProperty::IMAGE_HEIGHT: + this->constantResize.height = (int) value; + break; + default: + this->postprocessor.SetRunnerProperty(prop, value); + break; + } +} + + +double Runner::GetRunnerProperty(RunnerProperty prop) { + switch(prop) { + case RunnerProperty::OFFSET_X: + return this->centerOffsetX; + case RunnerProperty::OFFSET_Y: + return this->centerOffsetY; + case RunnerProperty::IMAGE_WIDTH: + return this->constantResize.width; + case RunnerProperty::IMAGE_HEIGHT: + return this->constantResize.height; + } + + return this->postprocessor.GetRunnerProperty(prop); +} + +/** + * Parses the XMLdocument doc and initalizes all runner settings and variables. + */ +void Runner::parseDocument(XMLDocument doc) { + XMLTag camera = doc.GetTagsByName("camera")[0]; + this->cameraIndex = std::stoi(camera.GetAttributesByName("index")[0].Value()); + + std::vector camSettings = + camera.GetTagsByName("settings")[0] + .GetTagsByName("setting"); + + XMLTag config = doc.GetTagsByName("configuration")[0]; + this->configName = doc.GetTagsByName("configuration")[0].GetAttributesByName("name")[0].Value(); + + XMLTag cameraOffset = config.GetTagsByName("cameraOffset")[0]; + this->centerOffsetX = std::stod(cameraOffset.GetTagsByName("horizontal")[0].Content()); + this->centerOffsetY = std::stod(cameraOffset.GetTagsByName("vertical")[0].Content()); + + XMLTag constResize = config.GetTagsByName("constantResize")[0]; + int resizeX = std::stoi(constResize.GetTagsByName("width")[0].Content()); + int resizeY = std::stoi(constResize.GetTagsByName("height")[0].Content()); + this->constantResize = Size(resizeX, resizeY); + + XMLTag preprocess = config.GetTagsByName("preprocessor")[0]; + bool preprocessorTypeIsFull = (preprocess.GetAttributesByName("type")[0].Value() == "full" ? true : false); + + int preprocessorThreshold = std::stoi(preprocess.GetTagsByName("threshold")[0].Content()); + int preprocessorErosion = std::stoi(preprocess.GetTagsByName("erosion")[0].Content()); + int preprocessorDilation = std::stoi(preprocess.GetTagsByName("dilation")[0].Content()); + XMLTag color = preprocess.GetTagsByName("targetColor")[0]; + int error = std::stoi(color.GetAttributesByName("error")[0].Value()); + int h = std::stoi(color.GetTagsByName("h")[0].Content()); + int s = std::stoi(color.GetTagsByName("s")[0].Content()); + int v = std::stoi(color.GetTagsByName("v")[0].Content()); + Color preprocessorColor = Color(h, s, v, error, error, error); + + XMLTag postprocess = config.GetTagsByName("postprocessor")[0]; + XMLTag udp = postprocess.GetTagsByName("UDP")[0]; + std::string udpAddr = udp.GetTagsByName("address")[0].Content(); + int udpPort = std::stoi(udp.GetTagsByName("port")[0].Content()); + + std::vector targets = postprocess.GetTagsByName("target"); + for(int i=0; i targContours = targetTag.GetTagsByName("contour"); + + int targetId = std::stoi(targetTag.GetAttributesByName("id")[0].Value()); + std::vector contours; + + //find all contours and populate the vector + for(int k=0; kpostProcessorTargets.push_back(newTarget); + } + + //init the preprocessor and postprocessor here + this->preprocessor = PreProcessor(preprocessorTypeIsFull, preprocessorColor, preprocessorThreshold, preprocessorErosion, preprocessorDilation, this->debug); + this->postprocessor = PostProcessor(this->postProcessorTargets, this->debug); + KiwiLightApp::ReconnectUDP(udpAddr, udpPort); +} + +/** + * Applies the camera settings via shell. + */ +void Runner::applySettings(XMLDocument document) { + std::vector camSettings = + document.GetTagsByName("camera")[0] + .GetTagsByName("settings")[0] + .GetTagsByName("setting"); + + int camIndex = std::stoi(document.GetTagsByName("camera")[0].GetAttributesByName("index")[0].Value()); + KiwiLightApp::OpenNewCameraOnIndex(camIndex); + + for(int i=0; i points); - int X() { return this->x; }; - int Y() { return this->y; }; - Point Center() { return this->center; }; - int Width() { return this->width; }; - int Height() { return this->height; }; - int Angle() { return this->angle; }; - int Area() { return (this->width * this->height); }; - double AspectRatio() { return this->width / (double) this->height; }; - double Solidity() { return this->solidity; }; - - private: - std::vector points; - int x, - y, - width, - height, - angle; - - double solidity; - - Point center; - }; - - - class ExampleContour { - public: - ExampleContour() {}; - ExampleContour(int id); - ExampleContour(int id, - SettingPair distX, - SettingPair distY, - SettingPair angle, - SettingPair aspectRatio, - SettingPair solidity, - int minimumArea); - - bool IsContour(Contour contour); - int ID() { return this->id; }; - SettingPair DistX() { return this->distX; }; - SettingPair DistY() { return this->distY; }; - SettingPair Angle() { return this->angle; }; - SettingPair AspectRatio() { return this->aspectRatio; }; - SettingPair Solidity() { return this->solidity; }; - int MinimumArea() { return this->minimumArea; }; - - void SetDistX(SettingPair distX); - void SetDistY(SettingPair distY); - void SetAngle(SettingPair angle); - void SetAspectRatio(SettingPair aspectRatio); - void SetSolidity(SettingPair solidity); - void SetMinimumArea(int minimumArea); - - private: - int id; - SettingPair distX, - distY, - angle, - aspectRatio, - solidity; - - int minimumArea; - }; - - /** - * Represents a target found in an image - */ - class Target { - public: - Target(); - Target(int id, std::vector contours, double knownHeight, double focalHeight, double distErrorCorrect, double calibratedDistance); - int ID() { return this->id; }; - std::vector Contours() { return this->contours; }; - double Distance(); - int HorizontalAngle(int imageCenterX); - int HorizontalAngle(double distanceToTarget, int imageCenterX); - int VerticalAngle(int imageCenterY); - int VerticalAngle(double distanceToTarget, int imageCenterY); - int ObliqueAngle(int imageCenterX, int imageCenterY); - double KnownWidth() { return this->knownHeight; }; - double FocalWidth() { return this->focalHeight; }; - double DistanceErrorCorrection() { return this->distErrorCorrect; }; - double CalibratedDistance() { return this->calibratedDistance; }; - cv::Point Center() { return cv::Point(this->x, this->y); }; - cv::Rect Bounds(); - - private: - std::vector contours; - - int id, - x, - y, - width, - height; - - double knownHeight, - focalHeight, - distErrorCorrect, - calibratedDistance; - }; - - - class ExampleTarget { - public: - ExampleTarget() {}; - ExampleTarget(int id, std::vector contours, double knownHeight, double focalHeight, double distErrorCorrect, double calibratedDistance); - std::vector GetTargets(std::vector contours); - bool isTarget(std::vector contours); - std::vector GetValidContours(std::vector contours); - int ID() { return this->id; }; - std::vector Contours() { return this->contours; }; - ExampleContour GetExampleContourByID(int id); - void SetContourProperty(int contour, TargetProperty prop, SettingPair values); - SettingPair GetContourProperty(int contour, TargetProperty prop); - void SetTargetProperty(RunnerProperty prop, double value); - double GetTargetProperty(RunnerProperty prop); - void AddGenericContour(); - - private: - bool ArrayMaxed(int arr[], int size, int max); - bool ContainsDuplicates(int arr[], int size); - bool CombonationAlreadyTested(int combonation[], std::vector< std::vector > testedCombos, int comboSize); - int id; - std::vector contours; - - double knownHeight, - focalHeight, - distErrorCorrect, - calibratedDistance; - }; - - /** - * A module which takes images and gets them ready for work by the PostProcessor. - */ - class PreProcessor { - public: - PreProcessor() {}; - PreProcessor(bool FullPreprocessor, Color targetColor, int threshold, int erosion, int dilation, bool debugging); - void SetProperty(PreProcessorProperty prop, double value); - double GetProperty(PreProcessorProperty prop); - cv::Mat ProcessImage(cv::Mat img); - std::string toString(); - - private: - bool isFullPreprocessor, - debugging; - - //threshold values for contrasting image - double threshold, - threshValue; - - int threshtype; - - //dilation values for expanding, blurring, or dilating - int dilate, - erode; - - //what the camera looks for - Color targetColor; - }; - - /** - * Takes preprocessed images and finds targets within them. - */ - class PostProcessor { - public: - PostProcessor() {}; - PostProcessor(std::vector targets, bool debugging); - void SetTarget(int id, ExampleTarget target); - int NumberOfTargets() { return this->targets.size(); }; - int NumberOfContours(int target); - void SetTargetContourProperty(int contour, TargetProperty prop, SettingPair values); - SettingPair GetTargetContourProperty(int contour, TargetProperty prop); - void SetRunnerProperty(RunnerProperty prop, double value); - double GetRunnerProperty(RunnerProperty prop); - ExampleTarget GetExampleTargetByID(int id); - std::vector ProcessImage(cv::Mat img); - std::vector GetValidContoursForTarget(std::vector contours); - std::vector GetContoursFromLastFrame() { return this->contoursFromLastFrame; }; - - private: - bool debugging; - std::vector targets; - std::vector contoursFromLastFrame; - }; - - class CameraFrame { - public: - CameraFrame() {}; - CameraFrame(Mat img, int minimumArea); - Target SeenTarget() { return this->seenTarget; }; - int NumberOfContours() { return this->seenTarget.Contours().size(); }; - std::vector GetContoursGrouped(); - std::vector GetContours() { return this->seenTarget.Contours(); }; - int PositionValue(Contour contour); - Distance GetContourDistance(Contour contour); - - private: - Target seenTarget; - Mat image; - }; - - /** - * Handles everything vision from taking images to send coordinates to a RoboRIO(or other UDP destination) - */ - class Runner { - public: - static const std::string NULL_MESSAGE; - - Runner() {}; - Runner(std::string filename, bool debugging); - PreProcessor GetPreProcessor() { return this->preprocessor; }; - PostProcessor GetPostProcessor() { return this->postprocessor; }; - int GetCameraIndex() { return this->cameraIndex; }; - void SetImageResize(Size sz); - std::string Iterate(); - int GetNumberOfTargets() { return this->postprocessor.NumberOfTargets(); }; - int GetNumberOfContours(int target); - bool GetLastFrameSuccessful() { return this->lastIterationSuccessful; }; - std::vector GetLastFrameTargets() { return this->lastFrameTargets; }; - Target GetClosestTargetToCenter() { return this->closestTarget; }; - Point GetLastFrameCenterPoint() { return this->lastFrameCenterPoint; }; - std::string GetFileName() { return this->src; }; - cv::Mat GetOriginalImage() { return this->originalImage; }; - cv::Mat GetOutputImage() { return this->outputImage; }; - Size GetConstantSize() { return this->constantResize; }; - ExampleTarget GetExampleTargetByID(int id); - void SetExampleTarget(int targetID, ExampleTarget target); - void SetPreprocessorProperty(PreProcessorProperty prop, double value); - double GetPreprocessorProperty(PreProcessorProperty prop); - void SetPostProcessorContourProperty(int contour, TargetProperty prop, SettingPair values); - SettingPair GetPostProcessorContourProperty(int contour, TargetProperty prop); - void SetRunnerProperty(RunnerProperty prop, double value); - double GetRunnerProperty(RunnerProperty prop); - - private: - void parseDocument(XMLDocument doc); - void applySettings(XMLDocument document); - - PreProcessor preprocessor; - PostProcessor postprocessor; - Size constantResize; - - Target closestTarget; - - std::string src, - configName; - - int cameraIndex; - - cv::Mat outputImage, - originalImage; - - std::vector postProcessorTargets; - std::vector lastFrameTargets; - Point lastFrameCenterPoint; - bool lastIterationSuccessful; - bool stop, - debug; - - double centerOffsetX, - centerOffsetY; - }; - - /** - * utility that learns a seen target - */ - class ConfigLearner { - public: - ConfigLearner() {}; - ConfigLearner(PreProcessor preprocessor); - void StartLearning(); - void FeedImage(Mat img, int minimumContourArea); - ExampleTarget StopLearning(int minimumContourArea); - bool GetLearning() { return this->currentlyLearning; }; - bool GetHasFailed() { return this->failedFrames > 10; }; - int GetFramesLearned(); - Mat GetOutputImageFromLastFeed() { return this->out; }; - Mat GetOriginalImageFromLastFeed() { return this->original; }; - - private: - PreProcessor preprocessor; - - bool currentlyLearning; - std::vector currentFrames; - - int failedFrames; - - Mat out, - original; - }; - - - /** - * A tool that calculates the constants needed for accurate distance calculation - */ - class TargetDistanceLearner { - public: - TargetDistanceLearner() {}; - TargetDistanceLearner(PreProcessor preprocessor, PostProcessor postprocessor); - void FeedImage(Mat img); - void FeedTarget(Target targ); - int GetFramesLearned(); - bool GetHasFailed() { return this->failedFrames > 10; }; - double GetFocalWidth(double trueDistance, double trueWidth); - - private: - int frames; - int failedFrames; - PreProcessor preprocessor; - PostProcessor postprocessor; - std::vector targetWidths; - }; - - - class TargetTroubleshooter { - public: - TargetTroubleshooter() {}; - TargetTroubleshooter(VideoCapture cap, PreProcessor preprocessor, ExampleTarget target); - bool Troubleshoot(TroubleshootingData dataOut[]); - std::string GetOutputString() { return this->outString; }; - - private: - VideoCapture cap; - PreProcessor preprocessor; - ExampleTarget target; - - int framesCollected; - std::string outString; - }; -} - -#endif +#ifndef KiwiLight_RUNNER_H +#define KiwiLight_RUNNER_H + +#include "Settings.h" +#include "../util/Util.h" +#include "opencv2/opencv.hpp" + +/** + * The main header file for the KiwiLight Runner + * Written By: Brach Knutson + */ + +using namespace cv; + +namespace KiwiLight { + + /** + * Descriptor enumeration for the type of preprocessor being used + */ + enum PreProcessorType { + FULL, + PARTIAL + }; + + enum RunnerProperty { + OFFSET_X, + OFFSET_Y, + IMAGE_WIDTH, + IMAGE_HEIGHT, + TRUE_WIDTH, + PERCEIVED_WIDTH, + CALIBRATED_DISTANCE, + ERROR_CORRECTION + }; + + + enum PreProcessorProperty { + IS_FULL, + THRESHOLD, + DILATION, + EROSION, + COLOR_HUE, + COLOR_SATURATION, + COLOR_VALUE, + COLOR_ERROR + }; + + /** + * Describes the names of certain properties of a target. + */ + enum TargetProperty { + DIST_X, + DIST_Y, + ANGLE, + ASPECT_RATIO, + SOLIDITY, + MINIMUM_AREA + }; + + + struct TroubleshootingData { + int missedHorizontalDistances, + missedVerticalDistances, + missedAngles, + missedSolidities, + missedAspectRatios; + + double averageHorizontalDistance, + averageVerticalDistance, + averageAngle, + averageSolidity, + averageAspectRatio; + + double targetHorizontalDistance, + targetVerticalDistance, + targetAngle, + targetSolidity, + targetAspectRatio; + }; + + + class Contour { + public: + Contour() {}; + Contour(std::vector points); + int X() { return this->x; }; + int Y() { return this->y; }; + Point Center() { return this->center; }; + int Width() { return this->width; }; + int Height() { return this->height; }; + int Angle() { return this->angle; }; + int Area() { return (this->width * this->height); }; + double AspectRatio() { return this->width / (double) this->height; }; + double Solidity() { return this->solidity; }; + + private: + std::vector points; + int x, + y, + width, + height, + angle; + + double solidity; + + Point center; + }; + + + class ExampleContour { + public: + ExampleContour() {}; + ExampleContour(int id); + ExampleContour(int id, + SettingPair distX, + SettingPair distY, + SettingPair angle, + SettingPair aspectRatio, + SettingPair solidity, + int minimumArea); + + bool IsContour(Contour contour); + int ID() { return this->id; }; + SettingPair DistX() { return this->distX; }; + SettingPair DistY() { return this->distY; }; + SettingPair Angle() { return this->angle; }; + SettingPair AspectRatio() { return this->aspectRatio; }; + SettingPair Solidity() { return this->solidity; }; + int MinimumArea() { return this->minimumArea; }; + + void SetDistX(SettingPair distX); + void SetDistY(SettingPair distY); + void SetAngle(SettingPair angle); + void SetAspectRatio(SettingPair aspectRatio); + void SetSolidity(SettingPair solidity); + void SetMinimumArea(int minimumArea); + + private: + int id; + SettingPair distX, + distY, + angle, + aspectRatio, + solidity; + + int minimumArea; + }; + + /** + * Represents a target found in an image + */ + class Target { + public: + Target(); + Target(int id, std::vector contours, double knownHeight, double focalHeight, double distErrorCorrect, double calibratedDistance); + int ID() { return this->id; }; + std::vector Contours() { return this->contours; }; + double Distance(); + int HorizontalAngle(int imageCenterX); + int HorizontalAngle(double distanceToTarget, int imageCenterX); + int VerticalAngle(int imageCenterY); + int VerticalAngle(double distanceToTarget, int imageCenterY); + int ObliqueAngle(int imageCenterX, int imageCenterY); + double KnownWidth() { return this->knownHeight; }; + double FocalWidth() { return this->focalHeight; }; + double DistanceErrorCorrection() { return this->distErrorCorrect; }; + double CalibratedDistance() { return this->calibratedDistance; }; + cv::Point Center() { return cv::Point(this->x, this->y); }; + cv::Rect Bounds(); + + private: + std::vector contours; + + int id, + x, + y, + width, + height; + + double knownHeight, + focalHeight, + distErrorCorrect, + calibratedDistance; + }; + + + class ExampleTarget { + public: + ExampleTarget() {}; + ExampleTarget(int id, std::vector contours, double knownHeight, double focalHeight, double distErrorCorrect, double calibratedDistance); + std::vector GetTargets(std::vector contours); + bool isTarget(std::vector contours); + std::vector GetValidContours(std::vector contours); + int ID() { return this->id; }; + std::vector Contours() { return this->contours; }; + ExampleContour GetExampleContourByID(int id); + void SetContourProperty(int contour, TargetProperty prop, SettingPair values); + SettingPair GetContourProperty(int contour, TargetProperty prop); + void SetTargetProperty(RunnerProperty prop, double value); + double GetTargetProperty(RunnerProperty prop); + void AddGenericContour(); + + private: + bool ArrayMaxed(int arr[], int size, int max); + bool ContainsDuplicates(int arr[], int size); + bool CombonationAlreadyTested(int combonation[], std::vector< std::vector > testedCombos, int comboSize); + int id; + std::vector contours; + + double knownHeight, + focalHeight, + distErrorCorrect, + calibratedDistance; + }; + + /** + * A module which takes images and gets them ready for work by the PostProcessor. + */ + class PreProcessor { + public: + PreProcessor() {}; + PreProcessor(bool FullPreprocessor, Color targetColor, int threshold, int erosion, int dilation, bool debugging); + void SetProperty(PreProcessorProperty prop, double value); + double GetProperty(PreProcessorProperty prop); + cv::Mat ProcessImage(cv::Mat img); + std::string toString(); + + private: + bool isFullPreprocessor, + debugging; + + //threshold values for contrasting image + double threshold, + threshValue; + + int threshtype; + + //dilation values for expanding, blurring, or dilating + int dilate, + erode; + + //what the camera looks for + Color targetColor; + }; + + /** + * Takes preprocessed images and finds targets within them. + */ + class PostProcessor { + public: + PostProcessor() {}; + PostProcessor(std::vector targets, bool debugging); + void SetTarget(int id, ExampleTarget target); + int NumberOfTargets() { return this->targets.size(); }; + int NumberOfContours(int target); + void SetTargetContourProperty(int contour, TargetProperty prop, SettingPair values); + SettingPair GetTargetContourProperty(int contour, TargetProperty prop); + void SetRunnerProperty(RunnerProperty prop, double value); + double GetRunnerProperty(RunnerProperty prop); + ExampleTarget GetExampleTargetByID(int id); + std::vector ProcessImage(cv::Mat img); + std::vector GetValidContoursForTarget(std::vector contours); + std::vector GetContoursFromLastFrame() { return this->contoursFromLastFrame; }; + + private: + bool debugging; + std::vector targets; + std::vector contoursFromLastFrame; + }; + + class CameraFrame { + public: + CameraFrame() {}; + CameraFrame(Mat img, int minimumArea); + Target SeenTarget() { return this->seenTarget; }; + int NumberOfContours() { return this->seenTarget.Contours().size(); }; + std::vector GetContoursGrouped(); + std::vector GetContours() { return this->seenTarget.Contours(); }; + int PositionValue(Contour contour); + Distance GetContourDistance(Contour contour); + + private: + Target seenTarget; + Mat image; + }; + + /** + * Handles everything vision from taking images to send coordinates to a RoboRIO(or other UDP destination) + */ + class Runner { + public: + static const std::string NULL_MESSAGE; + + Runner() {}; + Runner(std::string filename, bool debugging); + PreProcessor GetPreProcessor() { return this->preprocessor; }; + PostProcessor GetPostProcessor() { return this->postprocessor; }; + int GetCameraIndex() { return this->cameraIndex; }; + void SetImageResize(Size sz); + std::string Iterate(); + int GetNumberOfTargets() { return this->postprocessor.NumberOfTargets(); }; + int GetNumberOfContours(int target); + bool GetLastFrameSuccessful() { return this->lastIterationSuccessful; }; + std::vector GetLastFrameTargets() { return this->lastFrameTargets; }; + Target GetClosestTargetToCenter() { return this->closestTarget; }; + Point GetLastFrameCenterPoint() { return this->lastFrameCenterPoint; }; + std::string GetFileName() { return this->src; }; + cv::Mat GetOriginalImage() { return this->originalImage; }; + cv::Mat GetOutputImage() { return this->outputImage; }; + Size GetConstantSize() { return this->constantResize; }; + ExampleTarget GetExampleTargetByID(int id); + void SetExampleTarget(int targetID, ExampleTarget target); + void SetPreprocessorProperty(PreProcessorProperty prop, double value); + double GetPreprocessorProperty(PreProcessorProperty prop); + void SetPostProcessorContourProperty(int contour, TargetProperty prop, SettingPair values); + SettingPair GetPostProcessorContourProperty(int contour, TargetProperty prop); + void SetRunnerProperty(RunnerProperty prop, double value); + double GetRunnerProperty(RunnerProperty prop); + + private: + void parseDocument(XMLDocument doc); + void applySettings(XMLDocument document); + + PreProcessor preprocessor; + PostProcessor postprocessor; + Size constantResize; + + Target closestTarget; + + std::string src, + configName; + + int cameraIndex; + + cv::Mat outputImage, + originalImage; + + std::vector postProcessorTargets; + std::vector lastFrameTargets; + Point lastFrameCenterPoint; + bool lastIterationSuccessful; + bool stop, + debug; + + double centerOffsetX, + centerOffsetY; + }; + + /** + * utility that learns a seen target + */ + class ConfigLearner { + public: + ConfigLearner() {}; + ConfigLearner(PreProcessor preprocessor); + void StartLearning(); + void FeedImage(Mat img, int minimumContourArea); + ExampleTarget StopLearning(int minimumContourArea); + bool GetLearning() { return this->currentlyLearning; }; + bool GetHasFailed() { return this->failedFrames > 10; }; + int GetFramesLearned(); + Mat GetOutputImageFromLastFeed() { return this->out; }; + Mat GetOriginalImageFromLastFeed() { return this->original; }; + + private: + PreProcessor preprocessor; + + bool currentlyLearning; + std::vector currentFrames; + + int failedFrames; + + Mat out, + original; + }; + + + /** + * A tool that calculates the constants needed for accurate distance calculation + */ + class TargetDistanceLearner { + public: + TargetDistanceLearner() {}; + TargetDistanceLearner(PreProcessor preprocessor, PostProcessor postprocessor); + void FeedImage(Mat img); + void FeedTarget(Target targ); + int GetFramesLearned(); + bool GetHasFailed() { return this->failedFrames > 10; }; + double GetFocalWidth(double trueDistance, double trueWidth); + + private: + int frames; + int failedFrames; + PreProcessor preprocessor; + PostProcessor postprocessor; + std::vector targetWidths; + }; + + + class TargetTroubleshooter { + public: + TargetTroubleshooter() {}; + TargetTroubleshooter(VideoCapture cap, PreProcessor preprocessor, ExampleTarget target); + bool Troubleshoot(TroubleshootingData dataOut[]); + std::string GetOutputString() { return this->outString; }; + + private: + VideoCapture cap; + PreProcessor preprocessor; + ExampleTarget target; + + int framesCollected; + std::string outString; + }; +} + +#endif diff --git a/KiwiLight - Vision Code/runner/RunnerSettings.cpp b/KiwiLight - Vision Code/runner/RunnerSettings.cpp index acb04bc..494e972 100644 --- a/KiwiLight - Vision Code/runner/RunnerSettings.cpp +++ b/KiwiLight - Vision Code/runner/RunnerSettings.cpp @@ -1,9 +1,9 @@ -#include "Settings.h" - -/** - * This file's only purpose is literally to define one variable that I couldnt define in the header - * Written By: Brach Knutson - */ - -const bool KiwiLight::RunnerSettings::USE_CAMERA = true; +#include "Settings.h" + +/** + * This file's only purpose is literally to define one variable that I couldnt define in the header + * Written By: Brach Knutson + */ + +const bool KiwiLight::RunnerSettings::USE_CAMERA = true; const std::string KiwiLight::RunnerSettings::IMAGE_TO_USE = "sized.png"; \ No newline at end of file diff --git a/KiwiLight - Vision Code/runner/Settings.h b/KiwiLight - Vision Code/runner/Settings.h index 7f7ff63..d4e48a2 100644 --- a/KiwiLight - Vision Code/runner/Settings.h +++ b/KiwiLight - Vision Code/runner/Settings.h @@ -1,19 +1,19 @@ -#ifndef SETTINGS_H -#define SETTINGS_H - -#include - -/** - * Settings file for runner. Defines general rules for runner to follow. Used for debugging - * Written By: Brach Knutson - */ - -namespace KiwiLight { - class RunnerSettings { - public: - static const bool USE_CAMERA; - static const std::string IMAGE_TO_USE; - }; -} - -#endif +#ifndef SETTINGS_H +#define SETTINGS_H + +#include + +/** + * Settings file for runner. Defines general rules for runner to follow. Used for debugging + * Written By: Brach Knutson + */ + +namespace KiwiLight { + class RunnerSettings { + public: + static const bool USE_CAMERA; + static const std::string IMAGE_TO_USE; + }; +} + +#endif diff --git a/KiwiLight - Vision Code/runner/Target.cpp b/KiwiLight - Vision Code/runner/Target.cpp index eba2884..61905c5 100644 --- a/KiwiLight - Vision Code/runner/Target.cpp +++ b/KiwiLight - Vision Code/runner/Target.cpp @@ -1,161 +1,161 @@ -#include "Runner.h" - -/** - * Source file for the Target class. - * Written By: Brach Knutson - */ - -using namespace cv; -using namespace KiwiLight; - - -Target::Target() { - this->id = -1; - this->contours = std::vector(); - this->knownHeight = -1; - this->focalHeight = -1; - this->distErrorCorrect = -1; - this->calibratedDistance = -1; - this->width = -1; - this->height = -1; - this->x = -1; - this->y = -1; -} - -/** - * Creates a new Target object with the vector of contours. - * DO NOT use this to find a target, Targets will be - * generated by the ExampleTarget class. Use an ExampleTarget - * to find targets!!! - */ -Target::Target(int id, std::vector contours, double knownHeight, double focalHeight, double distErrorCorrect, double calibratedDistance) { - this->id = id; - this->contours = contours; - this->knownHeight = knownHeight; - this->focalHeight = focalHeight; - this->distErrorCorrect = distErrorCorrect; - this->calibratedDistance = calibratedDistance; - - if(contours.size() == 1) { - this->width = contours[0].Width(); - this->height = contours[0].Height(); - this->x = (this->width / 2) + contours[0].X(); - this->y = (this->height / 2) + contours[0].Y(); - } else { - int biggestX = -5000; - int smallestX = 5000; - int biggestY = -5000; - int smallestY = 5000; - - int biggestXWidth = 0; - int biggestYHeight = 0; - - for(int i=0; i biggestX) { - biggestX = contours[i].X(); - biggestXWidth = contours[i].Width(); - } - if(contours[i].X() < smallestX) { - smallestX = contours[i].X(); - } - - if(contours[i].Y() > biggestY) { - biggestY = contours[i].Y(); - biggestYHeight = contours[i].Height(); - } - if(contours[i].Y() < smallestY) { - smallestY = contours[i].Y(); - } - } - - this->width = (biggestX - smallestX) + biggestXWidth; - this->height = (biggestY - smallestY) + biggestYHeight; - this->x = (this->width / 2) + smallestX; - this->y = (this->height / 2) + smallestY; - - // std::cout << "biggest x: " << biggestX << std::endl; - // std::cout << "biggest x width: " << biggestXWidth << std::endl; - // std::cout << "smallest x: " << smallestX << std::endl; - // std::cout << "total width: " << this->width << std::endl; - } -} - -/** - * Returns the distance from the camera to the target in inches. - */ -double Target::Distance() { - //calculate distance (formula: known(in) * focal(in) / real(px)) - double dist = this->knownHeight * this->focalHeight / (double) this->Bounds().width; - - double err = this->calibratedDistance - dist; - err *= this->distErrorCorrect; - - return (dist + err); -} - - -int Target::HorizontalAngle(double distanceToTarget, int imageCenterX) { - double inchesPerPixel = this->knownHeight / this->Bounds().width; - int pixelsToTarget = imageCenterX - this->Center().x; - - double inchesToTarget = pixelsToTarget * inchesPerPixel; - double angle = atan(inchesToTarget / distanceToTarget); - - //convert to degrees - angle *= (180 / M_PI); - return (int) angle; -} - - -int Target::HorizontalAngle(int imageCenterX) { - return this->HorizontalAngle(this->Distance(), imageCenterX); -} - - -int Target::VerticalAngle(double distanceToTarget, int imageCenterY) { - double InchesPerPixel = this->knownHeight / this->Bounds().width; - int pixelsToTarget = imageCenterY - this->Center().y; - - double inchesToTarget = pixelsToTarget * InchesPerPixel; - double angle = atan(inchesToTarget / distanceToTarget); - - //convert to degrees and return - angle *= (180 / M_PI); - return (int) angle; -} - - -int Target::VerticalAngle(int imageCenterY) { - return this->VerticalAngle(this->Distance(), imageCenterY); -} - - -int Target::ObliqueAngle(int imageCenterX, int imageCenterY) { - double horizontalAngle = this->HorizontalAngle(imageCenterX) * (M_PI / 180); //convert angle from degrees to radians - double verticalAngle = this->VerticalAngle(imageCenterY) * (M_PI / 180); - double targetDistance = this->Distance(); - - double horizontalOffset = targetDistance * tan(horizontalAngle); - double verticalOffset = targetDistance * tan(verticalAngle); - double obliqueOffset = sqrt ( - pow(horizontalOffset, 2) + - pow(verticalOffset, 2) - ); - - double obliqueAngle = atan(obliqueOffset / targetDistance); - - //convert the angle back to degrees - obliqueAngle *= (180 / M_PI); - return obliqueAngle; -} - -/** - * Returns a rectangle that represents the bounds of the target. - */ -cv::Rect Target::Bounds() { - //find the corner x and y because the local x and y are for the center - int trueX = this->x - (this->width / 2); - int trueY = this->y - (this->height / 2); - - return cv::Rect(trueX, trueY, this->width, this->height); +#include "Runner.h" + +/** + * Source file for the Target class. + * Written By: Brach Knutson + */ + +using namespace cv; +using namespace KiwiLight; + + +Target::Target() { + this->id = -1; + this->contours = std::vector(); + this->knownHeight = -1; + this->focalHeight = -1; + this->distErrorCorrect = -1; + this->calibratedDistance = -1; + this->width = -1; + this->height = -1; + this->x = -1; + this->y = -1; +} + +/** + * Creates a new Target object with the vector of contours. + * DO NOT use this to find a target, Targets will be + * generated by the ExampleTarget class. Use an ExampleTarget + * to find targets!!! + */ +Target::Target(int id, std::vector contours, double knownHeight, double focalHeight, double distErrorCorrect, double calibratedDistance) { + this->id = id; + this->contours = contours; + this->knownHeight = knownHeight; + this->focalHeight = focalHeight; + this->distErrorCorrect = distErrorCorrect; + this->calibratedDistance = calibratedDistance; + + if(contours.size() == 1) { + this->width = contours[0].Width(); + this->height = contours[0].Height(); + this->x = (this->width / 2) + contours[0].X(); + this->y = (this->height / 2) + contours[0].Y(); + } else { + int biggestX = -5000; + int smallestX = 5000; + int biggestY = -5000; + int smallestY = 5000; + + int biggestXWidth = 0; + int biggestYHeight = 0; + + for(int i=0; i biggestX) { + biggestX = contours[i].X(); + biggestXWidth = contours[i].Width(); + } + if(contours[i].X() < smallestX) { + smallestX = contours[i].X(); + } + + if(contours[i].Y() > biggestY) { + biggestY = contours[i].Y(); + biggestYHeight = contours[i].Height(); + } + if(contours[i].Y() < smallestY) { + smallestY = contours[i].Y(); + } + } + + this->width = (biggestX - smallestX) + biggestXWidth; + this->height = (biggestY - smallestY) + biggestYHeight; + this->x = (this->width / 2) + smallestX; + this->y = (this->height / 2) + smallestY; + + // std::cout << "biggest x: " << biggestX << std::endl; + // std::cout << "biggest x width: " << biggestXWidth << std::endl; + // std::cout << "smallest x: " << smallestX << std::endl; + // std::cout << "total width: " << this->width << std::endl; + } +} + +/** + * Returns the distance from the camera to the target in inches. + */ +double Target::Distance() { + //calculate distance (formula: known(in) * focal(in) / real(px)) + double dist = this->knownHeight * this->focalHeight / (double) this->Bounds().width; + + double err = this->calibratedDistance - dist; + err *= this->distErrorCorrect; + + return (dist + err); +} + + +int Target::HorizontalAngle(double distanceToTarget, int imageCenterX) { + double inchesPerPixel = this->knownHeight / this->Bounds().width; + int pixelsToTarget = imageCenterX - this->Center().x; + + double inchesToTarget = pixelsToTarget * inchesPerPixel; + double angle = atan(inchesToTarget / distanceToTarget); + + //convert to degrees + angle *= (180 / M_PI); + return (int) angle; +} + + +int Target::HorizontalAngle(int imageCenterX) { + return this->HorizontalAngle(this->Distance(), imageCenterX); +} + + +int Target::VerticalAngle(double distanceToTarget, int imageCenterY) { + double InchesPerPixel = this->knownHeight / this->Bounds().width; + int pixelsToTarget = imageCenterY - this->Center().y; + + double inchesToTarget = pixelsToTarget * InchesPerPixel; + double angle = atan(inchesToTarget / distanceToTarget); + + //convert to degrees and return + angle *= (180 / M_PI); + return (int) angle; +} + + +int Target::VerticalAngle(int imageCenterY) { + return this->VerticalAngle(this->Distance(), imageCenterY); +} + + +int Target::ObliqueAngle(int imageCenterX, int imageCenterY) { + double horizontalAngle = this->HorizontalAngle(imageCenterX) * (M_PI / 180); //convert angle from degrees to radians + double verticalAngle = this->VerticalAngle(imageCenterY) * (M_PI / 180); + double targetDistance = this->Distance(); + + double horizontalOffset = targetDistance * tan(horizontalAngle); + double verticalOffset = targetDistance * tan(verticalAngle); + double obliqueOffset = sqrt ( + pow(horizontalOffset, 2) + + pow(verticalOffset, 2) + ); + + double obliqueAngle = atan(obliqueOffset / targetDistance); + + //convert the angle back to degrees + obliqueAngle *= (180 / M_PI); + return obliqueAngle; +} + +/** + * Returns a rectangle that represents the bounds of the target. + */ +cv::Rect Target::Bounds() { + //find the corner x and y because the local x and y are for the center + int trueX = this->x - (this->width / 2); + int trueY = this->y - (this->height / 2); + + return cv::Rect(trueX, trueY, this->width, this->height); } \ No newline at end of file diff --git a/KiwiLight - Vision Code/runner/TargetDistanceLearner.cpp b/KiwiLight - Vision Code/runner/TargetDistanceLearner.cpp index 42bf20f..d855cf4 100644 --- a/KiwiLight - Vision Code/runner/TargetDistanceLearner.cpp +++ b/KiwiLight - Vision Code/runner/TargetDistanceLearner.cpp @@ -1,58 +1,58 @@ -#include "Runner.h" - -/** - * Source file for the TargetDistanceLearner class. - * Written By: Brach Knutson - */ - -using namespace cv; -using namespace KiwiLight; - - -TargetDistanceLearner::TargetDistanceLearner(PreProcessor preprocessor, PostProcessor postprocessor) { - this->preprocessor = preprocessor; - this->postprocessor = postprocessor; - this->frames = 0; -} - - -void TargetDistanceLearner::FeedImage(Mat image) { - if(image.empty()) { - failedFrames++; - return; - } - - Mat img(image); - img = this->preprocessor.ProcessImage(img); - std::vector frameTargs = this->postprocessor.ProcessImage(img); - if(frameTargs.size() == 1) { - Target targ = frameTargs[0]; - this->targetWidths.push_back((double) targ.Bounds().width); - this->frames++; - } -} - - -void TargetDistanceLearner::FeedTarget(Target targ) { - this->targetWidths.push_back((double) targ.Bounds().width); - this->frames++; -} - - -double TargetDistanceLearner::GetFocalWidth(double trueDistance, double trueWidth) { - int sizeBeforeRemove = targetWidths.size(); - this->targetWidths = DataUtils::SortLeastGreatestDouble(this->targetWidths); - this->targetWidths = DataUtils::RemoveOutliers(this->targetWidths, 30); - - double avgWidth = DataUtils::Average(targetWidths); - - double focalWidth = avgWidth * trueDistance / trueWidth; - this->targetWidths = std::vector(); //reset the vector so it can learn again - this->frames = 0; //reset the frames counter so it can learn again - return focalWidth; -} - - -int TargetDistanceLearner::GetFramesLearned() { - return this->frames; -} +#include "Runner.h" + +/** + * Source file for the TargetDistanceLearner class. + * Written By: Brach Knutson + */ + +using namespace cv; +using namespace KiwiLight; + + +TargetDistanceLearner::TargetDistanceLearner(PreProcessor preprocessor, PostProcessor postprocessor) { + this->preprocessor = preprocessor; + this->postprocessor = postprocessor; + this->frames = 0; +} + + +void TargetDistanceLearner::FeedImage(Mat image) { + if(image.empty()) { + failedFrames++; + return; + } + + Mat img(image); + img = this->preprocessor.ProcessImage(img); + std::vector frameTargs = this->postprocessor.ProcessImage(img); + if(frameTargs.size() == 1) { + Target targ = frameTargs[0]; + this->targetWidths.push_back((double) targ.Bounds().width); + this->frames++; + } +} + + +void TargetDistanceLearner::FeedTarget(Target targ) { + this->targetWidths.push_back((double) targ.Bounds().width); + this->frames++; +} + + +double TargetDistanceLearner::GetFocalWidth(double trueDistance, double trueWidth) { + int sizeBeforeRemove = targetWidths.size(); + this->targetWidths = DataUtils::SortLeastGreatestDouble(this->targetWidths); + this->targetWidths = DataUtils::RemoveOutliers(this->targetWidths, 30); + + double avgWidth = DataUtils::Average(targetWidths); + + double focalWidth = avgWidth * trueDistance / trueWidth; + this->targetWidths = std::vector(); //reset the vector so it can learn again + this->frames = 0; //reset the frames counter so it can learn again + return focalWidth; +} + + +int TargetDistanceLearner::GetFramesLearned() { + return this->frames; +} diff --git a/KiwiLight - Vision Code/runner/TargetTroubleshooter.cpp b/KiwiLight - Vision Code/runner/TargetTroubleshooter.cpp index 09ced60..f6ea656 100644 --- a/KiwiLight - Vision Code/runner/TargetTroubleshooter.cpp +++ b/KiwiLight - Vision Code/runner/TargetTroubleshooter.cpp @@ -1,225 +1,225 @@ -#include "Runner.h" - -/** - * Source file for the TargetTroubleshooter class. - * Written By: Brach Knutson - */ - -using namespace KiwiLight; - -static const int TROUBLESHOOT_FRAMES = 50; - -/** - * Creates a new TargetTroubleshooter. The "target" parameter is the target that needs to be troubleshot. - */ -TargetTroubleshooter::TargetTroubleshooter(VideoCapture cap, PreProcessor preprocessor, ExampleTarget target) { - this->cap = cap; - this->preprocessor = preprocessor; - this->target = target; -} - -/** - * Troubleshoots the target. - * @param allowableMissedTests how many tests a contour is allowed to miss before it cannot be part of the target. - * @param dataOut an array of TroubleshootingData that test results and values will be dumped in by the method. - * Precondition: dataOut is the same size as target.Contours.size() - */ -bool TargetTroubleshooter::Troubleshoot(TroubleshootingData dataOut[]) { - CameraFrame frames[TROUBLESHOOT_FRAMES]; - int minimumArea = 50000; - - //figure out the minimum area - for(int i=0; itarget.Contours().size(); i++) { - if(this->target.Contours()[i].MinimumArea() < minimumArea) { - minimumArea = this->target.Contours()[i].MinimumArea(); - } - } - - //capture the frames - for(int i=0; icap.read(img); - } else { - success = true; - img = imread(RunnerSettings::IMAGE_TO_USE); - } - img = this->preprocessor.ProcessImage(img); - - if(success) { - CameraFrame newFrame = CameraFrame(img, minimumArea); - frames[i] = newFrame; - } else { - i--; - std::cout << "CAMERA GRAB FAILED! "; - } - - double percentDone = i / (double) TROUBLESHOOT_FRAMES; - percentDone *= 100; - - this->outString = "Collecting and processing images (" + std::to_string((int) percentDone) + "%)"; - } - - //figure out the average number of contours per frame - std::vector avgContours; - for(int i=0; i > groupedContours = std::vector< std::vector >(this->target.Contours().size()); - - int discardedFrames = 0; - for(int i=0; i grouped = frames[i].GetContoursGrouped(); - - for(int a=0; a > matchedContours = std::vector >(this->target.Contours().size()); //index 0 of matchedContours will correspond with exampleContour with id 0, 1 with 1, 2 with 2, etc - std::cout << "matched contours size: " << matchedContours.size() << std::endl; - std::vector targetContours = this->target.Contours(); - - for(int i=0; i group = groupedContours[i]; - std::vector horizontalDistances; - std::vector verticalDistances; - - std::cout << "group size: " << group.size() << std::endl; - - for(int a=0; atarget.Contours().size()]; - - //run tests on the contours and build the data in TroubleshootingData - for(int i=0; i HorizontalDistances; - std::vector VerticalDistances; - std::vector Angles; - std::vector Solidities; - std::vector AspectRatios; - - std::cout << "matched group " << i << " size: " << matchedContours[i].size() << std::endl; - for(int a=0; atarget.Contours()[i]; - Contour contourToTest = matchedContours[i][a]; - - //test contour - Distance dist = frames[a].GetContourDistance(contourToTest); - bool distXTest = (dist.x < testingContour.DistX().UpperBound()) && (dist.x > testingContour.DistX().LowerBound()); - bool distYTest = (dist.y < testingContour.DistY().UpperBound()) && (dist.y > testingContour.DistY().LowerBound()); - bool angleTest = (contourToTest.Angle() < testingContour.Angle().UpperBound()) && (contourToTest.Angle() > testingContour.Angle().LowerBound()); - bool solidityTest = (contourToTest.Solidity() < testingContour.Solidity().UpperBound()) && (contourToTest.Solidity() > testingContour.Solidity().LowerBound()); - bool aspectTest = (contourToTest.AspectRatio() < testingContour.AspectRatio().UpperBound()) && (contourToTest.AspectRatio() > testingContour.AspectRatio().LowerBound()); - - HorizontalDistances.push_back(dist.x); - VerticalDistances.push_back(dist.y); - Angles.push_back(contourToTest.Angle()); - Solidities.push_back(contourToTest.Solidity()); - AspectRatios.push_back(contourToTest.AspectRatio()); - - if(!distXTest) data[i].missedHorizontalDistances++; - if(!distYTest) data[i].missedVerticalDistances++; - if(!angleTest) data[i].missedAngles++; - if(!solidityTest) data[i].missedSolidities++; - if(!aspectTest) data[i].missedAspectRatios++; - } - - std::cout << "horizontal distances: " << DataUtils::VectorToString(HorizontalDistances) << std::endl; - std::cout << "vertical distances: " << DataUtils::VectorToString(VerticalDistances) << std::endl; - std::cout << "angles: " << DataUtils::VectorToString(Angles) << std::endl; - std::cout << "solidities: " << DataUtils::VectorToString(Solidities) << std::endl; - std::cout << "aspect ratios: " << DataUtils::VectorToString(AspectRatios) << std::endl; - - data[i].averageHorizontalDistance = DataUtils::Average(HorizontalDistances); - data[i].averageVerticalDistance = DataUtils::Average(VerticalDistances); - data[i].averageAngle = DataUtils::Average(Angles); - data[i].averageSolidity = DataUtils::Average(Solidities); - data[i].averageAspectRatio = DataUtils::Average(AspectRatios); - } - - std::cout << "TROUBLESHOOTING RESULTS:" << std::endl; - std::cout << std::endl; - - for(int i=0; icap = cap; + this->preprocessor = preprocessor; + this->target = target; +} + +/** + * Troubleshoots the target. + * @param allowableMissedTests how many tests a contour is allowed to miss before it cannot be part of the target. + * @param dataOut an array of TroubleshootingData that test results and values will be dumped in by the method. + * Precondition: dataOut is the same size as target.Contours.size() + */ +bool TargetTroubleshooter::Troubleshoot(TroubleshootingData dataOut[]) { + CameraFrame frames[TROUBLESHOOT_FRAMES]; + int minimumArea = 50000; + + //figure out the minimum area + for(int i=0; itarget.Contours().size(); i++) { + if(this->target.Contours()[i].MinimumArea() < minimumArea) { + minimumArea = this->target.Contours()[i].MinimumArea(); + } + } + + //capture the frames + for(int i=0; icap.read(img); + } else { + success = true; + img = imread(RunnerSettings::IMAGE_TO_USE); + } + img = this->preprocessor.ProcessImage(img); + + if(success) { + CameraFrame newFrame = CameraFrame(img, minimumArea); + frames[i] = newFrame; + } else { + i--; + std::cout << "CAMERA GRAB FAILED! "; + } + + double percentDone = i / (double) TROUBLESHOOT_FRAMES; + percentDone *= 100; + + this->outString = "Collecting and processing images (" + std::to_string((int) percentDone) + "%)"; + } + + //figure out the average number of contours per frame + std::vector avgContours; + for(int i=0; i > groupedContours = std::vector< std::vector >(this->target.Contours().size()); + + int discardedFrames = 0; + for(int i=0; i grouped = frames[i].GetContoursGrouped(); + + for(int a=0; a > matchedContours = std::vector >(this->target.Contours().size()); //index 0 of matchedContours will correspond with exampleContour with id 0, 1 with 1, 2 with 2, etc + std::cout << "matched contours size: " << matchedContours.size() << std::endl; + std::vector targetContours = this->target.Contours(); + + for(int i=0; i group = groupedContours[i]; + std::vector horizontalDistances; + std::vector verticalDistances; + + std::cout << "group size: " << group.size() << std::endl; + + for(int a=0; atarget.Contours().size()]; + + //run tests on the contours and build the data in TroubleshootingData + for(int i=0; i HorizontalDistances; + std::vector VerticalDistances; + std::vector Angles; + std::vector Solidities; + std::vector AspectRatios; + + std::cout << "matched group " << i << " size: " << matchedContours[i].size() << std::endl; + for(int a=0; atarget.Contours()[i]; + Contour contourToTest = matchedContours[i][a]; + + //test contour + Distance dist = frames[a].GetContourDistance(contourToTest); + bool distXTest = (dist.x < testingContour.DistX().UpperBound()) && (dist.x > testingContour.DistX().LowerBound()); + bool distYTest = (dist.y < testingContour.DistY().UpperBound()) && (dist.y > testingContour.DistY().LowerBound()); + bool angleTest = (contourToTest.Angle() < testingContour.Angle().UpperBound()) && (contourToTest.Angle() > testingContour.Angle().LowerBound()); + bool solidityTest = (contourToTest.Solidity() < testingContour.Solidity().UpperBound()) && (contourToTest.Solidity() > testingContour.Solidity().LowerBound()); + bool aspectTest = (contourToTest.AspectRatio() < testingContour.AspectRatio().UpperBound()) && (contourToTest.AspectRatio() > testingContour.AspectRatio().LowerBound()); + + HorizontalDistances.push_back(dist.x); + VerticalDistances.push_back(dist.y); + Angles.push_back(contourToTest.Angle()); + Solidities.push_back(contourToTest.Solidity()); + AspectRatios.push_back(contourToTest.AspectRatio()); + + if(!distXTest) data[i].missedHorizontalDistances++; + if(!distYTest) data[i].missedVerticalDistances++; + if(!angleTest) data[i].missedAngles++; + if(!solidityTest) data[i].missedSolidities++; + if(!aspectTest) data[i].missedAspectRatios++; + } + + std::cout << "horizontal distances: " << DataUtils::VectorToString(HorizontalDistances) << std::endl; + std::cout << "vertical distances: " << DataUtils::VectorToString(VerticalDistances) << std::endl; + std::cout << "angles: " << DataUtils::VectorToString(Angles) << std::endl; + std::cout << "solidities: " << DataUtils::VectorToString(Solidities) << std::endl; + std::cout << "aspect ratios: " << DataUtils::VectorToString(AspectRatios) << std::endl; + + data[i].averageHorizontalDistance = DataUtils::Average(HorizontalDistances); + data[i].averageVerticalDistance = DataUtils::Average(VerticalDistances); + data[i].averageAngle = DataUtils::Average(Angles); + data[i].averageSolidity = DataUtils::Average(Solidities); + data[i].averageAspectRatio = DataUtils::Average(AspectRatios); + } + + std::cout << "TROUBLESHOOTING RESULTS:" << std::endl; + std::cout << std::endl; + + for(int i=0; iwindow = Window(type, false); - this->window.SetSize(550,200); - - Panel main = Panel(true, 0); - Panel banners = Panel(false, 0); - Image kiwiLightBanner = Image("banner_small.png"); - banners.Pack_start(kiwiLightBanner.GetWidget(), false, false, 0); - - Image foximusBanner = Image("foximus_small.png"); - banners.Pack_start(foximusBanner.GetWidget(), false, false, 0); - - main.Pack_start(banners.GetWidget(), false, false, 0); - - Panel descriptions = Panel(false, 0); - Label header = Label("About KiwiLight"); - header.SetName("header"); - descriptions.Pack_start(header.GetWidget(), false, false, 0); - - Label description = Label( - std::string("KiwiLight was written by Brach Knutson and Colton Kreischer ") + - std::string("of FRC 3695 Foximus Prime for use by any FRC team ") + - std::string("for any vision purpose.\n\nKiwiLight is stored at ") + - std::string("github.com/wh1ter0se/KiwiLight. \n\nKiwiLight is published ") + - std::string("under a GPL-3.0 license, permitting modification ") + - std::string("and distribution under the condition that the source is ") + - std::string("disclosed and distribution is accompanied by the same license.") - ); - description.SetLineWrap(true); - descriptions.Pack_start(description.GetWidget(), false, false, 0); - - main.Pack_start(descriptions.GetWidget(), false, false, 0); - - this->window.SetPane(main); - - this->aboutwindow = window.GetWidget(); -} - -/** - * Shows the about window. - */ -void AboutWindow::Show() { - this->window.Show(); -} - - -void AboutWindow::SetName(std::string name) { - gtk_widget_set_name(this->aboutwindow, name.c_str()); +#include "UI.h" + +/** + * Source file for the AboutWindow class. + * Written By: Brach Knutson + */ + +using namespace KiwiLight; + +/** + * Creates a new AboutWindow with the given window type. + */ +AboutWindow::AboutWindow(GtkWindowType type) { + + //put together an about window + this->window = Window(type, false); + this->window.SetSize(550,200); + + Panel main = Panel(true, 0); + Panel banners = Panel(false, 0); + Image kiwiLightBanner = Image("banner_small.png"); + banners.Pack_start(kiwiLightBanner.GetWidget(), false, false, 0); + + Image foximusBanner = Image("foximus_small.png"); + banners.Pack_start(foximusBanner.GetWidget(), false, false, 0); + + main.Pack_start(banners.GetWidget(), false, false, 0); + + Panel descriptions = Panel(false, 0); + Label header = Label("About KiwiLight"); + header.SetName("header"); + descriptions.Pack_start(header.GetWidget(), false, false, 0); + + Label description = Label( + std::string("KiwiLight was written by Brach Knutson and Colton Kreischer ") + + std::string("of FRC 3695 Foximus Prime for use by any FRC team ") + + std::string("for any vision purpose.\n\nKiwiLight is stored at ") + + std::string("github.com/wh1ter0se/KiwiLight. \n\nKiwiLight is published ") + + std::string("under a GPL-3.0 license, permitting modification ") + + std::string("and distribution under the condition that the source is ") + + std::string("disclosed and distribution is accompanied by the same license.") + ); + description.SetLineWrap(true); + descriptions.Pack_start(description.GetWidget(), false, false, 0); + + main.Pack_start(descriptions.GetWidget(), false, false, 0); + + this->window.SetPane(main); + + this->aboutwindow = window.GetWidget(); +} + +/** + * Shows the about window. + */ +void AboutWindow::Show() { + this->window.Show(); +} + + +void AboutWindow::SetName(std::string name) { + gtk_widget_set_name(this->aboutwindow, name.c_str()); } \ No newline at end of file diff --git a/KiwiLight - Vision Code/ui/Button.cpp b/KiwiLight - Vision Code/ui/Button.cpp index 3fcd6e2..d258312 100644 --- a/KiwiLight - Vision Code/ui/Button.cpp +++ b/KiwiLight - Vision Code/ui/Button.cpp @@ -1,33 +1,33 @@ -#include "UI.h" - -/** - * Source file for the UI Button class. - * Written By: Brach Knutson - */ - - -using namespace KiwiLight; - -/** - * Creates a new button object given the label text text and the callback callback - */ -Button::Button(std::string text, void(*callback)()) { - this->text = text; - - this->button = gtk_button_new_with_label(text.c_str()); - g_signal_connect(this->button, "clicked", G_CALLBACK(callback), NULL); -} - -void Button::SetText(std::string text) { - gtk_button_set_label(GTK_BUTTON(this->button), text.c_str()); -} - - -void Button::SetCallback( void(*callback)() ) { - -} - - -void Button::SetName(std::string name) { - gtk_widget_set_name(this->button, name.c_str()); +#include "UI.h" + +/** + * Source file for the UI Button class. + * Written By: Brach Knutson + */ + + +using namespace KiwiLight; + +/** + * Creates a new button object given the label text text and the callback callback + */ +Button::Button(std::string text, void(*callback)()) { + this->text = text; + + this->button = gtk_button_new_with_label(text.c_str()); + g_signal_connect(this->button, "clicked", G_CALLBACK(callback), NULL); +} + +void Button::SetText(std::string text) { + gtk_button_set_label(GTK_BUTTON(this->button), text.c_str()); +} + + +void Button::SetCallback( void(*callback)() ) { + +} + + +void Button::SetName(std::string name) { + gtk_widget_set_name(this->button, name.c_str()); } \ No newline at end of file diff --git a/KiwiLight - Vision Code/ui/CameraSetting.cpp b/KiwiLight - Vision Code/ui/CameraSetting.cpp index 84a3b4c..b7dce16 100644 --- a/KiwiLight - Vision Code/ui/CameraSetting.cpp +++ b/KiwiLight - Vision Code/ui/CameraSetting.cpp @@ -1,64 +1,64 @@ -#include "UI.h" - -/** - * Source file for the CameraSetting class. - * Written By: Brach Knutson - */ - - -using namespace KiwiLight; - -/** - * Creates a new CameraSetting widget, using the given std::string from V4L - */ -CameraSetting::CameraSetting(std::string name, int valueName, double min, double max, double value) { - this->name = name; - this->valueName = valueName; - this->min = min; - this->max = max; - this->value = value; - - - //create the widget - std::string boundString = - "Min: " + std::to_string(min) + - ", Max: " + std::to_string(max) + - ", ID: " + std::to_string(valueName); - - std::string nameString = this->name + " (" + boundString + ")"; - - Panel main = Panel(true, 0); - this->nameLabel = Label(nameString); - main.Pack_start(nameLabel.GetWidget(), true, true, 0); - this->input = NumberBox(min, max, 0.01, value); - main.Pack_start(this->input.GetWidget(), true, true, 0); - - this->camerasetting = main.GetWidget(); -} - -/** - * Gets and returns the value of the widget. - */ -double CameraSetting::GetValue() { - return this->input.GetValue(); -} - -/** - * Returns an integer describing the name of the setting that this widget embodies - */ -int CameraSetting::GetValueName() { - return this->valueName; -} - -/** - * Sets the value of the setting to newValue. - */ -void CameraSetting::SetValue(double newValue) { - this->value = newValue; - this->input.SetValue(value); -} - - -void CameraSetting::SetName(std::string name) { - gtk_widget_set_name(this->camerasetting, name.c_str()); -} +#include "UI.h" + +/** + * Source file for the CameraSetting class. + * Written By: Brach Knutson + */ + + +using namespace KiwiLight; + +/** + * Creates a new CameraSetting widget, using the given std::string from V4L + */ +CameraSetting::CameraSetting(std::string name, int valueName, double min, double max, double value) { + this->name = name; + this->valueName = valueName; + this->min = min; + this->max = max; + this->value = value; + + + //create the widget + std::string boundString = + "Min: " + std::to_string(min) + + ", Max: " + std::to_string(max) + + ", ID: " + std::to_string(valueName); + + std::string nameString = this->name + " (" + boundString + ")"; + + Panel main = Panel(true, 0); + this->nameLabel = Label(nameString); + main.Pack_start(nameLabel.GetWidget(), true, true, 0); + this->input = NumberBox(min, max, 0.01, value); + main.Pack_start(this->input.GetWidget(), true, true, 0); + + this->camerasetting = main.GetWidget(); +} + +/** + * Gets and returns the value of the widget. + */ +double CameraSetting::GetValue() { + return this->input.GetValue(); +} + +/** + * Returns an integer describing the name of the setting that this widget embodies + */ +int CameraSetting::GetValueName() { + return this->valueName; +} + +/** + * Sets the value of the setting to newValue. + */ +void CameraSetting::SetValue(double newValue) { + this->value = newValue; + this->input.SetValue(value); +} + + +void CameraSetting::SetName(std::string name) { + gtk_widget_set_name(this->camerasetting, name.c_str()); +} diff --git a/KiwiLight - Vision Code/ui/CheckBox.cpp b/KiwiLight - Vision Code/ui/CheckBox.cpp index 29e5e3b..e55f4d6 100644 --- a/KiwiLight - Vision Code/ui/CheckBox.cpp +++ b/KiwiLight - Vision Code/ui/CheckBox.cpp @@ -1,36 +1,36 @@ -#include "UI.h" - -/** - * Source file for the CheckBox class. - * Written By: Brach Knutson - */ - - -using namespace KiwiLight; - -/** - * Creates a new CheckBox instance. the state will default to value of checked. - */ -CheckBox::CheckBox(std::string name, bool checked) { - this->checkbox = gtk_check_button_new_with_label(name.c_str()); - SetState(checked); -} - -/** - * Sets the state of the checkbox to the value of checked. - */ -void CheckBox::SetState(bool checked) { - gtk_toggle_button_set_active(GTK_TOGGLE_BUTTON(this->checkbox), checked); -} - -/** - * Returns the state of the checkbox. True for checked, false for not. - */ -bool CheckBox::GetState() { - return gtk_toggle_button_get_active(GTK_TOGGLE_BUTTON(this->checkbox)); -} - - -void CheckBox::SetName(std::string name) { - gtk_widget_set_name(this->checkbox, name.c_str()); +#include "UI.h" + +/** + * Source file for the CheckBox class. + * Written By: Brach Knutson + */ + + +using namespace KiwiLight; + +/** + * Creates a new CheckBox instance. the state will default to value of checked. + */ +CheckBox::CheckBox(std::string name, bool checked) { + this->checkbox = gtk_check_button_new_with_label(name.c_str()); + SetState(checked); +} + +/** + * Sets the state of the checkbox to the value of checked. + */ +void CheckBox::SetState(bool checked) { + gtk_toggle_button_set_active(GTK_TOGGLE_BUTTON(this->checkbox), checked); +} + +/** + * Returns the state of the checkbox. True for checked, false for not. + */ +bool CheckBox::GetState() { + return gtk_toggle_button_get_active(GTK_TOGGLE_BUTTON(this->checkbox)); +} + + +void CheckBox::SetName(std::string name) { + gtk_widget_set_name(this->checkbox, name.c_str()); } \ No newline at end of file diff --git a/KiwiLight - Vision Code/ui/ConfigEditor.cpp b/KiwiLight - Vision Code/ui/ConfigEditor.cpp index aaf5e9b..6c11fac 100644 --- a/KiwiLight - Vision Code/ui/ConfigEditor.cpp +++ b/KiwiLight - Vision Code/ui/ConfigEditor.cpp @@ -1,684 +1,685 @@ -#include "../KiwiLight.h" - -/** - * Source file for the ConfigEditor class. - * Written By: Brach Knutson - */ - -using namespace cv; -using namespace KiwiLight; - -static int LEARNER_FRAMES = 50; - -static void LearnTargetButtonPressed() { - KiwiLightApp::StartEditorLearningTarget(); -} - -static void LearnDistanceButtonPressed() { - KiwiLightApp::StartEditorLearningDistance(); -} - -static void JustCloseButtonPressed() { - KiwiLightApp::StopStreamingThread(); - KiwiLightApp::CloseEditor(false); - KiwiLightApp::LaunchStreamingThread(UIMode::UI_RUNNER); -} - -static void SaveAndCloseButtonPressed() { - KiwiLightApp::StopStreamingThread(); - KiwiLightApp::CloseEditor(true); - KiwiLightApp::LaunchStreamingThread(UIMode::UI_RUNNER); -} - -/** - * Creates a window to edit the bassed file. - */ -ConfigEditor::ConfigEditor(std::string fileName) { - this->learnerActivated = false; - this->distanceLearnerRunning = false; - this->runner = Runner(fileName, true); - this->currentDoc = XMLDocument(fileName); - this->fileName = fileName; - this->lastIterationResult = ""; - this->out = Mat(Size(50, 50), CV_8UC3); - this->confName = this->currentDoc.GetTagsByName("configuration")[0].GetAttributesByName("name")[0].Value(); - - this->window = Window(GTK_WINDOW_TOPLEVEL, false); - this->content = Panel(true, 0); - Panel overviewPanel = Panel(false, 5); - this->configOverview = OverviewPanel(this->currentDoc); - overviewPanel.Pack_start(this->configOverview.GetWidget(), true ,true, 5); - - Panel learnerPanel = Panel(true, 0); - Button learnTargetButton = Button("Learn Target", LearnTargetButtonPressed); - learnerPanel.Pack_start(learnTargetButton.GetWidget(), true, true, 0); - - Button learnDistanceButton = Button("Learn Distance", LearnDistanceButtonPressed); - learnerPanel.Pack_start(learnDistanceButton.GetWidget(), true, true, 0); - - overviewPanel.Pack_start(learnerPanel.GetWidget(), true, true, 0); - - Panel exitPanel = Panel(true, 0); - Button justCloseButton = Button("Close", JustCloseButtonPressed); - exitPanel.Pack_start(justCloseButton.GetWidget(), true, true, 0); - - Button saveAndCloseButton = Button("Save And Close", SaveAndCloseButtonPressed); - exitPanel.Pack_start(saveAndCloseButton.GetWidget(), true, true, 0); - - overviewPanel.Pack_start(exitPanel.GetWidget(), true, true, 0); - - Panel cameraSettingsPanel = Panel(false, 5); - Label cameraSettingsHeader = Label("Camera Settings"); - cameraSettingsHeader.SetName("header"); - cameraSettingsPanel.Pack_start(cameraSettingsHeader.GetWidget(), true, true, 0); - this->cameraSettings = Settings(this->currentDoc); - cameraSettingsPanel.Pack_start(this->cameraSettings.GetWidget(), true, false, 0); - - Panel preprocessorSettingsPanel = Panel(false, 5); - Label preprocessorSettingsPanelHeader = Label("Preprocessor"); - preprocessorSettingsPanelHeader.SetName("header"); - preprocessorSettingsPanel.Pack_start(preprocessorSettingsPanelHeader.GetWidget(), true, true, 0); - - this->preprocessorSettings = PreprocessorEditor(this->runner.GetPreProcessor()); - preprocessorSettingsPanel.Pack_start(this->preprocessorSettings.GetWidget(), true, true, 0); - - Panel postprocessorSettingsPanel = Panel(false, 5); - Label postprocessorSettingsPanelHeader = Label("Postprocessor"); - postprocessorSettingsPanelHeader.SetName("header"); - postprocessorSettingsPanel.Pack_start(postprocessorSettingsPanelHeader.GetWidget(), true, true, 0); - - this->postprocessorSettings = PostprocessorEditor(this->runner.GetPostProcessor()); - postprocessorSettingsPanel.Pack_start(this->postprocessorSettings.GetWidget(), true, true, 0); - - Panel runnerSettingsPanel = Panel(false, 5); - Label runnerSettingsPanelHeader = Label("Runner"); - runnerSettingsPanelHeader.SetName("header"); - runnerSettingsPanel.Pack_start(runnerSettingsPanelHeader.GetWidget(), true, true, 0); - - this->runnerSettings = RunnerEditor(this->runner); - runnerSettingsPanel.Pack_start(this->runnerSettings.GetWidget(), true, true, 0); - - this->tabs = TabView("Overview", overviewPanel.GetWidget()); - this->tabs.AddTab("Camera", cameraSettingsPanel.GetWidget()); - this->tabs.AddTab("Preprocessor", preprocessorSettingsPanel.GetWidget()); - this->tabs.AddTab("Postprocessor", postprocessorSettingsPanel.GetWidget()); - this->tabs.AddTab("Runner", runnerSettingsPanel.GetWidget()); - this->content.Pack_start(this->tabs.GetWidget(), true, true, 0); - - Panel imageAndServicePanel = Panel(false, 0); - this->outputImage = Image(ImageColorspace::RGB); - imageAndServicePanel.Pack_start(this->outputImage.GetWidget(), false, false, 0); - - this->serviceMonitor = Label("No Service Running."); - imageAndServicePanel.Pack_start(this->serviceMonitor.GetWidget(), false, false, 0); - - this->serviceLabel = Label(""); - imageAndServicePanel.Pack_start(this->serviceLabel.GetWidget(), false, false, 0); - - this->content.Pack_start(imageAndServicePanel.GetWidget(), false, false, 0); - - - this->window.SetPane(this->content); - this->window.SetOnWindowClosed(JustCloseButtonPressed); - this->window.SetCSS("ui/Style.css"); - this->window.Show(); - - this->configeditor = this->window.GetWidget(); -} - -/** - * Updates the editor and checks for button presses, etc. - */ -void ConfigEditor::Update() { - Mat displayable; - - try { - vconcat(this->original, this->out, displayable); - this->outputImage.Update(displayable); - } catch(cv::Exception ex) { - } - //update the different tabs - this->configOverview.SetTargetInformationLabelsFromString(this->lastIterationResult); - this->cameraSettings.Update(); - this->preprocessorSettings.Update(); - this->postprocessorSettings.Update(); - this->runnerSettings.Update(this->runner.GetClosestTargetToCenter().Distance()); - - //apply the preprocessor settings - this->runner.SetPreprocessorProperty(PreProcessorProperty::IS_FULL, this->preprocessorSettings.GetProperty(PreProcessorProperty::IS_FULL)); - this->runner.SetPreprocessorProperty(PreProcessorProperty::THRESHOLD, this->preprocessorSettings.GetProperty(PreProcessorProperty::THRESHOLD)); - this->runner.SetPreprocessorProperty(PreProcessorProperty::EROSION, this->preprocessorSettings.GetProperty(PreProcessorProperty::EROSION)); - this->runner.SetPreprocessorProperty(PreProcessorProperty::DILATION, this->preprocessorSettings.GetProperty(PreProcessorProperty::DILATION)); - this->runner.SetPreprocessorProperty(PreProcessorProperty::COLOR_HUE, this->preprocessorSettings.GetProperty(PreProcessorProperty::COLOR_HUE)); - this->runner.SetPreprocessorProperty(PreProcessorProperty::COLOR_SATURATION, this->preprocessorSettings.GetProperty(PreProcessorProperty::COLOR_SATURATION)); - this->runner.SetPreprocessorProperty(PreProcessorProperty::COLOR_VALUE, this->preprocessorSettings.GetProperty(PreProcessorProperty::COLOR_VALUE)); - this->runner.SetPreprocessorProperty(PreProcessorProperty::COLOR_ERROR, this->preprocessorSettings.GetProperty(PreProcessorProperty::COLOR_ERROR)); - - //apply all contour settings to the runner. First, make sure we have all contours needed. - int numberOfContours = this->postprocessorSettings.GetNumContours(); - if(this->runner.GetNumberOfContours(0) != numberOfContours) { - std::cout << "Redefining Target." << std::endl; - std::vector newContours; - for(int i=0; irunner.SetExampleTarget(0, newTarget); - } - - for(int i=0; irunner.SetPostProcessorContourProperty(i, TargetProperty::DIST_X, this->postprocessorSettings.GetProperty(i, TargetProperty::DIST_X)); - this->runner.SetPostProcessorContourProperty(i, TargetProperty::DIST_Y, this->postprocessorSettings.GetProperty(i, TargetProperty::DIST_Y)); - this->runner.SetPostProcessorContourProperty(i, TargetProperty::ANGLE, this->postprocessorSettings.GetProperty(i, TargetProperty::ANGLE)); - this->runner.SetPostProcessorContourProperty(i, TargetProperty::ASPECT_RATIO, this->postprocessorSettings.GetProperty(i, TargetProperty::ASPECT_RATIO)); - this->runner.SetPostProcessorContourProperty(i, TargetProperty::SOLIDITY, this->postprocessorSettings.GetProperty(i, TargetProperty::SOLIDITY)); - this->runner.SetPostProcessorContourProperty(i, TargetProperty::MINIMUM_AREA, this->postprocessorSettings.GetProperty(i, TargetProperty::MINIMUM_AREA)); - } - - //apply runner properties - this->runner.SetRunnerProperty(RunnerProperty::OFFSET_X, this->runnerSettings.GetProperty(RunnerProperty::OFFSET_X)); - this->runner.SetRunnerProperty(RunnerProperty::OFFSET_Y, this->runnerSettings.GetProperty(RunnerProperty::OFFSET_Y)); - this->runner.SetRunnerProperty(RunnerProperty::IMAGE_WIDTH, this->runnerSettings.GetProperty(RunnerProperty::IMAGE_WIDTH)); - this->runner.SetRunnerProperty(RunnerProperty::IMAGE_HEIGHT, this->runnerSettings.GetProperty(RunnerProperty::IMAGE_HEIGHT)); - this->runner.SetRunnerProperty(RunnerProperty::TRUE_WIDTH, this->runnerSettings.GetProperty(RunnerProperty::TRUE_WIDTH)); - this->runner.SetRunnerProperty(RunnerProperty::PERCEIVED_WIDTH, this->runnerSettings.GetProperty(RunnerProperty::PERCEIVED_WIDTH)); - this->runner.SetRunnerProperty(RunnerProperty::CALIBRATED_DISTANCE, this->runnerSettings.GetProperty(RunnerProperty::CALIBRATED_DISTANCE)); - this->runner.SetRunnerProperty(RunnerProperty::ERROR_CORRECTION, this->runnerSettings.GetProperty(RunnerProperty::ERROR_CORRECTION)); - - //set service labels - if(this->learnerActivated && this->learner.GetLearning()) { - this->serviceMonitor.SetText("Learning Target"); - - std::string progressString = "Capturing Frames (" + - std::to_string(this->learner.GetFramesLearned()) + - "/" + - std::to_string(LEARNER_FRAMES) + - ")"; - - this->serviceLabel.SetText(progressString); - } else if(this->distanceLearnerRunning) { - this->serviceMonitor.SetText("Learning Distance Constants"); - - std::string progressString = "Capturing Frames (" + - std::to_string(this->distanceLearner.GetFramesLearned()) + - "/" + - std::to_string(LEARNER_FRAMES) + - ")"; - this->serviceLabel.SetText(progressString); - } else { - this->serviceMonitor.SetText("No Service Running."); - this->serviceLabel.SetText(""); - } - -} - - -/** - * Updates the internal runner to in turn update the output images. - */ -bool ConfigEditor::UpdateImageOnly() { - this->lastIterationResult = this->runner.Iterate(); - bool retval = this->runner.GetLastFrameSuccessful(); - this->out = this->runner.GetOutputImage(); - this->original = this->runner.GetOriginalImage(); - - if(this->learnerActivated) { - int minimumArea = (int) this->postprocessorSettings.GetProperty(0, TargetProperty::MINIMUM_AREA).Value(); - this->learner.FeedImage(this->original, minimumArea); - this->out = this->learner.GetOutputImageFromLastFeed(); - - if(this->learner.GetLearning()) { - if(this->learner.GetFramesLearned() >= LEARNER_FRAMES) { - int minimumArea = (int) this->postprocessorSettings.GetProperty(0, TargetProperty::MINIMUM_AREA).Value(); - ExampleTarget newTarget = this->learner.StopLearning(minimumArea); - std::vector newContours = newTarget.Contours(); - this->learnerActivated = false; - - if(newContours.size() > 0) { - //prepare the editor for the contours - this->postprocessorSettings.SetNumContours(newContours.size()); - this->runner.SetExampleTarget(0, newTarget); - - for(int i=0; ipostprocessorSettings.SetProperty(i, TargetProperty::DIST_X, newContours[i].DistX()); - this->postprocessorSettings.SetProperty(i, TargetProperty::DIST_Y, newContours[i].DistY()); - this->postprocessorSettings.SetProperty(i, TargetProperty::ANGLE, newContours[i].Angle()); - this->postprocessorSettings.SetProperty(i, TargetProperty::SOLIDITY, newContours[i].Solidity()); - this->postprocessorSettings.SetProperty(i, TargetProperty::ASPECT_RATIO, newContours[i].AspectRatio()); - this->postprocessorSettings.SetProperty(i, TargetProperty::MINIMUM_AREA, SettingPair(newContours[i].MinimumArea(), 0)); - } - } - } - - if(this->learner.GetHasFailed()) { - //alert the user - ConfirmationDialog alert = ConfirmationDialog( - std::string("The utility has failed due to a video error.\n") + - std::string("Is the camera plugged in?") - ); - alert.ShowAndGetResponse(); - this->learnerActivated = false; - } - } - } - - if(this->distanceLearnerRunning) { - this->distanceLearner.FeedTarget(this->runner.GetClosestTargetToCenter()); - - if(this->distanceLearner.GetFramesLearned() >= LEARNER_FRAMES) { - double trueDistance = this->runnerSettings.GetProperty(RunnerProperty::CALIBRATED_DISTANCE); - double trueWidth = this->runnerSettings.GetProperty(RunnerProperty::TRUE_WIDTH); - double newFocalWidth = this->distanceLearner.GetFocalWidth(trueDistance, trueWidth); - this->runnerSettings.SetProperty(RunnerProperty::PERCEIVED_WIDTH, newFocalWidth); - this->distanceLearnerRunning = false; - } - } - return retval; -} - -/** - * Returns the string result from the last runner iteration, or an empty string if no iterations happened. - */ -std::string ConfigEditor::GetLastFrameResult() { - return this->lastIterationResult; -} - -/** - * Causes the editor to save the config to file. - */ -void ConfigEditor::Save() { - //assemble the file structure and write it into a file which the user may designate - XMLDocument doc = XMLDocument(); - - // - XMLTag camera = XMLTag("camera"); - XMLTagAttribute cameraIndex = XMLTagAttribute("index", std::to_string(this->cameraSettings.GetCameraIndex())); - camera.AddAttribute(cameraIndex); - - /** - * - * - */ - XMLTag resolution = XMLTag("resolution"); - XMLTag resolutionWidth = XMLTag("width", std::to_string(this->cameraSettings.GetSettingValueFromID(CAP_PROP_FRAME_WIDTH))); - resolution.AddTag(resolutionWidth); - - XMLTag resolutionHeight = XMLTag("height", std::to_string(this->cameraSettings.GetSettingValueFromID(CAP_PROP_FRAME_HEIGHT))); - resolution.AddTag(resolutionHeight); - - camera.AddTag(resolution); - - /** - * - * - */ - XMLTag settings = this->cameraSettings.GetFinishedTag(); - camera.AddTag(settings); - - doc.AddTag(camera); - - /** - * - */ - XMLTag configuration = XMLTag("configuration"); - XMLTagAttribute configurationName = XMLTagAttribute("name", this->configOverview.GetConfigName()); - configuration.AddAttribute(configurationName); - - /** - * - * - */ - XMLTag cameraOffset = XMLTag("cameraOffset"); - XMLTag horizontalOffset = XMLTag("horizontal", std::to_string((int) this->runnerSettings.GetProperty(RunnerProperty::OFFSET_X))); - cameraOffset.AddTag(horizontalOffset); - - XMLTag verticalOffset = XMLTag("vertical", std::to_string((int) this->runnerSettings.GetProperty(RunnerProperty::OFFSET_Y))); - cameraOffset.AddTag(verticalOffset); - - configuration.AddTag(cameraOffset); - - /** - * - * - */ - XMLTag constantResize = XMLTag("constantResize"); - XMLTag resizeWidth = XMLTag("width", std::to_string((int) this->runnerSettings.GetProperty(RunnerProperty::IMAGE_WIDTH))); - constantResize.AddTag(resizeWidth); - - XMLTag resizeHeight = XMLTag("height", std::to_string((int) this->runnerSettings.GetProperty(RunnerProperty::IMAGE_HEIGHT))); - constantResize.AddTag(resizeHeight); - - configuration.AddTag(constantResize); - - /** - * - * - */ - XMLTag preprocessor = XMLTag("preprocessor"); - XMLTagAttribute preprocessorType = XMLTagAttribute("type", (this->preprocessorSettings.GetProperty(PreProcessorProperty::IS_FULL) == 1.0 ? "full" : "partial")); - preprocessor.AddAttribute(preprocessorType); - - // - XMLTag threshold = XMLTag("threshold", std::to_string((int) this->preprocessorSettings.GetProperty(PreProcessorProperty::THRESHOLD))); - preprocessor.AddTag(threshold); - - // - XMLTag erosion = XMLTag("erosion", std::to_string((int) this->preprocessorSettings.GetProperty(PreProcessorProperty::EROSION))); - preprocessor.AddTag(erosion); - - // - XMLTag dilation = XMLTag("dilation", std::to_string((int) this->preprocessorSettings.GetProperty(PreProcessorProperty::DILATION))); - preprocessor.AddTag(dilation); - - /** - * - * - * - */ - XMLTag targetColor = XMLTag("targetColor"); - XMLTagAttribute targetColorError = XMLTagAttribute("error", std::to_string((int) this->preprocessorSettings.GetProperty(PreProcessorProperty::COLOR_ERROR))); - targetColor.AddAttribute(targetColorError); - - // - XMLTag h = XMLTag("h", std::to_string((int) this->preprocessorSettings.GetProperty(PreProcessorProperty::COLOR_HUE))); - targetColor.AddTag(h); - - // - XMLTag s = XMLTag("s", std::to_string((int) this->preprocessorSettings.GetProperty(PreProcessorProperty::COLOR_SATURATION))); - targetColor.AddTag(s); - - // - XMLTag v = XMLTag("v", std::to_string((int) this->preprocessorSettings.GetProperty(PreProcessorProperty::COLOR_VALUE))); - targetColor.AddTag(v); - - preprocessor.AddTag(targetColor); - configuration.AddTag(preprocessor); - - /** - * - * - */ - XMLTag postprocessor = XMLTag("postprocessor"); - // - XMLTag target = XMLTag("target"); - XMLTagAttribute targetID = XMLTagAttribute("id", "0"); //this remains constant for now until multiple target support is added. - target.AddAttribute(targetID); - - for(int i=0; ipostprocessorSettings.GetNumContours(); i++) { - /** - * - * - * - * - */ - XMLTag contour = XMLTag("contour"); - XMLTagAttribute contourID = XMLTagAttribute("id", std::to_string(i)); - contour.AddAttribute(contourID); - - // - SettingPair distXValues = this->postprocessorSettings.GetProperty(i, TargetProperty::DIST_X); - XMLTag x = XMLTag("x", std::to_string((double) distXValues.Value())); - XMLTagAttribute xError = XMLTagAttribute("error", std::to_string((double) distXValues.Error())); - x.AddAttribute(xError); - contour.AddTag(x); - - // - SettingPair distYValues = this->postprocessorSettings.GetProperty(i, TargetProperty::DIST_Y); - XMLTag y = XMLTag("y", std::to_string((double) distYValues.Value())); - XMLTagAttribute yError = XMLTagAttribute("error", std::to_string((double) distYValues.Error())); - y.AddAttribute(yError); - contour.AddTag(y); - - // - SettingPair angleValues = this->postprocessorSettings.GetProperty(i, TargetProperty::ANGLE); - XMLTag angle = XMLTag("angle", std::to_string((double) angleValues.Value())); - XMLTagAttribute angleError = XMLTagAttribute("error", std::to_string((double) angleValues.Error())); - angle.AddAttribute(angleError); - contour.AddTag(angle); - - // - SettingPair solidityValues = this->postprocessorSettings.GetProperty(i, TargetProperty::SOLIDITY); - XMLTag solidity = XMLTag("solidity", std::to_string((double) solidityValues.Value())); - XMLTagAttribute solidityError = XMLTagAttribute("error", std::to_string((double) solidityValues.Error())); - solidity.AddAttribute(solidityError); - contour.AddTag(solidity); - - // - SettingPair aspectRatioValues = this->postprocessorSettings.GetProperty(i, TargetProperty::ASPECT_RATIO); - XMLTag aspectRatio = XMLTag("aspectRatio", std::to_string((double) aspectRatioValues.Value())); - XMLTagAttribute aspectRatioError = XMLTagAttribute("error", std::to_string((double) aspectRatioValues.Error())); - aspectRatio.AddAttribute(aspectRatioError); - contour.AddTag(aspectRatio); - - // - SettingPair minimumAreaValues = this->postprocessorSettings.GetProperty(i, TargetProperty::MINIMUM_AREA); - XMLTag minimumArea = XMLTag("minimumArea", std::to_string((int) minimumAreaValues.Value())); - contour.AddTag(minimumArea); - - target.AddTag(contour); - } - - // - XMLTag knownWidth = XMLTag("knownWidth", std::to_string((double) this->runnerSettings.GetProperty(RunnerProperty::TRUE_WIDTH))); - target.AddTag(knownWidth); - - // - XMLTag focalWidth = XMLTag("focalWidth", std::to_string((double) this->runnerSettings.GetProperty(RunnerProperty::PERCEIVED_WIDTH))); - target.AddTag(focalWidth); - - // - XMLTag calibratedDistance = XMLTag("calibratedDistance", std::to_string((double) this->runnerSettings.GetProperty(RunnerProperty::CALIBRATED_DISTANCE))); - target.AddTag(calibratedDistance); - - // - XMLTag distErrorCorrect = XMLTag("distErrorCorrect", std::to_string((double) this->runnerSettings.GetProperty(RunnerProperty::ERROR_CORRECTION))); - target.AddTag(distErrorCorrect); - - postprocessor.AddTag(target); - - /** - * - * - * - */ - XMLTag UDP = XMLTag("UDP"); - //
- XMLTag address = XMLTag("address", this->runnerSettings.GetUDPAddr()); - UDP.AddTag(address); - - // - XMLTag port = XMLTag("port", std::to_string(this->runnerSettings.GetUDPPort())); - UDP.AddTag(port); - - postprocessor.AddTag(UDP); - configuration.AddTag(postprocessor); - doc.AddTag(configuration); - - //to prompt file name or not to promt file name - std::string fileToSave = this->fileName; - std::vector fileParts = StringUtils::SplitString(fileToSave, '/'); - - if(fileParts[fileParts.size() - 1] == "generic.xml") { - FileChooser chooser = FileChooser(true, "config.xml"); - fileToSave = chooser.Show(); - this->fileName = fileToSave; - } - - doc.WriteFile(fileToSave); -} - - -void ConfigEditor::Close() { - gtk_widget_destroy(this->configeditor); -} - - -void ConfigEditor::StartLearningTarget() { - if(KiwiLightApp::CameraOpen()) { - //reinstantiate the learner to apply the preprocessor settings - this->learner = ConfigLearner(this->runner.GetPreProcessor()); - this->learnerActivated = true; - - ConfirmationDialog confirmLearn = ConfirmationDialog( - std::string("Position the target in the center of the image and press OK.\n") + - std::string("It should be highlighted with a blue box.") - ); - bool shouldLearn = confirmLearn.ShowAndGetResponse(); - if(shouldLearn) { - this->serviceMonitor.SetText("Learning Target"); - this->serviceLabel.SetText("Capturing Frames"); - this->learner.StartLearning(); - } else { - this->learnerActivated = false; - } - } else { - //the camera is not opened, alert the user - ConfirmationDialog alert = ConfirmationDialog( - std::string("The utility could not start because of a video error.\n") + - std::string("Is the camera plugged in and working correctly on your device?") - ); - - alert.ShowAndGetResponse(); - } -} - - -void ConfigEditor::StartLearningDistance() { - //check for video errors - if(KiwiLightApp::CameraOpen()) { - ConfirmationDialog informationDialog = ConfirmationDialog("Learn Distance"); - Panel dialogPanel = Panel(false, 0); - Panel trueWidthPanel = Panel(true, 0); - Label trueWidthPanelHeader = Label("Target Width: "); - trueWidthPanel.Pack_start(trueWidthPanelHeader.GetWidget(), false, false, 0); - - double realTrueWidth = this->runnerSettings.GetProperty(RunnerProperty::TRUE_WIDTH); - NumberBox trueWidthPanelValue = NumberBox(0.0, 120.0, 0.1, realTrueWidth); - trueWidthPanel.Pack_start(trueWidthPanelValue.GetWidget(), false, false, 0); - - dialogPanel.Pack_start(trueWidthPanel.GetWidget(), false, false, 0); - - Panel distancePanel = Panel(true, 0); - Label distancePanelHeader = Label("Distance From Camera: "); - distancePanel.Pack_start(distancePanelHeader.GetWidget(), false, false, 0); - - double realDistance = this->runnerSettings.GetProperty(RunnerProperty::CALIBRATED_DISTANCE); - NumberBox distanceValue = NumberBox(6.0, 240.0, 0.1, realDistance); - distancePanel.Pack_start(distanceValue.GetWidget(), false, false, 0); - - dialogPanel.Pack_start(distancePanel.GetWidget(), false, false, 0); - informationDialog.SetBody(dialogPanel); - - //show the dialog anc ask the question, but do not destroy the dialog when the user presses OK - bool shouldLearn = informationDialog.ShowButDontClose(); - double targetTrueWidth = trueWidthPanelValue.GetValue(); - double targetDistance = distanceValue.GetValue(); - informationDialog.Destroy(); - - if(shouldLearn) { - this->runnerSettings.SetProperty(RunnerProperty::TRUE_WIDTH, targetTrueWidth); - this->runnerSettings.SetProperty(RunnerProperty::CALIBRATED_DISTANCE, targetDistance); - - this->distanceLearner = TargetDistanceLearner(this->runner.GetPreProcessor(), this->runner.GetPostProcessor()); - this->distanceLearnerRunning = true; - - this->serviceMonitor.SetText("Learning Distance Constants"); - this->serviceLabel.SetText("Capturing Frames"); - } - } else { - //the camera is not opened, alert the user - ConfirmationDialog alert = ConfirmationDialog( - std::string("The utility could not be opened because of a video error.\n") + - std::string("Is the camera plugged in and working correctly on your device?") - ); - - alert.ShowAndGetResponse(); - } -} - - -void ConfigEditor::ReconnectUDPFromEditor() { - std::string newUDPAddr = this->runnerSettings.GetUDPAddr(); - int newUDPPort = this->runnerSettings.GetUDPPort(); - KiwiLightApp::ReconnectUDP(newUDPAddr, newUDPPort); - - //set the things in the overview panel - this->configOverview.SetUDPAddr(newUDPAddr); - this->configOverview.SetUDPPort(newUDPPort); -} - - -void ConfigEditor::SetUDPEnabledLabels(bool UDPEnabled) { - this->configOverview.SetUDPEnabledLabels(UDPEnabled); - this->runnerSettings.SetUDPEnabledLabels(UDPEnabled); -} - -/** - * Applies the settings from the camera tab to the camera itself. - */ -void ConfigEditor::ApplyCameraSettings() { - std::vector settingIDs = this->cameraSettings.GetSettingIDs(); - int newCameraIndex = this->cameraSettings.GetCameraIndex(); - - //open a new camera because the user wants to - KiwiLightApp::OpenNewCameraOnIndex(newCameraIndex); - - //tell the runner to apply each setting - for(int i=0; icameraSettings.GetSettingValueFromID(id); - KiwiLightApp::SetCameraProperty(id, value); - } - - //get the settings and apply them to the menu to tell the user if they were rejected or not - for(int i=0; icameraSettings.SetSettingValueFromID(id, value); - } -} - - -void ConfigEditor::SetCameraIndexBoxes(int index) { - this->configOverview.SetCameraIndex(index); - this->cameraSettings.SetCameraIndex(index); -} - - -void ConfigEditor::ReconnectUDPFromOverview() { - std::string newAddr = this->configOverview.GetUDPAddr(); - int newPort = this->configOverview.GetUDPPort(); - KiwiLightApp::ReconnectUDP(newAddr, newPort); - - //set the properties in the actual editor - this->runnerSettings.SetUDPAddr(newAddr); - this->runnerSettings.SetUDPPort(newPort); -} - - -void ConfigEditor::OpenNewCameraFromOverview() { - int newCameraIndex = this->configOverview.GetCameraIndex(); - - //the camera needs to be reconnected because indexes are different - this->cameraSettings.SetCameraIndex(newCameraIndex); //set real index - KiwiLightApp::OpenNewCameraOnIndex(newCameraIndex); -} - - -void ConfigEditor::SetName(std::string name) { - gtk_widget_set_name(this->configeditor, name.c_str()); -} - - -void ConfigEditor::UpdateImage() { - this->runner.Iterate(); - Mat displayable; - - try { - vconcat(this->original, this->out, displayable); - this->outputImage.Update(displayable); - } catch(cv::Exception ex) { - std::cout << "cv exception in ce" << std::endl; - } -} +#include "../KiwiLight.h" + +/** + * Source file for the ConfigEditor class. + * Written By: Brach Knutson + */ + +using namespace cv; +using namespace KiwiLight; + +static int LEARNER_FRAMES = 50; + +static void LearnTargetButtonPressed() { + KiwiLightApp::StartEditorLearningTarget(); +} + +static void LearnDistanceButtonPressed() { + KiwiLightApp::StartEditorLearningDistance(); +} + +static void JustCloseButtonPressed() { + KiwiLightApp::StopStreamingThread(); + KiwiLightApp::CloseEditor(false); + KiwiLightApp::LaunchStreamingThread(UIMode::UI_RUNNER); +} + +static void SaveAndCloseButtonPressed() { + KiwiLightApp::StopStreamingThread(); + KiwiLightApp::CloseEditor(true); + KiwiLightApp::LaunchStreamingThread(UIMode::UI_RUNNER); +} + +/** + * Creates a window to edit the bassed file. + */ +ConfigEditor::ConfigEditor(std::string fileName) { + this->learnerActivated = false; + this->distanceLearnerRunning = false; + this->runner = Runner(fileName, true); + this->currentDoc = XMLDocument(fileName); + this->fileName = fileName; + this->lastIterationResult = ""; + this->out = Mat(Size(50, 50), CV_8UC3); + this->confName = this->currentDoc.GetTagsByName("configuration")[0].GetAttributesByName("name")[0].Value(); + + this->window = Window(GTK_WINDOW_TOPLEVEL, false); + this->content = Panel(true, 0); + Panel overviewPanel = Panel(false, 5); + this->configOverview = OverviewPanel(this->currentDoc); + overviewPanel.Pack_start(this->configOverview.GetWidget(), true ,true, 5); + + Panel learnerPanel = Panel(true, 0); + Button learnTargetButton = Button("Learn Target", LearnTargetButtonPressed); + learnerPanel.Pack_start(learnTargetButton.GetWidget(), true, true, 0); + + Button learnDistanceButton = Button("Learn Distance", LearnDistanceButtonPressed); + learnerPanel.Pack_start(learnDistanceButton.GetWidget(), true, true, 0); + + overviewPanel.Pack_start(learnerPanel.GetWidget(), true, true, 0); + + Panel exitPanel = Panel(true, 0); + Button justCloseButton = Button("Close", JustCloseButtonPressed); + exitPanel.Pack_start(justCloseButton.GetWidget(), true, true, 0); + + Button saveAndCloseButton = Button("Save And Close", SaveAndCloseButtonPressed); + exitPanel.Pack_start(saveAndCloseButton.GetWidget(), true, true, 0); + + overviewPanel.Pack_start(exitPanel.GetWidget(), true, true, 0); + + Panel cameraSettingsPanel = Panel(false, 5); + Label cameraSettingsHeader = Label("Camera Settings"); + cameraSettingsHeader.SetName("header"); + cameraSettingsPanel.Pack_start(cameraSettingsHeader.GetWidget(), true, true, 0); + + this->cameraSettings = Settings(this->currentDoc); + cameraSettingsPanel.Pack_start(this->cameraSettings.GetWidget(), true, false, 0); + + Panel preprocessorSettingsPanel = Panel(false, 5); + Label preprocessorSettingsPanelHeader = Label("Preprocessor"); + preprocessorSettingsPanelHeader.SetName("header"); + preprocessorSettingsPanel.Pack_start(preprocessorSettingsPanelHeader.GetWidget(), true, true, 0); + + this->preprocessorSettings = PreprocessorEditor(this->runner.GetPreProcessor()); + preprocessorSettingsPanel.Pack_start(this->preprocessorSettings.GetWidget(), true, true, 0); + + Panel postprocessorSettingsPanel = Panel(false, 5); + Label postprocessorSettingsPanelHeader = Label("Postprocessor"); + postprocessorSettingsPanelHeader.SetName("header"); + postprocessorSettingsPanel.Pack_start(postprocessorSettingsPanelHeader.GetWidget(), true, true, 0); + + this->postprocessorSettings = PostprocessorEditor(this->runner.GetPostProcessor()); + postprocessorSettingsPanel.Pack_start(this->postprocessorSettings.GetWidget(), true, true, 0); + + Panel runnerSettingsPanel = Panel(false, 5); + Label runnerSettingsPanelHeader = Label("Runner"); + runnerSettingsPanelHeader.SetName("header"); + runnerSettingsPanel.Pack_start(runnerSettingsPanelHeader.GetWidget(), true, true, 0); + + this->runnerSettings = RunnerEditor(this->runner); + runnerSettingsPanel.Pack_start(this->runnerSettings.GetWidget(), true, true, 0); + + this->tabs = TabView("Overview", overviewPanel.GetWidget()); + this->tabs.AddTab("Camera", cameraSettingsPanel.GetWidget()); + this->tabs.AddTab("Preprocessor", preprocessorSettingsPanel.GetWidget()); + this->tabs.AddTab("Postprocessor", postprocessorSettingsPanel.GetWidget()); + this->tabs.AddTab("Runner", runnerSettingsPanel.GetWidget()); + this->content.Pack_start(this->tabs.GetWidget(), true, true, 0); + + Panel imageAndServicePanel = Panel(false, 0); + this->outputImage = Image(ImageColorspace::RGB); + imageAndServicePanel.Pack_start(this->outputImage.GetWidget(), false, false, 0); + + this->serviceMonitor = Label("No Service Running."); + imageAndServicePanel.Pack_start(this->serviceMonitor.GetWidget(), false, false, 0); + + this->serviceLabel = Label(""); + imageAndServicePanel.Pack_start(this->serviceLabel.GetWidget(), false, false, 0); + + this->content.Pack_start(imageAndServicePanel.GetWidget(), false, false, 0); + + + this->window.SetPane(this->content); + this->window.SetOnWindowClosed(JustCloseButtonPressed); + this->window.SetCSS("ui/Style.css"); + this->window.Show(); + + this->configeditor = this->window.GetWidget(); +} + +/** + * Updates the editor and checks for button presses, etc. + */ +void ConfigEditor::Update() { + Mat displayable; + + try { + vconcat(this->original, this->out, displayable); + this->outputImage.Update(displayable); + } catch(cv::Exception ex) { + } + //update the different tabs + this->configOverview.SetTargetInformationLabelsFromString(this->lastIterationResult); + this->cameraSettings.Update(); + this->preprocessorSettings.Update(); + this->postprocessorSettings.Update(); + this->runnerSettings.Update(this->runner.GetClosestTargetToCenter().Distance()); + + //apply the preprocessor settings + this->runner.SetPreprocessorProperty(PreProcessorProperty::IS_FULL, this->preprocessorSettings.GetProperty(PreProcessorProperty::IS_FULL)); + this->runner.SetPreprocessorProperty(PreProcessorProperty::THRESHOLD, this->preprocessorSettings.GetProperty(PreProcessorProperty::THRESHOLD)); + this->runner.SetPreprocessorProperty(PreProcessorProperty::EROSION, this->preprocessorSettings.GetProperty(PreProcessorProperty::EROSION)); + this->runner.SetPreprocessorProperty(PreProcessorProperty::DILATION, this->preprocessorSettings.GetProperty(PreProcessorProperty::DILATION)); + this->runner.SetPreprocessorProperty(PreProcessorProperty::COLOR_HUE, this->preprocessorSettings.GetProperty(PreProcessorProperty::COLOR_HUE)); + this->runner.SetPreprocessorProperty(PreProcessorProperty::COLOR_SATURATION, this->preprocessorSettings.GetProperty(PreProcessorProperty::COLOR_SATURATION)); + this->runner.SetPreprocessorProperty(PreProcessorProperty::COLOR_VALUE, this->preprocessorSettings.GetProperty(PreProcessorProperty::COLOR_VALUE)); + this->runner.SetPreprocessorProperty(PreProcessorProperty::COLOR_ERROR, this->preprocessorSettings.GetProperty(PreProcessorProperty::COLOR_ERROR)); + + //apply all contour settings to the runner. First, make sure we have all contours needed. + int numberOfContours = this->postprocessorSettings.GetNumContours(); + if(this->runner.GetNumberOfContours(0) != numberOfContours) { + std::cout << "Redefining Target." << std::endl; + std::vector newContours; + for(int i=0; irunner.SetExampleTarget(0, newTarget); + } + + for(int i=0; irunner.SetPostProcessorContourProperty(i, TargetProperty::DIST_X, this->postprocessorSettings.GetProperty(i, TargetProperty::DIST_X)); + this->runner.SetPostProcessorContourProperty(i, TargetProperty::DIST_Y, this->postprocessorSettings.GetProperty(i, TargetProperty::DIST_Y)); + this->runner.SetPostProcessorContourProperty(i, TargetProperty::ANGLE, this->postprocessorSettings.GetProperty(i, TargetProperty::ANGLE)); + this->runner.SetPostProcessorContourProperty(i, TargetProperty::ASPECT_RATIO, this->postprocessorSettings.GetProperty(i, TargetProperty::ASPECT_RATIO)); + this->runner.SetPostProcessorContourProperty(i, TargetProperty::SOLIDITY, this->postprocessorSettings.GetProperty(i, TargetProperty::SOLIDITY)); + this->runner.SetPostProcessorContourProperty(i, TargetProperty::MINIMUM_AREA, this->postprocessorSettings.GetProperty(i, TargetProperty::MINIMUM_AREA)); + } + + //apply runner properties + this->runner.SetRunnerProperty(RunnerProperty::OFFSET_X, this->runnerSettings.GetProperty(RunnerProperty::OFFSET_X)); + this->runner.SetRunnerProperty(RunnerProperty::OFFSET_Y, this->runnerSettings.GetProperty(RunnerProperty::OFFSET_Y)); + this->runner.SetRunnerProperty(RunnerProperty::IMAGE_WIDTH, this->runnerSettings.GetProperty(RunnerProperty::IMAGE_WIDTH)); + this->runner.SetRunnerProperty(RunnerProperty::IMAGE_HEIGHT, this->runnerSettings.GetProperty(RunnerProperty::IMAGE_HEIGHT)); + this->runner.SetRunnerProperty(RunnerProperty::TRUE_WIDTH, this->runnerSettings.GetProperty(RunnerProperty::TRUE_WIDTH)); + this->runner.SetRunnerProperty(RunnerProperty::PERCEIVED_WIDTH, this->runnerSettings.GetProperty(RunnerProperty::PERCEIVED_WIDTH)); + this->runner.SetRunnerProperty(RunnerProperty::CALIBRATED_DISTANCE, this->runnerSettings.GetProperty(RunnerProperty::CALIBRATED_DISTANCE)); + this->runner.SetRunnerProperty(RunnerProperty::ERROR_CORRECTION, this->runnerSettings.GetProperty(RunnerProperty::ERROR_CORRECTION)); + + //set service labels + if(this->learnerActivated && this->learner.GetLearning()) { + this->serviceMonitor.SetText("Learning Target"); + + std::string progressString = "Capturing Frames (" + + std::to_string(this->learner.GetFramesLearned()) + + "/" + + std::to_string(LEARNER_FRAMES) + + ")"; + + this->serviceLabel.SetText(progressString); + } else if(this->distanceLearnerRunning) { + this->serviceMonitor.SetText("Learning Distance Constants"); + + std::string progressString = "Capturing Frames (" + + std::to_string(this->distanceLearner.GetFramesLearned()) + + "/" + + std::to_string(LEARNER_FRAMES) + + ")"; + this->serviceLabel.SetText(progressString); + } else { + this->serviceMonitor.SetText("No Service Running."); + this->serviceLabel.SetText(""); + } + +} + + +/** + * Updates the internal runner to in turn update the output images. + */ +bool ConfigEditor::UpdateImageOnly() { + this->lastIterationResult = this->runner.Iterate(); + bool retval = this->runner.GetLastFrameSuccessful(); + this->out = this->runner.GetOutputImage(); + this->original = this->runner.GetOriginalImage(); + + if(this->learnerActivated) { + int minimumArea = (int) this->postprocessorSettings.GetProperty(0, TargetProperty::MINIMUM_AREA).Value(); + this->learner.FeedImage(this->original, minimumArea); + this->out = this->learner.GetOutputImageFromLastFeed(); + + if(this->learner.GetLearning()) { + if(this->learner.GetFramesLearned() >= LEARNER_FRAMES) { + int minimumArea = (int) this->postprocessorSettings.GetProperty(0, TargetProperty::MINIMUM_AREA).Value(); + ExampleTarget newTarget = this->learner.StopLearning(minimumArea); + std::vector newContours = newTarget.Contours(); + this->learnerActivated = false; + + if(newContours.size() > 0) { + //prepare the editor for the contours + this->postprocessorSettings.SetNumContours(newContours.size()); + this->runner.SetExampleTarget(0, newTarget); + + for(int i=0; ipostprocessorSettings.SetProperty(i, TargetProperty::DIST_X, newContours[i].DistX()); + this->postprocessorSettings.SetProperty(i, TargetProperty::DIST_Y, newContours[i].DistY()); + this->postprocessorSettings.SetProperty(i, TargetProperty::ANGLE, newContours[i].Angle()); + this->postprocessorSettings.SetProperty(i, TargetProperty::SOLIDITY, newContours[i].Solidity()); + this->postprocessorSettings.SetProperty(i, TargetProperty::ASPECT_RATIO, newContours[i].AspectRatio()); + this->postprocessorSettings.SetProperty(i, TargetProperty::MINIMUM_AREA, SettingPair(newContours[i].MinimumArea(), 0)); + } + } + } + + if(this->learner.GetHasFailed()) { + //alert the user + ConfirmationDialog alert = ConfirmationDialog( + std::string("The utility has failed due to a video error.\n") + + std::string("Is the camera plugged in?") + ); + alert.ShowAndGetResponse(); + this->learnerActivated = false; + } + } + } + + if(this->distanceLearnerRunning) { + this->distanceLearner.FeedTarget(this->runner.GetClosestTargetToCenter()); + + if(this->distanceLearner.GetFramesLearned() >= LEARNER_FRAMES) { + double trueDistance = this->runnerSettings.GetProperty(RunnerProperty::CALIBRATED_DISTANCE); + double trueWidth = this->runnerSettings.GetProperty(RunnerProperty::TRUE_WIDTH); + double newFocalWidth = this->distanceLearner.GetFocalWidth(trueDistance, trueWidth); + this->runnerSettings.SetProperty(RunnerProperty::PERCEIVED_WIDTH, newFocalWidth); + this->distanceLearnerRunning = false; + } + } + return retval; +} + +/** + * Returns the string result from the last runner iteration, or an empty string if no iterations happened. + */ +std::string ConfigEditor::GetLastFrameResult() { + return this->lastIterationResult; +} + +/** + * Causes the editor to save the config to file. + */ +void ConfigEditor::Save() { + //assemble the file structure and write it into a file which the user may designate + XMLDocument doc = XMLDocument(); + + // + XMLTag camera = XMLTag("camera"); + XMLTagAttribute cameraIndex = XMLTagAttribute("index", std::to_string(this->cameraSettings.GetCameraIndex())); + camera.AddAttribute(cameraIndex); + + /** + * + * + */ + XMLTag resolution = XMLTag("resolution"); + XMLTag resolutionWidth = XMLTag("width", std::to_string(this->cameraSettings.GetSettingValueFromID(CAP_PROP_FRAME_WIDTH))); + resolution.AddTag(resolutionWidth); + + XMLTag resolutionHeight = XMLTag("height", std::to_string(this->cameraSettings.GetSettingValueFromID(CAP_PROP_FRAME_HEIGHT))); + resolution.AddTag(resolutionHeight); + + camera.AddTag(resolution); + + /** + * + * + */ + XMLTag settings = this->cameraSettings.GetFinishedTag(); + camera.AddTag(settings); + + doc.AddTag(camera); + + /** + * + */ + XMLTag configuration = XMLTag("configuration"); + XMLTagAttribute configurationName = XMLTagAttribute("name", this->configOverview.GetConfigName()); + configuration.AddAttribute(configurationName); + + /** + * + * + */ + XMLTag cameraOffset = XMLTag("cameraOffset"); + XMLTag horizontalOffset = XMLTag("horizontal", std::to_string((int) this->runnerSettings.GetProperty(RunnerProperty::OFFSET_X))); + cameraOffset.AddTag(horizontalOffset); + + XMLTag verticalOffset = XMLTag("vertical", std::to_string((int) this->runnerSettings.GetProperty(RunnerProperty::OFFSET_Y))); + cameraOffset.AddTag(verticalOffset); + + configuration.AddTag(cameraOffset); + + /** + * + * + */ + XMLTag constantResize = XMLTag("constantResize"); + XMLTag resizeWidth = XMLTag("width", std::to_string((int) this->runnerSettings.GetProperty(RunnerProperty::IMAGE_WIDTH))); + constantResize.AddTag(resizeWidth); + + XMLTag resizeHeight = XMLTag("height", std::to_string((int) this->runnerSettings.GetProperty(RunnerProperty::IMAGE_HEIGHT))); + constantResize.AddTag(resizeHeight); + + configuration.AddTag(constantResize); + + /** + * + * + */ + XMLTag preprocessor = XMLTag("preprocessor"); + XMLTagAttribute preprocessorType = XMLTagAttribute("type", (this->preprocessorSettings.GetProperty(PreProcessorProperty::IS_FULL) == 1.0 ? "full" : "partial")); + preprocessor.AddAttribute(preprocessorType); + + // + XMLTag threshold = XMLTag("threshold", std::to_string((int) this->preprocessorSettings.GetProperty(PreProcessorProperty::THRESHOLD))); + preprocessor.AddTag(threshold); + + // + XMLTag erosion = XMLTag("erosion", std::to_string((int) this->preprocessorSettings.GetProperty(PreProcessorProperty::EROSION))); + preprocessor.AddTag(erosion); + + // + XMLTag dilation = XMLTag("dilation", std::to_string((int) this->preprocessorSettings.GetProperty(PreProcessorProperty::DILATION))); + preprocessor.AddTag(dilation); + + /** + * + * + * + */ + XMLTag targetColor = XMLTag("targetColor"); + XMLTagAttribute targetColorError = XMLTagAttribute("error", std::to_string((int) this->preprocessorSettings.GetProperty(PreProcessorProperty::COLOR_ERROR))); + targetColor.AddAttribute(targetColorError); + + // + XMLTag h = XMLTag("h", std::to_string((int) this->preprocessorSettings.GetProperty(PreProcessorProperty::COLOR_HUE))); + targetColor.AddTag(h); + + // + XMLTag s = XMLTag("s", std::to_string((int) this->preprocessorSettings.GetProperty(PreProcessorProperty::COLOR_SATURATION))); + targetColor.AddTag(s); + + // + XMLTag v = XMLTag("v", std::to_string((int) this->preprocessorSettings.GetProperty(PreProcessorProperty::COLOR_VALUE))); + targetColor.AddTag(v); + + preprocessor.AddTag(targetColor); + configuration.AddTag(preprocessor); + + /** + * + * + */ + XMLTag postprocessor = XMLTag("postprocessor"); + // + XMLTag target = XMLTag("target"); + XMLTagAttribute targetID = XMLTagAttribute("id", "0"); //this remains constant for now until multiple target support is added. + target.AddAttribute(targetID); + + for(int i=0; ipostprocessorSettings.GetNumContours(); i++) { + /** + * + * + * + * + */ + XMLTag contour = XMLTag("contour"); + XMLTagAttribute contourID = XMLTagAttribute("id", std::to_string(i)); + contour.AddAttribute(contourID); + + // + SettingPair distXValues = this->postprocessorSettings.GetProperty(i, TargetProperty::DIST_X); + XMLTag x = XMLTag("x", std::to_string((double) distXValues.Value())); + XMLTagAttribute xError = XMLTagAttribute("error", std::to_string((double) distXValues.Error())); + x.AddAttribute(xError); + contour.AddTag(x); + + // + SettingPair distYValues = this->postprocessorSettings.GetProperty(i, TargetProperty::DIST_Y); + XMLTag y = XMLTag("y", std::to_string((double) distYValues.Value())); + XMLTagAttribute yError = XMLTagAttribute("error", std::to_string((double) distYValues.Error())); + y.AddAttribute(yError); + contour.AddTag(y); + + // + SettingPair angleValues = this->postprocessorSettings.GetProperty(i, TargetProperty::ANGLE); + XMLTag angle = XMLTag("angle", std::to_string((double) angleValues.Value())); + XMLTagAttribute angleError = XMLTagAttribute("error", std::to_string((double) angleValues.Error())); + angle.AddAttribute(angleError); + contour.AddTag(angle); + + // + SettingPair solidityValues = this->postprocessorSettings.GetProperty(i, TargetProperty::SOLIDITY); + XMLTag solidity = XMLTag("solidity", std::to_string((double) solidityValues.Value())); + XMLTagAttribute solidityError = XMLTagAttribute("error", std::to_string((double) solidityValues.Error())); + solidity.AddAttribute(solidityError); + contour.AddTag(solidity); + + // + SettingPair aspectRatioValues = this->postprocessorSettings.GetProperty(i, TargetProperty::ASPECT_RATIO); + XMLTag aspectRatio = XMLTag("aspectRatio", std::to_string((double) aspectRatioValues.Value())); + XMLTagAttribute aspectRatioError = XMLTagAttribute("error", std::to_string((double) aspectRatioValues.Error())); + aspectRatio.AddAttribute(aspectRatioError); + contour.AddTag(aspectRatio); + + // + SettingPair minimumAreaValues = this->postprocessorSettings.GetProperty(i, TargetProperty::MINIMUM_AREA); + XMLTag minimumArea = XMLTag("minimumArea", std::to_string((int) minimumAreaValues.Value())); + contour.AddTag(minimumArea); + + target.AddTag(contour); + } + + // + XMLTag knownWidth = XMLTag("knownWidth", std::to_string((double) this->runnerSettings.GetProperty(RunnerProperty::TRUE_WIDTH))); + target.AddTag(knownWidth); + + // + XMLTag focalWidth = XMLTag("focalWidth", std::to_string((double) this->runnerSettings.GetProperty(RunnerProperty::PERCEIVED_WIDTH))); + target.AddTag(focalWidth); + + // + XMLTag calibratedDistance = XMLTag("calibratedDistance", std::to_string((double) this->runnerSettings.GetProperty(RunnerProperty::CALIBRATED_DISTANCE))); + target.AddTag(calibratedDistance); + + // + XMLTag distErrorCorrect = XMLTag("distErrorCorrect", std::to_string((double) this->runnerSettings.GetProperty(RunnerProperty::ERROR_CORRECTION))); + target.AddTag(distErrorCorrect); + + postprocessor.AddTag(target); + + /** + * + * + * + */ + XMLTag UDP = XMLTag("UDP"); + //
+ XMLTag address = XMLTag("address", this->runnerSettings.GetUDPAddr()); + UDP.AddTag(address); + + // + XMLTag port = XMLTag("port", std::to_string(this->runnerSettings.GetUDPPort())); + UDP.AddTag(port); + + postprocessor.AddTag(UDP); + configuration.AddTag(postprocessor); + doc.AddTag(configuration); + + //to prompt file name or not to promt file name + std::string fileToSave = this->fileName; + std::vector fileParts = StringUtils::SplitString(fileToSave, '/'); + + if(fileParts[fileParts.size() - 1] == "generic.xml") { + FileChooser chooser = FileChooser(true, "config.xml"); + fileToSave = chooser.Show(); + this->fileName = fileToSave; + } + + doc.WriteFile(fileToSave); +} + + +void ConfigEditor::Close() { + gtk_widget_destroy(this->configeditor); +} + + +void ConfigEditor::StartLearningTarget() { + if(KiwiLightApp::CameraOpen()) { + //reinstantiate the learner to apply the preprocessor settings + this->learner = ConfigLearner(this->runner.GetPreProcessor()); + this->learnerActivated = true; + + ConfirmationDialog confirmLearn = ConfirmationDialog( + std::string("Position the target in the center of the image and press OK.\n") + + std::string("It should be highlighted with a blue box.") + ); + bool shouldLearn = confirmLearn.ShowAndGetResponse(); + if(shouldLearn) { + this->serviceMonitor.SetText("Learning Target"); + this->serviceLabel.SetText("Capturing Frames"); + this->learner.StartLearning(); + } else { + this->learnerActivated = false; + } + } else { + //the camera is not opened, alert the user + ConfirmationDialog alert = ConfirmationDialog( + std::string("The utility could not start because of a video error.\n") + + std::string("Is the camera plugged in and working correctly on your device?") + ); + + alert.ShowAndGetResponse(); + } +} + + +void ConfigEditor::StartLearningDistance() { + //check for video errors + if(KiwiLightApp::CameraOpen()) { + ConfirmationDialog informationDialog = ConfirmationDialog("Learn Distance"); + Panel dialogPanel = Panel(false, 0); + Panel trueWidthPanel = Panel(true, 0); + Label trueWidthPanelHeader = Label("Target Width: "); + trueWidthPanel.Pack_start(trueWidthPanelHeader.GetWidget(), false, false, 0); + + double realTrueWidth = this->runnerSettings.GetProperty(RunnerProperty::TRUE_WIDTH); + NumberBox trueWidthPanelValue = NumberBox(0.0, 120.0, 0.1, realTrueWidth); + trueWidthPanel.Pack_start(trueWidthPanelValue.GetWidget(), false, false, 0); + + dialogPanel.Pack_start(trueWidthPanel.GetWidget(), false, false, 0); + + Panel distancePanel = Panel(true, 0); + Label distancePanelHeader = Label("Distance From Camera: "); + distancePanel.Pack_start(distancePanelHeader.GetWidget(), false, false, 0); + + double realDistance = this->runnerSettings.GetProperty(RunnerProperty::CALIBRATED_DISTANCE); + NumberBox distanceValue = NumberBox(6.0, 240.0, 0.1, realDistance); + distancePanel.Pack_start(distanceValue.GetWidget(), false, false, 0); + + dialogPanel.Pack_start(distancePanel.GetWidget(), false, false, 0); + informationDialog.SetBody(dialogPanel); + + //show the dialog anc ask the question, but do not destroy the dialog when the user presses OK + bool shouldLearn = informationDialog.ShowButDontClose(); + double targetTrueWidth = trueWidthPanelValue.GetValue(); + double targetDistance = distanceValue.GetValue(); + informationDialog.Destroy(); + + if(shouldLearn) { + this->runnerSettings.SetProperty(RunnerProperty::TRUE_WIDTH, targetTrueWidth); + this->runnerSettings.SetProperty(RunnerProperty::CALIBRATED_DISTANCE, targetDistance); + + this->distanceLearner = TargetDistanceLearner(this->runner.GetPreProcessor(), this->runner.GetPostProcessor()); + this->distanceLearnerRunning = true; + + this->serviceMonitor.SetText("Learning Distance Constants"); + this->serviceLabel.SetText("Capturing Frames"); + } + } else { + //the camera is not opened, alert the user + ConfirmationDialog alert = ConfirmationDialog( + std::string("The utility could not be opened because of a video error.\n") + + std::string("Is the camera plugged in and working correctly on your device?") + ); + + alert.ShowAndGetResponse(); + } +} + + +void ConfigEditor::ReconnectUDPFromEditor() { + std::string newUDPAddr = this->runnerSettings.GetUDPAddr(); + int newUDPPort = this->runnerSettings.GetUDPPort(); + KiwiLightApp::ReconnectUDP(newUDPAddr, newUDPPort); + + //set the things in the overview panel + this->configOverview.SetUDPAddr(newUDPAddr); + this->configOverview.SetUDPPort(newUDPPort); +} + + +void ConfigEditor::SetUDPEnabledLabels(bool UDPEnabled) { + this->configOverview.SetUDPEnabledLabels(UDPEnabled); + this->runnerSettings.SetUDPEnabledLabels(UDPEnabled); +} + +/** + * Applies the settings from the camera tab to the camera itself. + */ +void ConfigEditor::ApplyCameraSettings() { + std::vector settingIDs = this->cameraSettings.GetSettingIDs(); + int newCameraIndex = this->cameraSettings.GetCameraIndex(); + + //open a new camera because the user wants to + KiwiLightApp::OpenNewCameraOnIndex(newCameraIndex); + + //tell the runner to apply each setting + for(int i=0; icameraSettings.GetSettingValueFromID(id); + KiwiLightApp::SetCameraProperty(id, value); + } + + //get the settings and apply them to the menu to tell the user if they were rejected or not + for(int i=0; icameraSettings.SetSettingValueFromID(id, value); + } +} + + +void ConfigEditor::SetCameraIndexBoxes(int index) { + this->configOverview.SetCameraIndex(index); + this->cameraSettings.SetCameraIndex(index); +} + + +void ConfigEditor::ReconnectUDPFromOverview() { + std::string newAddr = this->configOverview.GetUDPAddr(); + int newPort = this->configOverview.GetUDPPort(); + KiwiLightApp::ReconnectUDP(newAddr, newPort); + + //set the properties in the actual editor + this->runnerSettings.SetUDPAddr(newAddr); + this->runnerSettings.SetUDPPort(newPort); +} + + +void ConfigEditor::OpenNewCameraFromOverview() { + int newCameraIndex = this->configOverview.GetCameraIndex(); + + //the camera needs to be reconnected because indexes are different + this->cameraSettings.SetCameraIndex(newCameraIndex); //set real index + KiwiLightApp::OpenNewCameraOnIndex(newCameraIndex); +} + + +void ConfigEditor::SetName(std::string name) { + gtk_widget_set_name(this->configeditor, name.c_str()); +} + + +void ConfigEditor::UpdateImage() { + this->runner.Iterate(); + Mat displayable; + + try { + vconcat(this->original, this->out, displayable); + this->outputImage.Update(displayable); + } catch(cv::Exception ex) { + std::cout << "cv exception in ce" << std::endl; + } +} diff --git a/KiwiLight - Vision Code/ui/ConfigPanel.cpp b/KiwiLight - Vision Code/ui/ConfigPanel.cpp index dd6afa8..17bb75e 100644 --- a/KiwiLight - Vision Code/ui/ConfigPanel.cpp +++ b/KiwiLight - Vision Code/ui/ConfigPanel.cpp @@ -1,145 +1,145 @@ -#include "UI.h" - -/** - * Source file for the ConfigPanel class - * Written By: Brach Knutson - */ - -using namespace KiwiLight; - -extern void EditSelected(); //from Main.cpp -extern void ToggleUDP(); //from Main.cpp - - -ConfigPanel::ConfigPanel(XMLDocument file) { - this->panel = Panel(false, 5); - - this->configFile = "(none)"; - std::string configName = "(none)"; - std::string preprocessorType = "(none)"; - std::string numContours = "(none)"; - std::string udpAddr = "(none)"; - std::string udpPort = "(none)"; - - if(file.HasContents()) { - this->configFile = file.FileName(); - - XMLTag confTag = file.GetTagsByName("configuration")[0]; - configName = confTag.GetAttributesByName("name")[0].Value(); - - XMLTag preprocessorTag = confTag.GetTagsByName("preprocessor")[0]; - preprocessorType = preprocessorTag.GetAttributesByName("type")[0].Value(); - - XMLTag postprocessorTag = confTag.GetTagsByName("postprocessor")[0]; - XMLTag targetTag = postprocessorTag.GetTagsByName("target")[0]; - numContours = std::to_string(targetTag.GetTagsByName("contour").size()); - - XMLTag udpTag = postprocessorTag.GetTagsByName("UDP")[0]; - udpAddr = udpTag.GetTagsByName("address")[0].Content(); - udpPort = udpTag.GetTagsByName("port")[0].Content(); - } - - this->configNameString = configName; - - this->header = Label("Configuration: " + configName); - this->header.SetName("header"); - this->panel.Pack_start(this->header.GetWidget(), false, false, 0); - - Panel filePanel = Panel(true, 0); - Label filePanelHeader = Label("File: "); - filePanelHeader.SetName("gray"); - filePanel.Pack_start(filePanelHeader.GetWidget(), false, false, 0); - - this->fileLabel = Label(this->configFile); - filePanel.Pack_start(this->fileLabel.GetWidget(), false, false, 0); - - this->panel.Pack_start(filePanel.GetWidget(), false, false, 0); - - Panel preprocessorPanel = Panel(true, 0); - Label preprocessorPanelHeader = Label("Preprocessor: "); - preprocessorPanelHeader.SetName("gray"); - preprocessorPanel.Pack_start(preprocessorPanelHeader.GetWidget(), false, false, 0); - - this->PreProcessorLabel = Label(preprocessorType); - preprocessorPanel.Pack_start(this->PreProcessorLabel.GetWidget(), false, false, 0); - - this->panel.Pack_start(preprocessorPanel.GetWidget(), false, false, 0); - - Panel targetPanel = Panel(true, 0); - Label targetPanelHeader = Label("Contours: "); - targetPanelHeader.SetName("gray"); - targetPanel.Pack_start(targetPanelHeader.GetWidget(), false, false, 0); - - this->TargetLabel = Label(numContours); - targetPanel.Pack_start(this->TargetLabel.GetWidget(), false, false, 0); - - this->panel.Pack_start(targetPanel.GetWidget(), false, false, 0); - - Panel udpAddrPanel = Panel(true, 0); - Label udpAddrPanelHeader = Label("UDP Address: "); - udpAddrPanelHeader.SetName("gray"); - udpAddrPanel.Pack_start(udpAddrPanelHeader.GetWidget(), false, false, 0); - - this->UDPAddressLabel = Label(udpAddr); - udpAddrPanel.Pack_start(this->UDPAddressLabel.GetWidget(), false, false, 0); - - this->panel.Pack_start(udpAddrPanel.GetWidget(), false, false, 0); - - Panel udpPortPanel = Panel(true, 0); - Label udpPortPanelHeader = Label("UDP Port: "); - udpPortPanelHeader.SetName("gray"); - udpPortPanel.Pack_start(udpPortPanelHeader.GetWidget(), false, false, 0); - - this->UDPPortLabel = Label(udpPort); - udpPortPanel.Pack_start(this->UDPPortLabel.GetWidget(), false, false, 0); - - this->panel.Pack_start(udpPortPanel.GetWidget(), false, false, 0); - - this->configPanel = this->panel.GetWidget(); -} - - -void ConfigPanel::LoadConfig(std::string fileName) { - this->LoadConfig(XMLDocument(fileName)); -} - -/** - * Loads the config described the the file at fileName. - */ -void ConfigPanel::LoadConfig(XMLDocument file) { - //create an xmldocument to parse and then find all information needed to fill out the label - - XMLTag config = file.GetTagsByName("configuration")[0]; - std::string name = config.GetAttributesByName("name")[0].Value(); - std::string preProcessorType = config.GetTagsByName("preprocessor")[0].GetAttributesByName("type")[0].Value(); - std::string postProcessorType = "full"; - std::string numContours = std::to_string(config.GetTagsByName("postprocessor")[0].GetTagsByName("target")[0].GetTagsByName("contour").size()); - - XMLTag UDPTag = config.GetTagsByName("postprocessor")[0].GetTagsByName("UDP")[0]; - std::string udpAddress = UDPTag.GetTagsByName("address")[0].Content(); - std::string udpPort = UDPTag.GetTagsByName("port")[0].Content(); - - //set the label texts for the informational panel with the found information - this->header.SetText("Configuration: " + name); - this->fileLabel.SetText(file.FileName()); - this->PreProcessorLabel.SetText(preProcessorType); - this->TargetLabel.SetText(numContours); - this->UDPAddressLabel.SetText(udpAddress); - this->UDPPortLabel.SetText(udpPort); - - this->configNameString = name; -} - - -void ConfigPanel::Clear() { - this->header.SetText("Configuration: (none loaded)"); - this->fileLabel.SetText("(none)"); - this->PreProcessorLabel.SetText("(none)"); - this->TargetLabel.SetText("(none)"); - this->UDPAddressLabel.SetText("(none)"); - this->UDPPortLabel.SetText("(none)"); -} - -void ConfigPanel::SetName(std::string name) { - gtk_widget_set_name(this->configPanel, name.c_str()); -} +#include "UI.h" + +/** + * Source file for the ConfigPanel class + * Written By: Brach Knutson + */ + +using namespace KiwiLight; + +extern void EditSelected(); //from Main.cpp +extern void ToggleUDP(); //from Main.cpp + + +ConfigPanel::ConfigPanel(XMLDocument file) { + this->panel = Panel(false, 5); + + this->configFile = "(none)"; + std::string configName = "(none)"; + std::string preprocessorType = "(none)"; + std::string numContours = "(none)"; + std::string udpAddr = "(none)"; + std::string udpPort = "(none)"; + + if(file.HasContents()) { + this->configFile = file.FileName(); + + XMLTag confTag = file.GetTagsByName("configuration")[0]; + configName = confTag.GetAttributesByName("name")[0].Value(); + + XMLTag preprocessorTag = confTag.GetTagsByName("preprocessor")[0]; + preprocessorType = preprocessorTag.GetAttributesByName("type")[0].Value(); + + XMLTag postprocessorTag = confTag.GetTagsByName("postprocessor")[0]; + XMLTag targetTag = postprocessorTag.GetTagsByName("target")[0]; + numContours = std::to_string(targetTag.GetTagsByName("contour").size()); + + XMLTag udpTag = postprocessorTag.GetTagsByName("UDP")[0]; + udpAddr = udpTag.GetTagsByName("address")[0].Content(); + udpPort = udpTag.GetTagsByName("port")[0].Content(); + } + + this->configNameString = configName; + + this->header = Label("Configuration: " + configName); + this->header.SetName("header"); + this->panel.Pack_start(this->header.GetWidget(), false, false, 0); + + Panel filePanel = Panel(true, 0); + Label filePanelHeader = Label("File: "); + filePanelHeader.SetName("gray"); + filePanel.Pack_start(filePanelHeader.GetWidget(), false, false, 0); + + this->fileLabel = Label(this->configFile); + filePanel.Pack_start(this->fileLabel.GetWidget(), false, false, 0); + + this->panel.Pack_start(filePanel.GetWidget(), false, false, 0); + + Panel preprocessorPanel = Panel(true, 0); + Label preprocessorPanelHeader = Label("Preprocessor: "); + preprocessorPanelHeader.SetName("gray"); + preprocessorPanel.Pack_start(preprocessorPanelHeader.GetWidget(), false, false, 0); + + this->PreProcessorLabel = Label(preprocessorType); + preprocessorPanel.Pack_start(this->PreProcessorLabel.GetWidget(), false, false, 0); + + this->panel.Pack_start(preprocessorPanel.GetWidget(), false, false, 0); + + Panel targetPanel = Panel(true, 0); + Label targetPanelHeader = Label("Contours: "); + targetPanelHeader.SetName("gray"); + targetPanel.Pack_start(targetPanelHeader.GetWidget(), false, false, 0); + + this->TargetLabel = Label(numContours); + targetPanel.Pack_start(this->TargetLabel.GetWidget(), false, false, 0); + + this->panel.Pack_start(targetPanel.GetWidget(), false, false, 0); + + Panel udpAddrPanel = Panel(true, 0); + Label udpAddrPanelHeader = Label("UDP Address: "); + udpAddrPanelHeader.SetName("gray"); + udpAddrPanel.Pack_start(udpAddrPanelHeader.GetWidget(), false, false, 0); + + this->UDPAddressLabel = Label(udpAddr); + udpAddrPanel.Pack_start(this->UDPAddressLabel.GetWidget(), false, false, 0); + + this->panel.Pack_start(udpAddrPanel.GetWidget(), false, false, 0); + + Panel udpPortPanel = Panel(true, 0); + Label udpPortPanelHeader = Label("UDP Port: "); + udpPortPanelHeader.SetName("gray"); + udpPortPanel.Pack_start(udpPortPanelHeader.GetWidget(), false, false, 0); + + this->UDPPortLabel = Label(udpPort); + udpPortPanel.Pack_start(this->UDPPortLabel.GetWidget(), false, false, 0); + + this->panel.Pack_start(udpPortPanel.GetWidget(), false, false, 0); + + this->configPanel = this->panel.GetWidget(); +} + + +void ConfigPanel::LoadConfig(std::string fileName) { + this->LoadConfig(XMLDocument(fileName)); +} + +/** + * Loads the config described the the file at fileName. + */ +void ConfigPanel::LoadConfig(XMLDocument file) { + //create an xmldocument to parse and then find all information needed to fill out the label + + XMLTag config = file.GetTagsByName("configuration")[0]; + std::string name = config.GetAttributesByName("name")[0].Value(); + std::string preProcessorType = config.GetTagsByName("preprocessor")[0].GetAttributesByName("type")[0].Value(); + std::string postProcessorType = "full"; + std::string numContours = std::to_string(config.GetTagsByName("postprocessor")[0].GetTagsByName("target")[0].GetTagsByName("contour").size()); + + XMLTag UDPTag = config.GetTagsByName("postprocessor")[0].GetTagsByName("UDP")[0]; + std::string udpAddress = UDPTag.GetTagsByName("address")[0].Content(); + std::string udpPort = UDPTag.GetTagsByName("port")[0].Content(); + + //set the label texts for the informational panel with the found information + this->header.SetText("Configuration: " + name); + this->fileLabel.SetText(file.FileName()); + this->PreProcessorLabel.SetText(preProcessorType); + this->TargetLabel.SetText(numContours); + this->UDPAddressLabel.SetText(udpAddress); + this->UDPPortLabel.SetText(udpPort); + + this->configNameString = name; +} + + +void ConfigPanel::Clear() { + this->header.SetText("Configuration: (none loaded)"); + this->fileLabel.SetText("(none)"); + this->PreProcessorLabel.SetText("(none)"); + this->TargetLabel.SetText("(none)"); + this->UDPAddressLabel.SetText("(none)"); + this->UDPPortLabel.SetText("(none)"); +} + +void ConfigPanel::SetName(std::string name) { + gtk_widget_set_name(this->configPanel, name.c_str()); +} diff --git a/KiwiLight - Vision Code/ui/ConfirmationDialog.cpp b/KiwiLight - Vision Code/ui/ConfirmationDialog.cpp index 361d473..f9cbebb 100644 --- a/KiwiLight - Vision Code/ui/ConfirmationDialog.cpp +++ b/KiwiLight - Vision Code/ui/ConfirmationDialog.cpp @@ -1,56 +1,56 @@ -#include "UI.h" - -/** - * Source file for the ConfirmationDialog class. - * Written By: Brach Knutson - */ - -using namespace KiwiLight; - - -ConfirmationDialog::ConfirmationDialog(std::string message) { - GtkWidget *window = gtk_window_new(GTK_WINDOW_TOPLEVEL); - this->dialog = gtk_dialog_new_with_buttons("Confirmation", GTK_WINDOW(window), GTK_DIALOG_MODAL, "OK", GTK_RESPONSE_ACCEPT, "Cancel", GTK_RESPONSE_REJECT, NULL); - GtkWidget *dialogContent = gtk_dialog_get_content_area(GTK_DIALOG(this->dialog)); - this->content = Panel(false, 0); - Label lbl = Label(message); - this->content.Pack_start(lbl.GetWidget(), false, false, 0); - - gtk_container_add(GTK_CONTAINER(dialogContent), this->content.GetWidget()); - -} - - -void ConfirmationDialog::SetBody(Panel pnl) { - this->content.Pack_start(pnl.GetWidget(), true, true, 0); -} - - -bool ConfirmationDialog::ShowButDontClose() { - gtk_widget_show_all(this->dialog); - gint response = gtk_dialog_run(GTK_DIALOG(this->dialog)); - return response == GTK_RESPONSE_ACCEPT; -} - - -void ConfirmationDialog::ShowWithoutRunning() { - gtk_widget_show_all(this->dialog); -} - - -bool ConfirmationDialog::ShowAndGetResponse() { - gtk_widget_show_all(this->dialog); - gint response = gtk_dialog_run(GTK_DIALOG(this->dialog)); - gtk_widget_destroy(this->dialog); - return response == GTK_RESPONSE_ACCEPT; -} - - -void ConfirmationDialog::Destroy() { - gtk_widget_destroy(this->dialog); -} - - -void ConfirmationDialog::SetName(std::string name) { - gtk_widget_set_name(this->dialog, name.c_str()); +#include "UI.h" + +/** + * Source file for the ConfirmationDialog class. + * Written By: Brach Knutson + */ + +using namespace KiwiLight; + + +ConfirmationDialog::ConfirmationDialog(std::string message) { + GtkWidget *window = gtk_window_new(GTK_WINDOW_TOPLEVEL); + this->dialog = gtk_dialog_new_with_buttons("Confirmation", GTK_WINDOW(window), GTK_DIALOG_MODAL, "OK", GTK_RESPONSE_ACCEPT, "Cancel", GTK_RESPONSE_REJECT, NULL); + GtkWidget *dialogContent = gtk_dialog_get_content_area(GTK_DIALOG(this->dialog)); + this->content = Panel(false, 0); + Label lbl = Label(message); + this->content.Pack_start(lbl.GetWidget(), false, false, 0); + + gtk_container_add(GTK_CONTAINER(dialogContent), this->content.GetWidget()); + +} + + +void ConfirmationDialog::SetBody(Panel pnl) { + this->content.Pack_start(pnl.GetWidget(), true, true, 0); +} + + +bool ConfirmationDialog::ShowButDontClose() { + gtk_widget_show_all(this->dialog); + gint response = gtk_dialog_run(GTK_DIALOG(this->dialog)); + return response == GTK_RESPONSE_ACCEPT; +} + + +void ConfirmationDialog::ShowWithoutRunning() { + gtk_widget_show_all(this->dialog); +} + + +bool ConfirmationDialog::ShowAndGetResponse() { + gtk_widget_show_all(this->dialog); + gint response = gtk_dialog_run(GTK_DIALOG(this->dialog)); + gtk_widget_destroy(this->dialog); + return response == GTK_RESPONSE_ACCEPT; +} + + +void ConfirmationDialog::Destroy() { + gtk_widget_destroy(this->dialog); +} + + +void ConfirmationDialog::SetName(std::string name) { + gtk_widget_set_name(this->dialog, name.c_str()); } \ No newline at end of file diff --git a/KiwiLight - Vision Code/ui/FileChooser.cpp b/KiwiLight - Vision Code/ui/FileChooser.cpp index 7e2f6ce..9669334 100644 --- a/KiwiLight - Vision Code/ui/FileChooser.cpp +++ b/KiwiLight - Vision Code/ui/FileChooser.cpp @@ -1,60 +1,60 @@ -#include "UI.h" - -/** - * Source file for the FileChooser class. - * Written By: Brach Knutson - */ - -using namespace KiwiLight; - -/** - * Creates a new FileChooser. - * @param writing Should be true if you intend this filechooser to choose a file to save to, false if choosing to read from. - * @param defaultFileName Only used if writing is true, the default name of the file to save to. - */ -FileChooser::FileChooser(bool writing, std::string defaultFileName) { - GtkWidget *window = gtk_window_new(GTK_WINDOW_TOPLEVEL); - - if(writing) { - this->filechooser = gtk_file_chooser_dialog_new("Save File", - GTK_WINDOW(window), - GTK_FILE_CHOOSER_ACTION_SAVE, - "Cancel", - GTK_RESPONSE_CANCEL, - "Save", - GTK_RESPONSE_ACCEPT, - NULL - ); - - // gtk_file_chooser_set_filename(GTK_FILE_CHOOSER(this->filechooser), defaultFileName.c_str()); - gtk_file_chooser_set_current_name(GTK_FILE_CHOOSER(this->filechooser), defaultFileName.c_str()); - } else { - this->filechooser = gtk_file_chooser_dialog_new ("Open File", - GTK_WINDOW(window), - GTK_FILE_CHOOSER_ACTION_OPEN, - "Cancel", - GTK_RESPONSE_CANCEL, - "Open", - GTK_RESPONSE_ACCEPT, - NULL - ); - } - - gtk_file_chooser_set_current_folder(GTK_FILE_CHOOSER(this->filechooser), getenv("HOME")); -} - - -std::string FileChooser::Show() { - gint result = gtk_dialog_run(GTK_DIALOG(this->filechooser)); - std::string file = ""; - if(result == GTK_RESPONSE_ACCEPT) { - file = gtk_file_chooser_get_filename(GTK_FILE_CHOOSER(this->filechooser)); - } - - gtk_widget_destroy(this->filechooser); - return file; -} - -void FileChooser::SetName(std::string name) { - gtk_widget_set_name(this->filechooser, name.c_str()); +#include "UI.h" + +/** + * Source file for the FileChooser class. + * Written By: Brach Knutson + */ + +using namespace KiwiLight; + +/** + * Creates a new FileChooser. + * @param writing Should be true if you intend this filechooser to choose a file to save to, false if choosing to read from. + * @param defaultFileName Only used if writing is true, the default name of the file to save to. + */ +FileChooser::FileChooser(bool writing, std::string defaultFileName) { + GtkWidget *window = gtk_window_new(GTK_WINDOW_TOPLEVEL); + + if(writing) { + this->filechooser = gtk_file_chooser_dialog_new("Save File", + GTK_WINDOW(window), + GTK_FILE_CHOOSER_ACTION_SAVE, + "Cancel", + GTK_RESPONSE_CANCEL, + "Save", + GTK_RESPONSE_ACCEPT, + NULL + ); + + // gtk_file_chooser_set_filename(GTK_FILE_CHOOSER(this->filechooser), defaultFileName.c_str()); + gtk_file_chooser_set_current_name(GTK_FILE_CHOOSER(this->filechooser), defaultFileName.c_str()); + } else { + this->filechooser = gtk_file_chooser_dialog_new ("Open File", + GTK_WINDOW(window), + GTK_FILE_CHOOSER_ACTION_OPEN, + "Cancel", + GTK_RESPONSE_CANCEL, + "Open", + GTK_RESPONSE_ACCEPT, + NULL + ); + } + + gtk_file_chooser_set_current_folder(GTK_FILE_CHOOSER(this->filechooser), getenv("HOME")); +} + + +std::string FileChooser::Show() { + gint result = gtk_dialog_run(GTK_DIALOG(this->filechooser)); + std::string file = ""; + if(result == GTK_RESPONSE_ACCEPT) { + file = gtk_file_chooser_get_filename(GTK_FILE_CHOOSER(this->filechooser)); + } + + gtk_widget_destroy(this->filechooser); + return file; +} + +void FileChooser::SetName(std::string name) { + gtk_widget_set_name(this->filechooser, name.c_str()); } \ No newline at end of file diff --git a/KiwiLight - Vision Code/ui/Frame.cpp b/KiwiLight - Vision Code/ui/Frame.cpp index d3d774d..4042b4c 100644 --- a/KiwiLight - Vision Code/ui/Frame.cpp +++ b/KiwiLight - Vision Code/ui/Frame.cpp @@ -1,35 +1,35 @@ -#include "UI.h" - -/** - * Source file for the Frame class. - * Written By: Brach Knutson - */ - - -using namespace KiwiLight; - -/** - * Creates a new frame with the given text in the label. - */ -Frame::Frame(std::string label) { - this->frame = gtk_frame_new(label.c_str()); - g_object_ref_sink(this->frame); - gtk_frame_set_shadow_type(GTK_FRAME(this->frame), GTK_SHADOW_ETCHED_IN); -} - -/** - * Pack the given widget into the frame (is it vertical or horizontal? idk!!!) - */ -void Frame::Pack(GtkWidget *widget) { - gtk_container_add(GTK_CONTAINER(this->frame), widget); -} - - -void Frame::Unpack(GtkWidget *widget) { - gtk_container_remove(GTK_CONTAINER(this->frame), widget); -} - - -void Frame::SetName(std::string name) { - gtk_widget_set_name(this->frame, name.c_str()); +#include "UI.h" + +/** + * Source file for the Frame class. + * Written By: Brach Knutson + */ + + +using namespace KiwiLight; + +/** + * Creates a new frame with the given text in the label. + */ +Frame::Frame(std::string label) { + this->frame = gtk_frame_new(label.c_str()); + g_object_ref_sink(this->frame); + gtk_frame_set_shadow_type(GTK_FRAME(this->frame), GTK_SHADOW_ETCHED_IN); +} + +/** + * Pack the given widget into the frame (is it vertical or horizontal? idk!!!) + */ +void Frame::Pack(GtkWidget *widget) { + gtk_container_add(GTK_CONTAINER(this->frame), widget); +} + + +void Frame::Unpack(GtkWidget *widget) { + gtk_container_remove(GTK_CONTAINER(this->frame), widget); +} + + +void Frame::SetName(std::string name) { + gtk_widget_set_name(this->frame, name.c_str()); } \ No newline at end of file diff --git a/KiwiLight - Vision Code/ui/HelpWindow.cpp b/KiwiLight - Vision Code/ui/HelpWindow.cpp index 8c1699b..576da95 100644 --- a/KiwiLight - Vision Code/ui/HelpWindow.cpp +++ b/KiwiLight - Vision Code/ui/HelpWindow.cpp @@ -1,54 +1,54 @@ -#include "UI.h" - -/** - * Source file for the HelpWindow class. - * Written By: Brach Knutson - */ - - -using namespace KiwiLight; - - -HelpWindow::HelpWindow(GtkWindowType type) { - this->window = Window(type, false); - this->window.SetSize(550, 200); - Panel main = Panel(true, 0); - Panel banners = Panel(false, 0); - - Image kiwiLogo = Image("banner_small.png"); - banners.Pack_start(kiwiLogo.GetWidget(), false, false, 0); - - Image foximusLogo = Image("foximus_small.png"); - banners.Pack_start(foximusLogo.GetWidget(), false, false, 0); - - main.Pack_start(banners.GetWidget(), false, false, 0); - - Panel labels = Panel(false, 0); - - Label header = Label("KiwiLight Help"); - header.SetName("header"); - labels.Pack_start(header.GetWidget(), false, false, 0); - - Label content = Label( - std::string("For KiwiLight help, check out the tutorial at \n\n") + - std::string("You can also email brach2003@gmail.com with any questions, comments, concerns, etc.") - ); - content.SetLineWrap(true); - labels.Pack_start(content.GetWidget(), false, false, 0); - - main.Pack_start(labels.GetWidget(), false, false, 0); - - this->window.SetPane(main); - - this->helpwindow = this->window.GetWidget(); -} - - -void HelpWindow::Show() { - this->window.Show(); -} - - -void HelpWindow::SetName(std::string name) { - gtk_widget_set_name(this->helpwindow, name.c_str()); +#include "UI.h" + +/** + * Source file for the HelpWindow class. + * Written By: Brach Knutson + */ + + +using namespace KiwiLight; + + +HelpWindow::HelpWindow(GtkWindowType type) { + this->window = Window(type, false); + this->window.SetSize(550, 200); + Panel main = Panel(true, 0); + Panel banners = Panel(false, 0); + + Image kiwiLogo = Image("banner_small.png"); + banners.Pack_start(kiwiLogo.GetWidget(), false, false, 0); + + Image foximusLogo = Image("foximus_small.png"); + banners.Pack_start(foximusLogo.GetWidget(), false, false, 0); + + main.Pack_start(banners.GetWidget(), false, false, 0); + + Panel labels = Panel(false, 0); + + Label header = Label("KiwiLight Help"); + header.SetName("header"); + labels.Pack_start(header.GetWidget(), false, false, 0); + + Label content = Label( + std::string("For KiwiLight help, check out the tutorial at \n\n") + + std::string("You can also email brach2003@gmail.com with any questions, comments, concerns, etc.") + ); + content.SetLineWrap(true); + labels.Pack_start(content.GetWidget(), false, false, 0); + + main.Pack_start(labels.GetWidget(), false, false, 0); + + this->window.SetPane(main); + + this->helpwindow = this->window.GetWidget(); +} + + +void HelpWindow::Show() { + this->window.Show(); +} + + +void HelpWindow::SetName(std::string name) { + gtk_widget_set_name(this->helpwindow, name.c_str()); } \ No newline at end of file diff --git a/KiwiLight - Vision Code/ui/Image.cpp b/KiwiLight - Vision Code/ui/Image.cpp index e55ff1c..78f0b16 100644 --- a/KiwiLight - Vision Code/ui/Image.cpp +++ b/KiwiLight - Vision Code/ui/Image.cpp @@ -1,84 +1,84 @@ -#include "UI.h" - -/** - * Source file for the Image class. - * Written By: Brach Knutson - */ - -using namespace cv; -using namespace KiwiLight; - - -Image::Image(std::string fileName) { - this->image = gtk_image_new_from_file(fileName.c_str()); - this->colorspace = ImageColorspace::RGB; - this->declaredAsStaticImage = true; - this->declared = true; -} - - -Image::Image(ImageColorspace colorspace) { - this->image = gtk_drawing_area_new(); - this->colorspace = colorspace; - this->declaredAsStaticImage = false; - this->declared = true; -} - -/** - * Updates and redraws the widget with newImage. - */ -void Image::Update(cv::Mat newImage) { - if(!this->declaredAsStaticImage) { - //convert the newImage to RGB colorspace - cv::Mat newImageCopy; //copy the image so that changes arent made to the argument image - newImage.copyTo(newImageCopy); - cvtColor(newImageCopy, newImageCopy, COLOR_BGR2RGB); - - //create the cairo renderer and initalize it - cairo_region_t *region = cairo_region_create(); - GdkWindow *win = gtk_widget_get_window(this->image); - - if(win != NULL) { - GdkDrawingContext *drawingContext = gdk_window_begin_draw_frame(win, region); - cairo_t *cairo = gdk_drawing_context_get_cairo_context(drawingContext); - - cairo_save(cairo); - cairo_translate(cairo, 0, 0); - - //create the pixbuf from the mat data - guchar *imageData = (guchar*) newImageCopy.data; - GdkPixbuf *imgData = gdk_pixbuf_new_from_data(imageData, - GDK_COLORSPACE_RGB, - FALSE, - 8, - newImageCopy.cols, - newImageCopy.rows, - newImageCopy.step, - NULL, - NULL); - - //create a surface from the pixbuf and render it - cairo_surface_t *surface = gdk_cairo_surface_create_from_pixbuf(imgData, 1, win); - cairo_set_source_surface(cairo, surface, 0, 0); - cairo_rectangle(cairo, 0, 0, newImageCopy.cols, newImageCopy.rows); - cairo_paint(cairo); - cairo_fill(cairo); - cairo_restore(cairo); - gdk_window_end_draw_frame(win, drawingContext); - - //request a new widget size so the entire image is visible - gtk_widget_set_size_request(this->image, newImageCopy.cols, newImageCopy.rows); - - //clean up memory so leaks don't happen - cairo_surface_destroy(surface); - cairo_region_destroy(region); - g_object_unref(G_OBJECT(imgData)); - } - } else { - std::cout << "CANNOT UPDATE A STATIC IMAGE!" << std::endl; - } -} - -void Image::SetName(std::string name) { - gtk_widget_set_name(this->image, name.c_str()); -} +#include "UI.h" + +/** + * Source file for the Image class. + * Written By: Brach Knutson + */ + +using namespace cv; +using namespace KiwiLight; + + +Image::Image(std::string fileName) { + this->image = gtk_image_new_from_file(fileName.c_str()); + this->colorspace = ImageColorspace::RGB; + this->declaredAsStaticImage = true; + this->declared = true; +} + + +Image::Image(ImageColorspace colorspace) { + this->image = gtk_drawing_area_new(); + this->colorspace = colorspace; + this->declaredAsStaticImage = false; + this->declared = true; +} + +/** + * Updates and redraws the widget with newImage. + */ +void Image::Update(cv::Mat newImage) { + if(!this->declaredAsStaticImage) { + //convert the newImage to RGB colorspace + cv::Mat newImageCopy; //copy the image so that changes arent made to the argument image + newImage.copyTo(newImageCopy); + cvtColor(newImageCopy, newImageCopy, COLOR_BGR2RGB); + + //create the cairo renderer and initalize it + cairo_region_t *region = cairo_region_create(); + GdkWindow *win = gtk_widget_get_window(this->image); + + if(win != NULL) { + GdkDrawingContext *drawingContext = gdk_window_begin_draw_frame(win, region); + cairo_t *cairo = gdk_drawing_context_get_cairo_context(drawingContext); + + cairo_save(cairo); + cairo_translate(cairo, 0, 0); + + //create the pixbuf from the mat data + guchar *imageData = (guchar*) newImageCopy.data; + GdkPixbuf *imgData = gdk_pixbuf_new_from_data(imageData, + GDK_COLORSPACE_RGB, + FALSE, + 8, + newImageCopy.cols, + newImageCopy.rows, + newImageCopy.step, + NULL, + NULL); + + //create a surface from the pixbuf and render it + cairo_surface_t *surface = gdk_cairo_surface_create_from_pixbuf(imgData, 1, win); + cairo_set_source_surface(cairo, surface, 0, 0); + cairo_rectangle(cairo, 0, 0, newImageCopy.cols, newImageCopy.rows); + cairo_paint(cairo); + cairo_fill(cairo); + cairo_restore(cairo); + gdk_window_end_draw_frame(win, drawingContext); + + //request a new widget size so the entire image is visible + gtk_widget_set_size_request(this->image, newImageCopy.cols, newImageCopy.rows); + + //clean up memory so leaks don't happen + cairo_surface_destroy(surface); + cairo_region_destroy(region); + g_object_unref(G_OBJECT(imgData)); + } + } else { + std::cout << "CANNOT UPDATE A STATIC IMAGE!" << std::endl; + } +} + +void Image::SetName(std::string name) { + gtk_widget_set_name(this->image, name.c_str()); +} diff --git a/KiwiLight - Vision Code/ui/Label.cpp b/KiwiLight - Vision Code/ui/Label.cpp index 9d21f75..cbf2164 100644 --- a/KiwiLight - Vision Code/ui/Label.cpp +++ b/KiwiLight - Vision Code/ui/Label.cpp @@ -1,52 +1,52 @@ -#include "UI.h" - -/** - * Source file for the Label class. - * Written By: Brach Knutson - */ - - -using namespace KiwiLight; - -/** - * Creates a new label. - */ -Label::Label(std::string text) { - this->label = gtk_label_new(text.c_str()); -} - -/** - * Sets the text of the label to the given std::string. - */ -void Label::SetText(std::string text) { - gtk_label_set_text(GTK_LABEL(this->label), text.c_str()); - this->text = text; -} - - -void Label::SetName(std::string name) { - gtk_widget_set_name(this->label, name.c_str()); -} - - -void Label::SetLineWrap(bool enabled) { - gtk_label_set_line_wrap(GTK_LABEL(this->label), enabled); -} - -void Label::SetJustify(int justify) { - GtkJustification justification; - switch(justify) { - case 0: - justification = GTK_JUSTIFY_LEFT; - break; - - case 1: - justification = GTK_JUSTIFY_RIGHT; - break; - - default: - justification = GTK_JUSTIFY_CENTER; - } - - gtk_label_set_justify(GTK_LABEL(this->label), justification); +#include "UI.h" + +/** + * Source file for the Label class. + * Written By: Brach Knutson + */ + + +using namespace KiwiLight; + +/** + * Creates a new label. + */ +Label::Label(std::string text) { + this->label = gtk_label_new(text.c_str()); +} + +/** + * Sets the text of the label to the given std::string. + */ +void Label::SetText(std::string text) { + gtk_label_set_text(GTK_LABEL(this->label), text.c_str()); + this->text = text; +} + + +void Label::SetName(std::string name) { + gtk_widget_set_name(this->label, name.c_str()); +} + + +void Label::SetLineWrap(bool enabled) { + gtk_label_set_line_wrap(GTK_LABEL(this->label), enabled); +} + +void Label::SetJustify(int justify) { + GtkJustification justification; + switch(justify) { + case 0: + justification = GTK_JUSTIFY_LEFT; + break; + + case 1: + justification = GTK_JUSTIFY_RIGHT; + break; + + default: + justification = GTK_JUSTIFY_CENTER; + } + + gtk_label_set_justify(GTK_LABEL(this->label), justification); } \ No newline at end of file diff --git a/KiwiLight - Vision Code/ui/LabeledSlider.cpp b/KiwiLight - Vision Code/ui/LabeledSlider.cpp index 7e2a48c..5b6140d 100644 --- a/KiwiLight - Vision Code/ui/LabeledSlider.cpp +++ b/KiwiLight - Vision Code/ui/LabeledSlider.cpp @@ -1,50 +1,50 @@ -#include "UI.h" - -/** - * Source file for the LabeledSlider class. - * Written By: Brach Knutson - */ - -using namespace KiwiLight; - - -LabeledSlider::LabeledSlider(std::string label, double min, double max, double step, double value) { - this->panel = Panel(false, 0); - this->label = Label(label.c_str()); - this->panel.Pack_start(this->label.GetWidget(), false, false, 0); - this->slider = Slider(min, max, step, value); - this->panel.Pack_start(this->slider.GetWidget(), false, false, 0); - - this->labeledslider = this->panel.GetWidget(); -} - - -LabeledSlider::LabeledSlider(bool horizontal, std::string label, double min, double max, double step, double value) { - this->panel = Panel(false, 0); - this->label = Label(label.c_str()); - this->panel.Pack_start(this->label.GetWidget(), false, false, 0); - this->slider = Slider(horizontal, min, max, step, value); - this->panel.Pack_start(this->slider.GetWidget(), false, false, 0); - - this->labeledslider = this->panel.GetWidget(); -} - - -double LabeledSlider::GetValue() { - return (double) this->slider.GetValue(); -} - - -void LabeledSlider::SetValue(double value) { - this->slider.SetValue(value); -} - - -void LabeledSlider::SetLabel(std::string text) { - this->label.SetText(text); -} - - -void LabeledSlider::SetName(std::string name) { - gtk_widget_set_name(this->labeledslider, name.c_str()); +#include "UI.h" + +/** + * Source file for the LabeledSlider class. + * Written By: Brach Knutson + */ + +using namespace KiwiLight; + + +LabeledSlider::LabeledSlider(std::string label, double min, double max, double step, double value) { + this->panel = Panel(false, 0); + this->label = Label(label.c_str()); + this->panel.Pack_start(this->label.GetWidget(), false, false, 0); + this->slider = Slider(min, max, step, value); + this->panel.Pack_start(this->slider.GetWidget(), false, false, 0); + + this->labeledslider = this->panel.GetWidget(); +} + + +LabeledSlider::LabeledSlider(bool horizontal, std::string label, double min, double max, double step, double value) { + this->panel = Panel(false, 0); + this->label = Label(label.c_str()); + this->panel.Pack_start(this->label.GetWidget(), false, false, 0); + this->slider = Slider(horizontal, min, max, step, value); + this->panel.Pack_start(this->slider.GetWidget(), false, false, 0); + + this->labeledslider = this->panel.GetWidget(); +} + + +double LabeledSlider::GetValue() { + return (double) this->slider.GetValue(); +} + + +void LabeledSlider::SetValue(double value) { + this->slider.SetValue(value); +} + + +void LabeledSlider::SetLabel(std::string text) { + this->label.SetText(text); +} + + +void LabeledSlider::SetName(std::string name) { + gtk_widget_set_name(this->labeledslider, name.c_str()); } \ No newline at end of file diff --git a/KiwiLight - Vision Code/ui/MenuBar.cpp b/KiwiLight - Vision Code/ui/MenuBar.cpp index e63bb56..f1484cd 100644 --- a/KiwiLight - Vision Code/ui/MenuBar.cpp +++ b/KiwiLight - Vision Code/ui/MenuBar.cpp @@ -1,28 +1,28 @@ -#include "UI.h" - -/** - * Source file for the MenuBar class. - * Written By: Brach Knutson - */ - - -using namespace KiwiLight; - -/** - * Creates a new MenuBar. - */ -MenuBar::MenuBar() { - this->menubar = gtk_menu_bar_new(); -} - -/** - * Add the given menu item to the bar. - */ -void MenuBar::AddItem(MenuItem item) { - gtk_menu_shell_append(GTK_MENU_SHELL(this->menubar), item.GetWidget()); -} - - -void MenuBar::SetName(std::string name) { - gtk_widget_set_name(this->menubar, name.c_str()); +#include "UI.h" + +/** + * Source file for the MenuBar class. + * Written By: Brach Knutson + */ + + +using namespace KiwiLight; + +/** + * Creates a new MenuBar. + */ +MenuBar::MenuBar() { + this->menubar = gtk_menu_bar_new(); +} + +/** + * Add the given menu item to the bar. + */ +void MenuBar::AddItem(MenuItem item) { + gtk_menu_shell_append(GTK_MENU_SHELL(this->menubar), item.GetWidget()); +} + + +void MenuBar::SetName(std::string name) { + gtk_widget_set_name(this->menubar, name.c_str()); } \ No newline at end of file diff --git a/KiwiLight - Vision Code/ui/MenuItem.cpp b/KiwiLight - Vision Code/ui/MenuItem.cpp index ed9e70f..6cc4cfb 100644 --- a/KiwiLight - Vision Code/ui/MenuItem.cpp +++ b/KiwiLight - Vision Code/ui/MenuItem.cpp @@ -1,27 +1,27 @@ -#include "UI.h" - -/** - * Source file for the MenuItem class. - * Written By: Brach Knutson - */ - - -using namespace KiwiLight; - -/** - * Create a new MenuItem with the given name and action when clicked. - */ -MenuItem::MenuItem(std::string name) { - this->menuitem = gtk_menu_item_new_with_label(name.c_str()); - this->menu = gtk_menu_new(); - gtk_menu_item_set_submenu(GTK_MENU_ITEM(this->menuitem), this->menu); -} - -void MenuItem::AddSubmenuItem(SubMenuItem item) { - gtk_menu_shell_append(GTK_MENU_SHELL(this->menu), item.GetWidget()); -} - - -void MenuItem::SetName(std::string name) { - gtk_widget_set_name(this->menu, name.c_str()); +#include "UI.h" + +/** + * Source file for the MenuItem class. + * Written By: Brach Knutson + */ + + +using namespace KiwiLight; + +/** + * Create a new MenuItem with the given name and action when clicked. + */ +MenuItem::MenuItem(std::string name) { + this->menuitem = gtk_menu_item_new_with_label(name.c_str()); + this->menu = gtk_menu_new(); + gtk_menu_item_set_submenu(GTK_MENU_ITEM(this->menuitem), this->menu); +} + +void MenuItem::AddSubmenuItem(SubMenuItem item) { + gtk_menu_shell_append(GTK_MENU_SHELL(this->menu), item.GetWidget()); +} + + +void MenuItem::SetName(std::string name) { + gtk_widget_set_name(this->menu, name.c_str()); } \ No newline at end of file diff --git a/KiwiLight - Vision Code/ui/NumberBox.cpp b/KiwiLight - Vision Code/ui/NumberBox.cpp index a55257e..073e200 100644 --- a/KiwiLight - Vision Code/ui/NumberBox.cpp +++ b/KiwiLight - Vision Code/ui/NumberBox.cpp @@ -1,39 +1,39 @@ -#include "UI.h" - -/** - * Source file for the NumberBox class. - * Written By: Brach Knutson - */ - -using namespace KiwiLight; - -NumberBox::NumberBox(double min, double max, double value) { - this->min = min; - this->max = max; - - this->numberBox = gtk_spin_button_new_with_range(min, max, 1.0); - gtk_spin_button_set_value(GTK_SPIN_BUTTON(this->numberBox), value); -} - - -NumberBox::NumberBox(double min, double max, double step, double value) { - this->min = min; - this->max = max; - this->numberBox = gtk_spin_button_new_with_range(min, max, step); - gtk_spin_button_set_value(GTK_SPIN_BUTTON(this->numberBox), value); -} - - -void NumberBox::SetValue(double value) { - gtk_spin_button_set_value(GTK_SPIN_BUTTON(this->numberBox), value); -} - - -double NumberBox::GetValue() { - return gtk_spin_button_get_value(GTK_SPIN_BUTTON(this->numberBox)); -} - - -void NumberBox::SetName(std::string name) { - gtk_widget_set_name(this->numberBox, name.c_str()); +#include "UI.h" + +/** + * Source file for the NumberBox class. + * Written By: Brach Knutson + */ + +using namespace KiwiLight; + +NumberBox::NumberBox(double min, double max, double value) { + this->min = min; + this->max = max; + + this->numberBox = gtk_spin_button_new_with_range(min, max, 1.0); + gtk_spin_button_set_value(GTK_SPIN_BUTTON(this->numberBox), value); +} + + +NumberBox::NumberBox(double min, double max, double step, double value) { + this->min = min; + this->max = max; + this->numberBox = gtk_spin_button_new_with_range(min, max, step); + gtk_spin_button_set_value(GTK_SPIN_BUTTON(this->numberBox), value); +} + + +void NumberBox::SetValue(double value) { + gtk_spin_button_set_value(GTK_SPIN_BUTTON(this->numberBox), value); +} + + +double NumberBox::GetValue() { + return gtk_spin_button_get_value(GTK_SPIN_BUTTON(this->numberBox)); +} + + +void NumberBox::SetName(std::string name) { + gtk_widget_set_name(this->numberBox, name.c_str()); } \ No newline at end of file diff --git a/KiwiLight - Vision Code/ui/OverviewPanel.cpp b/KiwiLight - Vision Code/ui/OverviewPanel.cpp index 9267200..65e5017 100644 --- a/KiwiLight - Vision Code/ui/OverviewPanel.cpp +++ b/KiwiLight - Vision Code/ui/OverviewPanel.cpp @@ -1,202 +1,202 @@ -#include "../KiwiLight.h" - -/** - * Source file for the OverviewPanel class. - * Written By: Brach Knutson - */ - -using namespace cv; -using namespace KiwiLight; - - -OverviewPanel::OverviewPanel(XMLDocument doc) { - XMLTag configTag = doc.GetTagsByName("configuration")[0]; - Panel editor = Panel(false, 0); - Panel namePanel = Panel(true, 0); - Label confNameHeader = Label("Configuration: "); - confNameHeader.SetName("header"); - namePanel.Pack_start(confNameHeader.GetWidget(), false, false, 0); - - std::string realConfigName = configTag.GetAttributesByName("name")[0].Value(); - this->configName = TextBox(realConfigName); - namePanel.Pack_start(this->configName.GetWidget(), false, false, 0); - - editor.Pack_start(namePanel.GetWidget(), false, false, 0); - - Label targetInformationHeader = Label("Target Information:"); - targetInformationHeader.SetName("subHeader"); - editor.Pack_start(targetInformationHeader.GetWidget(), true, true, 0); - - //the real time target information panel - Panel targetInformationPanel = Panel(false, 0); - this->targetSpotted = Label("Target Spotted: NO"); - this->targetSpotted.SetName("gray"); - targetInformationPanel.Pack_start(this->targetSpotted.GetWidget(), false, false, 0); - - this->targetImageLocation = Label("Target Location: N/A"); - targetInformationPanel.Pack_start(this->targetImageLocation.GetWidget(), false, false, 0); - - this->targetDist = Label("Target Distance: N/A"); - targetInformationPanel.Pack_start(this->targetDist.GetWidget(), false, false, 0); - - this->targetHAngle = Label("Target Horizontal Angle: N/A"); - targetInformationPanel.Pack_start(this->targetHAngle.GetWidget(), false, false, 0); - - this->targetVAngle = Label("Target Vertical Angle: N/A"); - targetInformationPanel.Pack_start(this->targetVAngle.GetWidget(), false, false, 0); - - editor.Pack_start(targetInformationPanel.GetWidget(), true, true, 0); - - Label cameraHeader = Label("Camera"); - cameraHeader.SetName("subHeader"); - editor.Pack_start(cameraHeader.GetWidget(), true, true, 0); - - Panel cameraPanel = Panel(true, 0); - Label cameraIndexHeader = Label("Camera Index:"); - cameraPanel.Pack_start(cameraIndexHeader.GetWidget(), true, true, 0); - - int realCameraIndex = std::stoi(doc.GetTagsByName("camera")[0].GetAttributesByName("index")[0].Value()); - this->cameraIndex = NumberBox(0, 100, 1, realCameraIndex); - cameraPanel.Pack_start(this->cameraIndex.GetWidget(), true, true, 0); - - Button applyIndexButton = Button("Open", KiwiLightApp::EditorOpenNewCameraFromOverview); - cameraPanel.Pack_start(applyIndexButton.GetWidget(), true, true, 0); - editor.Pack_start(cameraPanel.GetWidget(), true, true, 0); - - Label udpHeader = Label("UDP"); - udpHeader.SetName("subHeader"); - editor.Pack_start(udpHeader.GetWidget(), true, true, 0); - - XMLTag udpTag = doc.GetTagsByName("configuration")[0].GetTagsByName("postprocessor")[0].GetTagsByName("UDP")[0]; - Panel udpPanel = Panel(true, 0); - Panel udpEditorContents = Panel(false, 0); - Panel udpAddrPanel = Panel(true, 0); - Label udpAddrPanelHeader = Label("IPv4 Address: "); - udpAddrPanel.Pack_start(udpAddrPanelHeader.GetWidget(), true, true, 0); - - std::string realUDP = udpTag.GetTagsByName("address")[0].Content(); - this->udpAddr = TextBox(realUDP); - udpAddrPanel.Pack_start(this->udpAddr.GetWidget(), true, true, 0); - - udpEditorContents.Pack_start(udpAddrPanel.GetWidget(), true, true, 0); - - Panel udpPortPanel = Panel(true, 0); - Label udpPortPanelHeader = Label("Port: "); - udpPortPanel.Pack_start(udpPortPanelHeader.GetWidget(), true, true, 0); - - int realUDPPort = std::stoi(udpTag.GetTagsByName("port")[0].Content()); - this->udpPort = NumberBox(1, 9999, 1, realUDPPort); - udpPortPanel.Pack_start(this->udpPort.GetWidget(), true, true, 0); - - udpEditorContents.Pack_start(udpPortPanel.GetWidget(), true, true, 0); - - udpPanel.Pack_start(udpEditorContents.GetWidget(), true, true, 0); - - Button reconnectUDP = Button("Reconnect", KiwiLightApp::EditorConnectUDPFromOverview); - udpPanel.Pack_start(reconnectUDP.GetWidget(), true, true, 0); - - this->enableUDP = Button("Enable", KiwiLightApp::ToggleUDP); - udpPanel.Pack_start(this->enableUDP.GetWidget(), true, true, 0); - - editor.Pack_start(udpPanel.GetWidget(), true, true, 0); - - this->overviewpanel = editor.GetWidget(); -} - -/** - * Updates the overview panel. - */ -void OverviewPanel::Update() { - -} - -void OverviewPanel::SetConfigName(std::string name) { - this->configName.SetText(name); -} - -std::string OverviewPanel::GetConfigName() { - return this->configName.GetText(); -} - - -void OverviewPanel::SetTargetInformationLabels(bool targetSpotted, int targetImgX, int targetImgY, double targetDist, double targetHAngle, double targetVAngle) { - this->targetSpotted.SetText(std::string("Target Spotted: ") + (targetSpotted ? std::string("YES") : std::string("NO"))); - - std::string - targetLocationString = "N/A", - targetDistString = "N/A", - targetHAngleString = "N/A", - targetVAngleString = "N/A"; - - if(targetSpotted) { - targetLocationString = "( " + std::to_string(targetImgX) + ", " + std::to_string(targetImgY) + ")"; - targetDistString = std::to_string(targetDist); - targetHAngleString = std::to_string(targetHAngle); - targetVAngleString = std::to_string(targetVAngle); - } - - this->targetImageLocation.SetText("Target Location " + targetLocationString); - this->targetDist.SetText("Target Distance: " + targetDistString); - this->targetHAngle.SetText("Target Horizontal Angle: " + targetHAngleString); - this->targetVAngle.SetText("Target Vertical Angle: " + targetVAngleString); -} - - -void OverviewPanel::SetCameraIndex(int index) { - this->cameraIndex.SetValue((double) index); -} - - -int OverviewPanel::GetCameraIndex() { - return this->cameraIndex.GetValue(); -} - - -void OverviewPanel::SetUDPAddr(std::string addr) { - this->udpAddr.SetText(addr); -} - -std::string OverviewPanel::GetUDPAddr() { - return this->udpAddr.GetText(); -} - -void OverviewPanel::SetUDPPort(int port) { - this->udpPort.SetValue(port); -} - -int OverviewPanel::GetUDPPort() { - return (int) this->udpPort.GetValue(); -} - -void OverviewPanel::SetUDPEnabledLabels(bool UDPEnabled) { - this->enableUDP.SetText((UDPEnabled ? "Disable" : "Enable")); -} - - -void OverviewPanel::SetTargetInformationLabelsFromString(std::string iterOutput) { - if(iterOutput.length() < 3) { //improperly formatted string - return; - } - - std::string trimmedOutput = iterOutput.substr(1, iterOutput.length() - 2); //sub off the ':' and ';' at beginning and end - std::vector splitOutput = StringUtils::SplitString(trimmedOutput, ','); - - //there must be 5 nums in string, no more, no less - if(splitOutput.size() == 5) { - int targetX = std::stoi(splitOutput[0]); - int targetY = std::stoi(splitOutput[1]); - double targetDist = std::stod(splitOutput[2]); - double targetAngleHorizontal = std::stod(splitOutput[3]); - double targetAngleVertical = std::stod(splitOutput[4]); - bool targetSpotted = (targetX > -1); - - SetTargetInformationLabels(targetSpotted, targetX, targetY, targetDist, targetAngleHorizontal, targetAngleVertical); - } else { - std::cout << "WARNING: Could not update overview panel information labels. Input string was wrongly formatted." << std::endl; - } -} - - -void OverviewPanel::SetName(std::string name) { - gtk_widget_set_name(this->overviewpanel, name.c_str()); +#include "../KiwiLight.h" + +/** + * Source file for the OverviewPanel class. + * Written By: Brach Knutson + */ + +using namespace cv; +using namespace KiwiLight; + + +OverviewPanel::OverviewPanel(XMLDocument doc) { + XMLTag configTag = doc.GetTagsByName("configuration")[0]; + Panel editor = Panel(false, 0); + Panel namePanel = Panel(true, 0); + Label confNameHeader = Label("Configuration: "); + confNameHeader.SetName("header"); + namePanel.Pack_start(confNameHeader.GetWidget(), false, false, 0); + + std::string realConfigName = configTag.GetAttributesByName("name")[0].Value(); + this->configName = TextBox(realConfigName); + namePanel.Pack_start(this->configName.GetWidget(), false, false, 0); + + editor.Pack_start(namePanel.GetWidget(), false, false, 0); + + Label targetInformationHeader = Label("Target Information:"); + targetInformationHeader.SetName("subHeader"); + editor.Pack_start(targetInformationHeader.GetWidget(), true, true, 0); + + //the real time target information panel + Panel targetInformationPanel = Panel(false, 0); + this->targetSpotted = Label("Target Spotted: NO"); + this->targetSpotted.SetName("gray"); + targetInformationPanel.Pack_start(this->targetSpotted.GetWidget(), false, false, 0); + + this->targetImageLocation = Label("Target Location: N/A"); + targetInformationPanel.Pack_start(this->targetImageLocation.GetWidget(), false, false, 0); + + this->targetDist = Label("Target Distance: N/A"); + targetInformationPanel.Pack_start(this->targetDist.GetWidget(), false, false, 0); + + this->targetHAngle = Label("Target Horizontal Angle: N/A"); + targetInformationPanel.Pack_start(this->targetHAngle.GetWidget(), false, false, 0); + + this->targetVAngle = Label("Target Vertical Angle: N/A"); + targetInformationPanel.Pack_start(this->targetVAngle.GetWidget(), false, false, 0); + + editor.Pack_start(targetInformationPanel.GetWidget(), true, true, 0); + + Label cameraHeader = Label("Camera"); + cameraHeader.SetName("subHeader"); + editor.Pack_start(cameraHeader.GetWidget(), true, true, 0); + + Panel cameraPanel = Panel(true, 0); + Label cameraIndexHeader = Label("Camera Index:"); + cameraPanel.Pack_start(cameraIndexHeader.GetWidget(), true, true, 0); + + int realCameraIndex = std::stoi(doc.GetTagsByName("camera")[0].GetAttributesByName("index")[0].Value()); + this->cameraIndex = NumberBox(0, 100, 1, realCameraIndex); + cameraPanel.Pack_start(this->cameraIndex.GetWidget(), true, true, 0); + + Button applyIndexButton = Button("Open", KiwiLightApp::EditorOpenNewCameraFromOverview); + cameraPanel.Pack_start(applyIndexButton.GetWidget(), true, true, 0); + editor.Pack_start(cameraPanel.GetWidget(), true, true, 0); + + Label udpHeader = Label("UDP"); + udpHeader.SetName("subHeader"); + editor.Pack_start(udpHeader.GetWidget(), true, true, 0); + + XMLTag udpTag = doc.GetTagsByName("configuration")[0].GetTagsByName("postprocessor")[0].GetTagsByName("UDP")[0]; + Panel udpPanel = Panel(true, 0); + Panel udpEditorContents = Panel(false, 0); + Panel udpAddrPanel = Panel(true, 0); + Label udpAddrPanelHeader = Label("IPv4 Address: "); + udpAddrPanel.Pack_start(udpAddrPanelHeader.GetWidget(), true, true, 0); + + std::string realUDP = udpTag.GetTagsByName("address")[0].Content(); + this->udpAddr = TextBox(realUDP); + udpAddrPanel.Pack_start(this->udpAddr.GetWidget(), true, true, 0); + + udpEditorContents.Pack_start(udpAddrPanel.GetWidget(), true, true, 0); + + Panel udpPortPanel = Panel(true, 0); + Label udpPortPanelHeader = Label("Port: "); + udpPortPanel.Pack_start(udpPortPanelHeader.GetWidget(), true, true, 0); + + int realUDPPort = std::stoi(udpTag.GetTagsByName("port")[0].Content()); + this->udpPort = NumberBox(1, 9999, 1, realUDPPort); + udpPortPanel.Pack_start(this->udpPort.GetWidget(), true, true, 0); + + udpEditorContents.Pack_start(udpPortPanel.GetWidget(), true, true, 0); + + udpPanel.Pack_start(udpEditorContents.GetWidget(), true, true, 0); + + Button reconnectUDP = Button("Reconnect", KiwiLightApp::EditorConnectUDPFromOverview); + udpPanel.Pack_start(reconnectUDP.GetWidget(), true, true, 0); + + this->enableUDP = Button("Enable", KiwiLightApp::ToggleUDP); + udpPanel.Pack_start(this->enableUDP.GetWidget(), true, true, 0); + + editor.Pack_start(udpPanel.GetWidget(), true, true, 0); + + this->overviewpanel = editor.GetWidget(); +} + +/** + * Updates the overview panel. + */ +void OverviewPanel::Update() { + +} + +void OverviewPanel::SetConfigName(std::string name) { + this->configName.SetText(name); +} + +std::string OverviewPanel::GetConfigName() { + return this->configName.GetText(); +} + + +void OverviewPanel::SetTargetInformationLabels(bool targetSpotted, int targetImgX, int targetImgY, double targetDist, double targetHAngle, double targetVAngle) { + this->targetSpotted.SetText(std::string("Target Spotted: ") + (targetSpotted ? std::string("YES") : std::string("NO"))); + + std::string + targetLocationString = "N/A", + targetDistString = "N/A", + targetHAngleString = "N/A", + targetVAngleString = "N/A"; + + if(targetSpotted) { + targetLocationString = "( " + std::to_string(targetImgX) + ", " + std::to_string(targetImgY) + ")"; + targetDistString = std::to_string(targetDist); + targetHAngleString = std::to_string(targetHAngle); + targetVAngleString = std::to_string(targetVAngle); + } + + this->targetImageLocation.SetText("Target Location " + targetLocationString); + this->targetDist.SetText("Target Distance: " + targetDistString); + this->targetHAngle.SetText("Target Horizontal Angle: " + targetHAngleString); + this->targetVAngle.SetText("Target Vertical Angle: " + targetVAngleString); +} + + +void OverviewPanel::SetCameraIndex(int index) { + this->cameraIndex.SetValue((double) index); +} + + +int OverviewPanel::GetCameraIndex() { + return this->cameraIndex.GetValue(); +} + + +void OverviewPanel::SetUDPAddr(std::string addr) { + this->udpAddr.SetText(addr); +} + +std::string OverviewPanel::GetUDPAddr() { + return this->udpAddr.GetText(); +} + +void OverviewPanel::SetUDPPort(int port) { + this->udpPort.SetValue(port); +} + +int OverviewPanel::GetUDPPort() { + return (int) this->udpPort.GetValue(); +} + +void OverviewPanel::SetUDPEnabledLabels(bool UDPEnabled) { + this->enableUDP.SetText((UDPEnabled ? "Disable" : "Enable")); +} + + +void OverviewPanel::SetTargetInformationLabelsFromString(std::string iterOutput) { + if(iterOutput.length() < 3) { //improperly formatted string + return; + } + + std::string trimmedOutput = iterOutput.substr(1, iterOutput.length() - 2); //sub off the ':' and ';' at beginning and end + std::vector splitOutput = StringUtils::SplitString(trimmedOutput, ','); + + //there must be 5 nums in string, no more, no less + if(splitOutput.size() == 5) { + int targetX = std::stoi(splitOutput[0]); + int targetY = std::stoi(splitOutput[1]); + double targetDist = std::stod(splitOutput[2]); + double targetAngleHorizontal = std::stod(splitOutput[3]); + double targetAngleVertical = std::stod(splitOutput[4]); + bool targetSpotted = (targetX > -1); + + SetTargetInformationLabels(targetSpotted, targetX, targetY, targetDist, targetAngleHorizontal, targetAngleVertical); + } else { + std::cout << "WARNING: Could not update overview panel information labels. Input string was wrongly formatted." << std::endl; + } +} + + +void OverviewPanel::SetName(std::string name) { + gtk_widget_set_name(this->overviewpanel, name.c_str()); } \ No newline at end of file diff --git a/KiwiLight - Vision Code/ui/Panel.cpp b/KiwiLight - Vision Code/ui/Panel.cpp index e18cb5b..faddfdf 100644 --- a/KiwiLight - Vision Code/ui/Panel.cpp +++ b/KiwiLight - Vision Code/ui/Panel.cpp @@ -1,36 +1,36 @@ -#include "UI.h" - -/** - * Source file for the Panel class. - * Written By: Brach Knutson - */ - - -using namespace KiwiLight; - -/** - * Creates a new panel. - */ -Panel::Panel(bool horizontal, int spacing) { - //using depreciated gtk_hbox_new() until gtk_box_new() is implemented in current version of gtk. - this->panel = gtk_box_new((horizontal ? GTK_ORIENTATION_HORIZONTAL : GTK_ORIENTATION_VERTICAL), spacing); -} - -/** - * Packs the given widget into the start of the container. - */ -void Panel::Pack_start(GtkWidget *widget, bool expand, bool fill, int pad) { - gtk_box_pack_start(GTK_BOX(this->panel), widget, gboolean(expand), gboolean(fill), pad); -} - -/** - * Packs the given widget into the end of the container. - */ -void Panel::Pack_end(GtkWidget *widget, bool expand, bool fill, int pad) { - gtk_box_pack_end(GTK_BOX(this->panel), widget, gboolean(expand), gboolean(fill), pad); -} - - -void Panel::SetName(std::string name) { - gtk_widget_set_name(this->panel, name.c_str()); +#include "UI.h" + +/** + * Source file for the Panel class. + * Written By: Brach Knutson + */ + + +using namespace KiwiLight; + +/** + * Creates a new panel. + */ +Panel::Panel(bool horizontal, int spacing) { + //using depreciated gtk_hbox_new() until gtk_box_new() is implemented in current version of gtk. + this->panel = gtk_box_new((horizontal ? GTK_ORIENTATION_HORIZONTAL : GTK_ORIENTATION_VERTICAL), spacing); +} + +/** + * Packs the given widget into the start of the container. + */ +void Panel::Pack_start(GtkWidget *widget, bool expand, bool fill, int pad) { + gtk_box_pack_start(GTK_BOX(this->panel), widget, gboolean(expand), gboolean(fill), pad); +} + +/** + * Packs the given widget into the end of the container. + */ +void Panel::Pack_end(GtkWidget *widget, bool expand, bool fill, int pad) { + gtk_box_pack_end(GTK_BOX(this->panel), widget, gboolean(expand), gboolean(fill), pad); +} + + +void Panel::SetName(std::string name) { + gtk_widget_set_name(this->panel, name.c_str()); } \ No newline at end of file diff --git a/KiwiLight - Vision Code/ui/PopupTextBox.cpp b/KiwiLight - Vision Code/ui/PopupTextBox.cpp index 1d9d536..7b4ba0a 100644 --- a/KiwiLight - Vision Code/ui/PopupTextBox.cpp +++ b/KiwiLight - Vision Code/ui/PopupTextBox.cpp @@ -1,38 +1,38 @@ -#include "UI.h" - -/** - * Source file for the PopupTextBox class. - * Written By: Brach Knutson - */ - -using namespace KiwiLight; - - -PopupTextBox::PopupTextBox(std::string name, std::string prompt, std::string initValue) { - GtkWidget *window = gtk_window_new(GTK_WINDOW_TOPLEVEL); - this->popuptextbox = gtk_dialog_new_with_buttons(name.c_str(), GTK_WINDOW(window), GTK_DIALOG_MODAL, "OK", GTK_RESPONSE_ACCEPT, NULL); - GtkWidget *dialogContent = gtk_dialog_get_content_area(GTK_DIALOG(this->popuptextbox)); - Panel pnl = Panel(false, 0); - Label promptLabel = Label(prompt); - pnl.Pack_start(promptLabel.GetWidget(), false, false, 0); - - this->textbox = TextBox(initValue); - pnl.Pack_start(this->textbox.GetWidget(), false, false, 0); - - gtk_container_add(GTK_CONTAINER(dialogContent), pnl.GetWidget()); - -} - - -std::string PopupTextBox::Show() { - gtk_widget_show_all(this->popuptextbox); - gtk_dialog_run(GTK_DIALOG(this->popuptextbox)); - std::string response = this->textbox.GetText(); - gtk_widget_destroy(this->popuptextbox); - return response; -} - - -void PopupTextBox::SetName(std::string name) { - gtk_widget_set_name(this->popuptextbox, name.c_str()); +#include "UI.h" + +/** + * Source file for the PopupTextBox class. + * Written By: Brach Knutson + */ + +using namespace KiwiLight; + + +PopupTextBox::PopupTextBox(std::string name, std::string prompt, std::string initValue) { + GtkWidget *window = gtk_window_new(GTK_WINDOW_TOPLEVEL); + this->popuptextbox = gtk_dialog_new_with_buttons(name.c_str(), GTK_WINDOW(window), GTK_DIALOG_MODAL, "OK", GTK_RESPONSE_ACCEPT, NULL); + GtkWidget *dialogContent = gtk_dialog_get_content_area(GTK_DIALOG(this->popuptextbox)); + Panel pnl = Panel(false, 0); + Label promptLabel = Label(prompt); + pnl.Pack_start(promptLabel.GetWidget(), false, false, 0); + + this->textbox = TextBox(initValue); + pnl.Pack_start(this->textbox.GetWidget(), false, false, 0); + + gtk_container_add(GTK_CONTAINER(dialogContent), pnl.GetWidget()); + +} + + +std::string PopupTextBox::Show() { + gtk_widget_show_all(this->popuptextbox); + gtk_dialog_run(GTK_DIALOG(this->popuptextbox)); + std::string response = this->textbox.GetText(); + gtk_widget_destroy(this->popuptextbox); + return response; +} + + +void PopupTextBox::SetName(std::string name) { + gtk_widget_set_name(this->popuptextbox, name.c_str()); } \ No newline at end of file diff --git a/KiwiLight - Vision Code/ui/PostprocessorEditor.cpp b/KiwiLight - Vision Code/ui/PostprocessorEditor.cpp index f372b01..798e155 100644 --- a/KiwiLight - Vision Code/ui/PostprocessorEditor.cpp +++ b/KiwiLight - Vision Code/ui/PostprocessorEditor.cpp @@ -1,256 +1,256 @@ -#include "UI.h" - -/** - * Source file for the PostprocessorEditor class. - * Written By: Brach Knutson - */ - -using namespace KiwiLight; - - -PostprocessorEditor::PostprocessorEditor(PostProcessor postprocessor) { - //create a runner to store values for all contours rather than having arrays and things - std::string genericFileLocation = ""; - //find home so we can get the generic configuration from KiwiLightData - char *home = getenv("HOME"); - if(home != NULL) { - genericFileLocation = std::string(home) + std::string("/KiwiLightData/confs/generic.xml"); - } else { - std::cout << "The postprocessor editor was unable to find HOME" << std::endl; - } - this->storageRunner = Runner(genericFileLocation, true); - this->lastDesiredContour = 0; - - //set storage runner for number of contours - std::vector newContours; - for(int i=0; istorageRunner.SetExampleTarget(0, newTarget); - - //init the values in the storage runner because they are all generic right now - for(int i=0; istorageRunner.SetPostProcessorContourProperty(i, TargetProperty::DIST_X, postprocessor.GetTargetContourProperty(i, TargetProperty::DIST_X)); - this->storageRunner.SetPostProcessorContourProperty(i, TargetProperty::DIST_Y, postprocessor.GetTargetContourProperty(i, TargetProperty::DIST_Y)); - this->storageRunner.SetPostProcessorContourProperty(i, TargetProperty::ANGLE, postprocessor.GetTargetContourProperty(i, TargetProperty::ANGLE)); - this->storageRunner.SetPostProcessorContourProperty(i, TargetProperty::ASPECT_RATIO, postprocessor.GetTargetContourProperty(i, TargetProperty::ASPECT_RATIO)); - this->storageRunner.SetPostProcessorContourProperty(i, TargetProperty::SOLIDITY, postprocessor.GetTargetContourProperty(i, TargetProperty::SOLIDITY)); - this->storageRunner.SetPostProcessorContourProperty(i, TargetProperty::MINIMUM_AREA, postprocessor.GetTargetContourProperty(i, TargetProperty::MINIMUM_AREA)); - } - - Panel editor = Panel(false, 0); - Panel contourChooserPanel = Panel(true, 0); - Label contourChooserPanelHeader = Label("Contour: "); - contourChooserPanelHeader.SetName("gray"); - contourChooserPanel.Pack_start(contourChooserPanelHeader.GetWidget(), true, true, 0); - - this->contourchooser = NumberBox(0, 10, 0); - contourChooserPanel.Pack_start(this->contourchooser.GetWidget(), true, true, 0); - - this->totalContours = Label(std::string("/ ") + std::to_string(this->storageRunner.GetNumberOfContours(0))); - contourChooserPanel.Pack_start(totalContours.GetWidget(), true, true, 0); - - editor.Pack_start(contourChooserPanel.GetWidget(), true, true, 0); - - //distance editor - Label distanceFromCenterHeader = Label("Distance from Center"); - distanceFromCenterHeader.SetName("subHeader"); - editor.Pack_start(distanceFromCenterHeader.GetWidget(), true, true, 0); - - Panel distXPanel = Panel(true, 0); - Label distXPanelHeader = Label("Horizontal:"); - distXPanel.Pack_start(distXPanelHeader.GetWidget(), true, true, 0); - - double realDistX = postprocessor.GetTargetContourProperty(0, TargetProperty::DIST_X).Value(); - this->distX = NumberBox(-10.0, 10.0, 0.05, realDistX); - distXPanel.Pack_start(this->distX.GetWidget(), false, false, 0); - - double realDistXErr = postprocessor.GetTargetContourProperty(0, TargetProperty::DIST_X).Error(); - this->distXErr = LabeledSlider("Range", 0.0, 10.0, 0.05, realDistXErr); - distXPanel.Pack_start(this->distXErr.GetWidget(), true, true, 0); - - editor.Pack_start(distXPanel.GetWidget(), true, true, 0); - - Panel distYPanel = Panel(true, 0); - Label distYPanelHeader = Label("Vertical:"); - distYPanel.Pack_start(distYPanelHeader.GetWidget(), true, true, 0); - - double realDistY = postprocessor.GetTargetContourProperty(0, TargetProperty::DIST_Y).Value(); - this->distY = NumberBox(-10.0, 10.0, 0.05, realDistY); - distYPanel.Pack_start(this->distY.GetWidget(), false, false, 0); - - double realDistYErr = postprocessor.GetTargetContourProperty(0, TargetProperty::DIST_Y).Error(); - this->distYErr = LabeledSlider("Range", 0.0, 10.0, 0.05, realDistYErr); - distYPanel.Pack_start(this->distYErr.GetWidget(), true, true, 0); - - editor.Pack_start(distYPanel.GetWidget(), true, true, 0); - - Label angleHeader = Label("Contour Shape"); - angleHeader.SetName("subHeader"); - editor.Pack_start(angleHeader.GetWidget(), true, true, 0); - - Panel anglePanel = Panel(true, 0); - double realAngle = postprocessor.GetTargetContourProperty(0, TargetProperty::ANGLE).Value(); - this->angle = LabeledSlider("Angle", -90.0, 90.0, 0.05, realAngle); - anglePanel.Pack_start(this->angle.GetWidget(), true, true, 0); - - double realAngleErr = postprocessor.GetTargetContourProperty(0, TargetProperty::ANGLE).Error(); - this->angleErr = LabeledSlider("Range", 0.0, 90.0, 0.05, realAngleErr); - anglePanel.Pack_start(this->angleErr.GetWidget(), true, true, 0); - - editor.Pack_start(anglePanel.GetWidget(), true, true, 0); - - Panel arPanel = Panel(true, 0); - double realAR = postprocessor.GetTargetContourProperty(0, TargetProperty::ASPECT_RATIO).Value(); - this->ar = LabeledSlider("Aspect Ratio", 0.01, 10.0, 0.01, realAR); - arPanel.Pack_start(this->ar.GetWidget(), true, true, 0); - - double realArErr = postprocessor.GetTargetContourProperty(0, TargetProperty::ASPECT_RATIO).Error(); - this->arErr = LabeledSlider("Range", 0.01, 10.0, 0.01, realArErr); - arPanel.Pack_start(this->arErr.GetWidget(), true, true, 0); - - editor.Pack_start(arPanel.GetWidget(), true, true, 0); - - Panel solidityPanel = Panel(true, 0); - double realSolidity = postprocessor.GetTargetContourProperty(0, TargetProperty::SOLIDITY).Value(); - this->solidity = LabeledSlider("Solidity", 0.0, 1.0, 0.01, realSolidity); - solidityPanel.Pack_start(this->solidity.GetWidget(), true, true, 0); - - double realSolidityErr = postprocessor.GetTargetContourProperty(0, TargetProperty::SOLIDITY).Error(); - this->solidityErr = LabeledSlider("Range", 0.0, 1.0, 0.1, realSolidityErr); - solidityPanel.Pack_start(this->solidityErr.GetWidget(), true, true, 0); - - editor.Pack_start(solidityPanel.GetWidget(), true, true, 0); - - double realMinArea = postprocessor.GetTargetContourProperty(0, TargetProperty::MINIMUM_AREA).Value(); - this->minimumArea = LabeledSlider("Minimum Area", 5.0, 10000.0, 5.0, realMinArea); - editor.Pack_start(this->minimumArea.GetWidget(), true, true, 0); - - this->postprocessoreditor = editor.GetWidget(); -} - - -int PostprocessorEditor::GetNumContours() { - return this->storageRunner.GetNumberOfContours(0); -} - -/** - * Clears all contours in the target so far and sets the number of contours to contours. - */ -void PostprocessorEditor::SetNumContours(int contours) { - std::cout << "ppe: setting contour count to " << contours << std::endl; - //create a new exampletarget - std::vector newContours; - for(int i=0; istorageRunner.SetExampleTarget(0, newTarg); -} - -/** - * Updates the editor. - */ -void PostprocessorEditor::Update() { - int currentContour = (int) this->contourchooser.GetValue(); - - if(currentContour != this->lastDesiredContour) { - //the user has requested to see values for a new contour, show them - if(currentContour < this->storageRunner.GetNumberOfContours(0)) { - this->distX.SetValue(this->storageRunner.GetPostProcessorContourProperty(currentContour, TargetProperty::DIST_X).Value()); - this->distXErr.SetValue(this->storageRunner.GetPostProcessorContourProperty(currentContour, TargetProperty::DIST_X).Error()); - this->distY.SetValue(this->storageRunner.GetPostProcessorContourProperty(currentContour, TargetProperty::DIST_Y).Value()); - this->distYErr.SetValue(this->storageRunner.GetPostProcessorContourProperty(currentContour, TargetProperty::DIST_Y).Error()); - this->angle.SetValue(this->storageRunner.GetPostProcessorContourProperty(currentContour, TargetProperty::ANGLE).Value()); - this->angleErr.SetValue(this->storageRunner.GetPostProcessorContourProperty(currentContour, TargetProperty::ANGLE).Error()); - this->ar.SetValue(this->storageRunner.GetPostProcessorContourProperty(currentContour, TargetProperty::ASPECT_RATIO).Value()); - this->arErr.SetValue(this->storageRunner.GetPostProcessorContourProperty(currentContour, TargetProperty::ASPECT_RATIO).Error()); - this->solidity.SetValue(this->storageRunner.GetPostProcessorContourProperty(currentContour, TargetProperty::SOLIDITY).Value()); - this->solidityErr.SetValue(this->storageRunner.GetPostProcessorContourProperty(currentContour, TargetProperty::SOLIDITY).Error()); - this->minimumArea.SetValue(this->storageRunner.GetPostProcessorContourProperty(currentContour, TargetProperty::MINIMUM_AREA).Value()); - this->lastDesiredContour = currentContour; - } else { - this->contourchooser.SetValue(this->lastDesiredContour); - } - } - - //set dist x - SettingPair distXPair = SettingPair(this->distX.GetValue(), this->distXErr.GetValue()); - this->storageRunner.SetPostProcessorContourProperty(currentContour, TargetProperty::DIST_X, distXPair); - - //set dist y - SettingPair distYPair = SettingPair(this->distY.GetValue(), this->distYErr.GetValue()); - this->storageRunner.SetPostProcessorContourProperty(currentContour, TargetProperty::DIST_Y, distYPair); - - //set angle - SettingPair anglePair = SettingPair(this->angle.GetValue(), this->angleErr.GetValue()); - this->storageRunner.SetPostProcessorContourProperty(currentContour, TargetProperty::ANGLE, anglePair); - - //set aspect ratio - SettingPair arPair = SettingPair(this->ar.GetValue(), this->arErr.GetValue()); - this->storageRunner.SetPostProcessorContourProperty(currentContour, TargetProperty::ASPECT_RATIO, arPair); - - //set solidity - SettingPair solidityPair = SettingPair(this->solidity.GetValue(), this->solidityErr.GetValue()); - this->storageRunner.SetPostProcessorContourProperty(currentContour, TargetProperty::SOLIDITY, solidityPair); - - //set min area - SettingPair minAreaPair = SettingPair(this->minimumArea.GetValue(), 0); - this->storageRunner.SetPostProcessorContourProperty(currentContour, TargetProperty::MINIMUM_AREA, minAreaPair); - - //set the label with total number of contours - this->totalContours.SetText(std::string("/ ") + std::to_string(this->storageRunner.GetNumberOfContours(0))); -} - -/** - * Returns the value and range of the specified property. - */ -SettingPair PostprocessorEditor::GetProperty(int contour, TargetProperty prop) { - return this->storageRunner.GetPostProcessorContourProperty(contour, prop); -} - -/** - * Sets the value and range of the specified property. - */ -void PostprocessorEditor::SetProperty(int contour, TargetProperty prop, SettingPair value) { - this->storageRunner.SetPostProcessorContourProperty(contour, prop, value); - - //it is a current value and should be changed on screen - if(this->contourchooser.GetValue() == contour) { - switch(prop) { - case TargetProperty::DIST_X: - this->distX.SetValue(value.Value()); - this->distXErr.SetValue(value.Error()); - break; - case TargetProperty::DIST_Y: - this->distY.SetValue(value.Value()); - this->distYErr.SetValue(value.Error()); - break; - case TargetProperty::ANGLE: - this->angle.SetValue(value.Value()); - this->angleErr.SetValue(value.Error()); - break; - case TargetProperty::ASPECT_RATIO: - this->ar.SetValue(value.Value()); - this->arErr.SetValue(value.Error()); - break; - case TargetProperty::SOLIDITY: - this->solidity.SetValue(value.Value()); - this->solidityErr.SetValue(value.Error()); - break; - case TargetProperty::MINIMUM_AREA: - this->minimumArea.SetValue(value.Value()); - break; - } - } -} - - -void PostprocessorEditor::SetName(std::string name) { - gtk_widget_set_name(this->postprocessoreditor, name.c_str()); -} +#include "UI.h" + +/** + * Source file for the PostprocessorEditor class. + * Written By: Brach Knutson + */ + +using namespace KiwiLight; + + +PostprocessorEditor::PostprocessorEditor(PostProcessor postprocessor) { + //create a runner to store values for all contours rather than having arrays and things + std::string genericFileLocation = ""; + //find home so we can get the generic configuration from KiwiLightData + char *home = getenv("HOME"); + if(home != NULL) { + genericFileLocation = std::string(home) + std::string("/KiwiLightData/confs/generic.xml"); + } else { + std::cout << "The postprocessor editor was unable to find HOME" << std::endl; + } + this->storageRunner = Runner(genericFileLocation, true); + this->lastDesiredContour = 0; + + //set storage runner for number of contours + std::vector newContours; + for(int i=0; istorageRunner.SetExampleTarget(0, newTarget); + + //init the values in the storage runner because they are all generic right now + for(int i=0; istorageRunner.SetPostProcessorContourProperty(i, TargetProperty::DIST_X, postprocessor.GetTargetContourProperty(i, TargetProperty::DIST_X)); + this->storageRunner.SetPostProcessorContourProperty(i, TargetProperty::DIST_Y, postprocessor.GetTargetContourProperty(i, TargetProperty::DIST_Y)); + this->storageRunner.SetPostProcessorContourProperty(i, TargetProperty::ANGLE, postprocessor.GetTargetContourProperty(i, TargetProperty::ANGLE)); + this->storageRunner.SetPostProcessorContourProperty(i, TargetProperty::ASPECT_RATIO, postprocessor.GetTargetContourProperty(i, TargetProperty::ASPECT_RATIO)); + this->storageRunner.SetPostProcessorContourProperty(i, TargetProperty::SOLIDITY, postprocessor.GetTargetContourProperty(i, TargetProperty::SOLIDITY)); + this->storageRunner.SetPostProcessorContourProperty(i, TargetProperty::MINIMUM_AREA, postprocessor.GetTargetContourProperty(i, TargetProperty::MINIMUM_AREA)); + } + + Panel editor = Panel(false, 0); + Panel contourChooserPanel = Panel(true, 0); + Label contourChooserPanelHeader = Label("Contour: "); + contourChooserPanelHeader.SetName("gray"); + contourChooserPanel.Pack_start(contourChooserPanelHeader.GetWidget(), true, true, 0); + + this->contourchooser = NumberBox(0, 10, 0); + contourChooserPanel.Pack_start(this->contourchooser.GetWidget(), true, true, 0); + + this->totalContours = Label(std::string("/ ") + std::to_string(this->storageRunner.GetNumberOfContours(0))); + contourChooserPanel.Pack_start(totalContours.GetWidget(), true, true, 0); + + editor.Pack_start(contourChooserPanel.GetWidget(), true, true, 0); + + //distance editor + Label distanceFromCenterHeader = Label("Distance from Center"); + distanceFromCenterHeader.SetName("subHeader"); + editor.Pack_start(distanceFromCenterHeader.GetWidget(), true, true, 0); + + Panel distXPanel = Panel(true, 0); + Label distXPanelHeader = Label("Horizontal:"); + distXPanel.Pack_start(distXPanelHeader.GetWidget(), true, true, 0); + + double realDistX = postprocessor.GetTargetContourProperty(0, TargetProperty::DIST_X).Value(); + this->distX = NumberBox(-10.0, 10.0, 0.05, realDistX); + distXPanel.Pack_start(this->distX.GetWidget(), false, false, 0); + + double realDistXErr = postprocessor.GetTargetContourProperty(0, TargetProperty::DIST_X).Error(); + this->distXErr = LabeledSlider("Range", 0.0, 10.0, 0.05, realDistXErr); + distXPanel.Pack_start(this->distXErr.GetWidget(), true, true, 0); + + editor.Pack_start(distXPanel.GetWidget(), true, true, 0); + + Panel distYPanel = Panel(true, 0); + Label distYPanelHeader = Label("Vertical:"); + distYPanel.Pack_start(distYPanelHeader.GetWidget(), true, true, 0); + + double realDistY = postprocessor.GetTargetContourProperty(0, TargetProperty::DIST_Y).Value(); + this->distY = NumberBox(-10.0, 10.0, 0.05, realDistY); + distYPanel.Pack_start(this->distY.GetWidget(), false, false, 0); + + double realDistYErr = postprocessor.GetTargetContourProperty(0, TargetProperty::DIST_Y).Error(); + this->distYErr = LabeledSlider("Range", 0.0, 10.0, 0.05, realDistYErr); + distYPanel.Pack_start(this->distYErr.GetWidget(), true, true, 0); + + editor.Pack_start(distYPanel.GetWidget(), true, true, 0); + + Label angleHeader = Label("Contour Shape"); + angleHeader.SetName("subHeader"); + editor.Pack_start(angleHeader.GetWidget(), true, true, 0); + + Panel anglePanel = Panel(true, 0); + double realAngle = postprocessor.GetTargetContourProperty(0, TargetProperty::ANGLE).Value(); + this->angle = LabeledSlider("Angle", -90.0, 90.0, 0.05, realAngle); + anglePanel.Pack_start(this->angle.GetWidget(), true, true, 0); + + double realAngleErr = postprocessor.GetTargetContourProperty(0, TargetProperty::ANGLE).Error(); + this->angleErr = LabeledSlider("Range", 0.0, 90.0, 0.05, realAngleErr); + anglePanel.Pack_start(this->angleErr.GetWidget(), true, true, 0); + + editor.Pack_start(anglePanel.GetWidget(), true, true, 0); + + Panel arPanel = Panel(true, 0); + double realAR = postprocessor.GetTargetContourProperty(0, TargetProperty::ASPECT_RATIO).Value(); + this->ar = LabeledSlider("Aspect Ratio", 0.01, 10.0, 0.01, realAR); + arPanel.Pack_start(this->ar.GetWidget(), true, true, 0); + + double realArErr = postprocessor.GetTargetContourProperty(0, TargetProperty::ASPECT_RATIO).Error(); + this->arErr = LabeledSlider("Range", 0.01, 10.0, 0.01, realArErr); + arPanel.Pack_start(this->arErr.GetWidget(), true, true, 0); + + editor.Pack_start(arPanel.GetWidget(), true, true, 0); + + Panel solidityPanel = Panel(true, 0); + double realSolidity = postprocessor.GetTargetContourProperty(0, TargetProperty::SOLIDITY).Value(); + this->solidity = LabeledSlider("Solidity", 0.0, 1.0, 0.01, realSolidity); + solidityPanel.Pack_start(this->solidity.GetWidget(), true, true, 0); + + double realSolidityErr = postprocessor.GetTargetContourProperty(0, TargetProperty::SOLIDITY).Error(); + this->solidityErr = LabeledSlider("Range", 0.0, 1.0, 0.1, realSolidityErr); + solidityPanel.Pack_start(this->solidityErr.GetWidget(), true, true, 0); + + editor.Pack_start(solidityPanel.GetWidget(), true, true, 0); + + double realMinArea = postprocessor.GetTargetContourProperty(0, TargetProperty::MINIMUM_AREA).Value(); + this->minimumArea = LabeledSlider("Minimum Area", 5.0, 10000.0, 5.0, realMinArea); + editor.Pack_start(this->minimumArea.GetWidget(), true, true, 0); + + this->postprocessoreditor = editor.GetWidget(); +} + + +int PostprocessorEditor::GetNumContours() { + return this->storageRunner.GetNumberOfContours(0); +} + +/** + * Clears all contours in the target so far and sets the number of contours to contours. + */ +void PostprocessorEditor::SetNumContours(int contours) { + std::cout << "ppe: setting contour count to " << contours << std::endl; + //create a new exampletarget + std::vector newContours; + for(int i=0; istorageRunner.SetExampleTarget(0, newTarg); +} + +/** + * Updates the editor. + */ +void PostprocessorEditor::Update() { + int currentContour = (int) this->contourchooser.GetValue(); + + if(currentContour != this->lastDesiredContour) { + //the user has requested to see values for a new contour, show them + if(currentContour < this->storageRunner.GetNumberOfContours(0)) { + this->distX.SetValue(this->storageRunner.GetPostProcessorContourProperty(currentContour, TargetProperty::DIST_X).Value()); + this->distXErr.SetValue(this->storageRunner.GetPostProcessorContourProperty(currentContour, TargetProperty::DIST_X).Error()); + this->distY.SetValue(this->storageRunner.GetPostProcessorContourProperty(currentContour, TargetProperty::DIST_Y).Value()); + this->distYErr.SetValue(this->storageRunner.GetPostProcessorContourProperty(currentContour, TargetProperty::DIST_Y).Error()); + this->angle.SetValue(this->storageRunner.GetPostProcessorContourProperty(currentContour, TargetProperty::ANGLE).Value()); + this->angleErr.SetValue(this->storageRunner.GetPostProcessorContourProperty(currentContour, TargetProperty::ANGLE).Error()); + this->ar.SetValue(this->storageRunner.GetPostProcessorContourProperty(currentContour, TargetProperty::ASPECT_RATIO).Value()); + this->arErr.SetValue(this->storageRunner.GetPostProcessorContourProperty(currentContour, TargetProperty::ASPECT_RATIO).Error()); + this->solidity.SetValue(this->storageRunner.GetPostProcessorContourProperty(currentContour, TargetProperty::SOLIDITY).Value()); + this->solidityErr.SetValue(this->storageRunner.GetPostProcessorContourProperty(currentContour, TargetProperty::SOLIDITY).Error()); + this->minimumArea.SetValue(this->storageRunner.GetPostProcessorContourProperty(currentContour, TargetProperty::MINIMUM_AREA).Value()); + this->lastDesiredContour = currentContour; + } else { + this->contourchooser.SetValue(this->lastDesiredContour); + } + } + + //set dist x + SettingPair distXPair = SettingPair(this->distX.GetValue(), this->distXErr.GetValue()); + this->storageRunner.SetPostProcessorContourProperty(currentContour, TargetProperty::DIST_X, distXPair); + + //set dist y + SettingPair distYPair = SettingPair(this->distY.GetValue(), this->distYErr.GetValue()); + this->storageRunner.SetPostProcessorContourProperty(currentContour, TargetProperty::DIST_Y, distYPair); + + //set angle + SettingPair anglePair = SettingPair(this->angle.GetValue(), this->angleErr.GetValue()); + this->storageRunner.SetPostProcessorContourProperty(currentContour, TargetProperty::ANGLE, anglePair); + + //set aspect ratio + SettingPair arPair = SettingPair(this->ar.GetValue(), this->arErr.GetValue()); + this->storageRunner.SetPostProcessorContourProperty(currentContour, TargetProperty::ASPECT_RATIO, arPair); + + //set solidity + SettingPair solidityPair = SettingPair(this->solidity.GetValue(), this->solidityErr.GetValue()); + this->storageRunner.SetPostProcessorContourProperty(currentContour, TargetProperty::SOLIDITY, solidityPair); + + //set min area + SettingPair minAreaPair = SettingPair(this->minimumArea.GetValue(), 0); + this->storageRunner.SetPostProcessorContourProperty(currentContour, TargetProperty::MINIMUM_AREA, minAreaPair); + + //set the label with total number of contours + this->totalContours.SetText(std::string("/ ") + std::to_string(this->storageRunner.GetNumberOfContours(0))); +} + +/** + * Returns the value and range of the specified property. + */ +SettingPair PostprocessorEditor::GetProperty(int contour, TargetProperty prop) { + return this->storageRunner.GetPostProcessorContourProperty(contour, prop); +} + +/** + * Sets the value and range of the specified property. + */ +void PostprocessorEditor::SetProperty(int contour, TargetProperty prop, SettingPair value) { + this->storageRunner.SetPostProcessorContourProperty(contour, prop, value); + + //it is a current value and should be changed on screen + if(this->contourchooser.GetValue() == contour) { + switch(prop) { + case TargetProperty::DIST_X: + this->distX.SetValue(value.Value()); + this->distXErr.SetValue(value.Error()); + break; + case TargetProperty::DIST_Y: + this->distY.SetValue(value.Value()); + this->distYErr.SetValue(value.Error()); + break; + case TargetProperty::ANGLE: + this->angle.SetValue(value.Value()); + this->angleErr.SetValue(value.Error()); + break; + case TargetProperty::ASPECT_RATIO: + this->ar.SetValue(value.Value()); + this->arErr.SetValue(value.Error()); + break; + case TargetProperty::SOLIDITY: + this->solidity.SetValue(value.Value()); + this->solidityErr.SetValue(value.Error()); + break; + case TargetProperty::MINIMUM_AREA: + this->minimumArea.SetValue(value.Value()); + break; + } + } +} + + +void PostprocessorEditor::SetName(std::string name) { + gtk_widget_set_name(this->postprocessoreditor, name.c_str()); +} diff --git a/KiwiLight - Vision Code/ui/PreprocessorEditor.cpp b/KiwiLight - Vision Code/ui/PreprocessorEditor.cpp index 3e90baa..59505fd 100644 --- a/KiwiLight - Vision Code/ui/PreprocessorEditor.cpp +++ b/KiwiLight - Vision Code/ui/PreprocessorEditor.cpp @@ -1,184 +1,184 @@ -#include "UI.h" - -/** - * Source file for the PreprocessorEditor class. - * Written By: Brach Knuston - */ - -using namespace KiwiLight; - - -PreprocessorEditor::PreprocessorEditor(PreProcessor preprocessor) { - this->lastIsFull = preprocessor.GetProperty(PreProcessorProperty::IS_FULL) == 1.0; - Panel editor = Panel(false, 0); - - Panel preprocessorTypePanel = Panel(false, 0); - double processorIsFullDouble = preprocessor.GetProperty(PreProcessorProperty::IS_FULL); - bool processorIsFullBool = (processorIsFullDouble == 1.0 ? true : false); - - Label preprocessorTypePanelHeader = Label("Type"); - preprocessorTypePanelHeader.SetName("subHeader"); - preprocessorTypePanel.Pack_start(preprocessorTypePanelHeader.GetWidget(), true, true, 0); - - Panel preprocessorPanelContents = Panel(true, 0); - this->isFull = CheckBox("Full", processorIsFullBool); - preprocessorPanelContents.Pack_start(this->isFull.GetWidget(), false, false, 0); - - this->isPartial = CheckBox("Partial", !processorIsFullBool); - preprocessorPanelContents.Pack_start(this->isPartial.GetWidget(), false, false, 0); - - preprocessorTypePanel.Pack_start(preprocessorPanelContents.GetWidget(), true, true, 0); - - editor.Pack_start(preprocessorTypePanel.GetWidget(), true, true, 0); - - Panel targetColorPanel = Panel(false, 0); - Label targetColorPanelHeader = Label("Target Color (HSV)"); - targetColorPanelHeader.SetName("subHeader"); - targetColorPanel.Pack_start(targetColorPanelHeader.GetWidget(), true, true, 0); - - Panel targetColorPanelContents = Panel(true, 0); - double realColorH = preprocessor.GetProperty(PreProcessorProperty::COLOR_HUE); - this->colorH = NumberBox(0, 100, realColorH); - targetColorPanelContents.Pack_start(this->colorH.GetWidget(), true, true, 0); - - double realColorS = preprocessor.GetProperty(PreProcessorProperty::COLOR_SATURATION); - this->colorS = NumberBox(0, 255, realColorS); - targetColorPanelContents.Pack_start(this->colorS.GetWidget(), true, true, 0); - - double realColorV = preprocessor.GetProperty(PreProcessorProperty::COLOR_VALUE); - this->colorV = NumberBox(0, 255, realColorV); - targetColorPanelContents.Pack_start(this->colorV.GetWidget(), true, true, 0); - - this->colorPreview = Image(ImageColorspace::RGB); - targetColorPanelContents.Pack_start(this->colorPreview.GetWidget(), false, false, 0); - - targetColorPanel.Pack_start(targetColorPanelContents.GetWidget(), true, true, 0); - - editor.Pack_start(targetColorPanel.GetWidget(), true, true, 0); - - Label imageProcLabel = Label("Image Processing"); - imageProcLabel.SetName("subHeader"); - editor.Pack_start(imageProcLabel.GetWidget(), true, true, 0); - - double realColorError = preprocessor.GetProperty(PreProcessorProperty::COLOR_ERROR); - this->colorError = LabeledSlider("Color Range", 0.0, 255.0, 1.0, realColorError); - editor.Pack_start(this->colorError.GetWidget(), true, true, 0); - - double realThreshonld = preprocessor.GetProperty(PreProcessorProperty::THRESHOLD); - this->threshold = LabeledSlider("Threshold", 1.0, 100.0, 1.0, realThreshonld); - editor.Pack_start(this->threshold.GetWidget(), true, true, 0); - - double realErosion = preprocessor.GetProperty(PreProcessorProperty::EROSION); - this->erosion = LabeledSlider("Erosion", 1.0, 25.0, 1.0, realErosion); - editor.Pack_start(this->erosion.GetWidget(), true, true, 0); - - double realDilation = preprocessor.GetProperty(PreProcessorProperty::DILATION); - this->dilation = LabeledSlider("Dilation", 1.0, 25.0, 1.0, realDilation); - editor.Pack_start(this->dilation.GetWidget(), true, true, 0); - - this->preprocessoreditor = editor.GetWidget(); -} - -/** - * Updates the UI of the editor. - */ -void PreprocessorEditor::Update() { - //set checkboxes to appropriate states based on which mode is selected. - if(this->isFull.GetState() && this->isPartial.GetState()) { - //both checkboxes checked, toggle intended - bool intendedStateIsFull = !this->lastIsFull; - - if(intendedStateIsFull) { - this->isFull.SetState(true); - this->isPartial.SetState(false); - } else { - this->isFull.SetState(false); - this->isPartial.SetState(true); - } - - this->lastIsFull = intendedStateIsFull; - } - - if(!this->isFull.GetState() && !this->isPartial.GetState()) { - //if no checkboxes are checked just revert back to whatever the last state was - if(this->lastIsFull) { - this->isFull.SetState(true); - this->isPartial.SetState(false); - } else { - this->isFull.SetState(false); - this->isPartial.SetState(true); - } - } - - //update the color in the box to the desired color - int hue = (int) this->colorH.GetValue(); - int saturation = (int) this->colorS.GetValue(); - int value = (int) this->colorV.GetValue(); - - Mat previewImage = Mat(Size(30, 30), CV_8UC3, Scalar(hue, saturation, value)); - cvtColor(previewImage, previewImage, COLOR_HSV2BGR_FULL); - this->colorPreview.Update(previewImage); -} - -/** - * Returns the value of the editor property - */ -double PreprocessorEditor::GetProperty(PreProcessorProperty prop) { - switch(prop) { - case PreProcessorProperty::IS_FULL: - return (this->isFull.GetState() ? 1.0 : 0.0); - case PreProcessorProperty::THRESHOLD: - return this->threshold.GetValue(); - case PreProcessorProperty::EROSION: - return this->erosion.GetValue(); - case PreProcessorProperty::DILATION: - return this->dilation.GetValue(); - case PreProcessorProperty::COLOR_HUE: - return this->colorH.GetValue(); - case PreProcessorProperty::COLOR_SATURATION: - return this->colorS.GetValue(); - case PreProcessorProperty::COLOR_VALUE: - return this->colorV.GetValue(); - case PreProcessorProperty::COLOR_ERROR: - return this->colorError.GetValue(); - } -} - -/** - * Sets the editor property to the value "value" - */ -void PreprocessorEditor::SetProperty(PreProcessorProperty prop, double value) { - switch(prop) { - case PreProcessorProperty::IS_FULL: - this->isFull.SetState(value == 1.0); - break; - case PreProcessorProperty::THRESHOLD: - this->threshold.SetValue(value); - break; - case PreProcessorProperty::EROSION: - this->erosion.SetValue(value); - break; - case PreProcessorProperty::DILATION: - this->dilation.SetValue(value); - break; - case PreProcessorProperty::COLOR_HUE: - this->colorH.SetValue(value); - break; - case PreProcessorProperty::COLOR_SATURATION: - this->colorS.SetValue(value); - break; - case PreProcessorProperty::COLOR_VALUE: - this->colorV.SetValue(value); - break; - case PreProcessorProperty::COLOR_ERROR: - this->colorError.SetValue(value); - break; - } -} - -/** - * Sets the name of the editor. - */ -void PreprocessorEditor::SetName(std::string name) { - gtk_widget_set_name(this->preprocessoreditor, name.c_str()); -} +#include "UI.h" + +/** + * Source file for the PreprocessorEditor class. + * Written By: Brach Knuston + */ + +using namespace KiwiLight; + + +PreprocessorEditor::PreprocessorEditor(PreProcessor preprocessor) { + this->lastIsFull = preprocessor.GetProperty(PreProcessorProperty::IS_FULL) == 1.0; + Panel editor = Panel(false, 0); + + Panel preprocessorTypePanel = Panel(false, 0); + double processorIsFullDouble = preprocessor.GetProperty(PreProcessorProperty::IS_FULL); + bool processorIsFullBool = (processorIsFullDouble == 1.0 ? true : false); + + Label preprocessorTypePanelHeader = Label("Type"); + preprocessorTypePanelHeader.SetName("subHeader"); + preprocessorTypePanel.Pack_start(preprocessorTypePanelHeader.GetWidget(), true, true, 0); + + Panel preprocessorPanelContents = Panel(true, 0); + this->isFull = CheckBox("Full", processorIsFullBool); + preprocessorPanelContents.Pack_start(this->isFull.GetWidget(), false, false, 0); + + this->isPartial = CheckBox("Partial", !processorIsFullBool); + preprocessorPanelContents.Pack_start(this->isPartial.GetWidget(), false, false, 0); + + preprocessorTypePanel.Pack_start(preprocessorPanelContents.GetWidget(), true, true, 0); + + editor.Pack_start(preprocessorTypePanel.GetWidget(), true, true, 0); + + Panel targetColorPanel = Panel(false, 0); + Label targetColorPanelHeader = Label("Target Color (HSV)"); + targetColorPanelHeader.SetName("subHeader"); + targetColorPanel.Pack_start(targetColorPanelHeader.GetWidget(), true, true, 0); + + Panel targetColorPanelContents = Panel(true, 0); + double realColorH = preprocessor.GetProperty(PreProcessorProperty::COLOR_HUE); + this->colorH = NumberBox(0, 100, realColorH); + targetColorPanelContents.Pack_start(this->colorH.GetWidget(), true, true, 0); + + double realColorS = preprocessor.GetProperty(PreProcessorProperty::COLOR_SATURATION); + this->colorS = NumberBox(0, 255, realColorS); + targetColorPanelContents.Pack_start(this->colorS.GetWidget(), true, true, 0); + + double realColorV = preprocessor.GetProperty(PreProcessorProperty::COLOR_VALUE); + this->colorV = NumberBox(0, 255, realColorV); + targetColorPanelContents.Pack_start(this->colorV.GetWidget(), true, true, 0); + + this->colorPreview = Image(ImageColorspace::RGB); + targetColorPanelContents.Pack_start(this->colorPreview.GetWidget(), false, false, 0); + + targetColorPanel.Pack_start(targetColorPanelContents.GetWidget(), true, true, 0); + + editor.Pack_start(targetColorPanel.GetWidget(), true, true, 0); + + Label imageProcLabel = Label("Image Processing"); + imageProcLabel.SetName("subHeader"); + editor.Pack_start(imageProcLabel.GetWidget(), true, true, 0); + + double realColorError = preprocessor.GetProperty(PreProcessorProperty::COLOR_ERROR); + this->colorError = LabeledSlider("Color Range", 0.0, 255.0, 1.0, realColorError); + editor.Pack_start(this->colorError.GetWidget(), true, true, 0); + + double realThreshonld = preprocessor.GetProperty(PreProcessorProperty::THRESHOLD); + this->threshold = LabeledSlider("Threshold", 1.0, 100.0, 1.0, realThreshonld); + editor.Pack_start(this->threshold.GetWidget(), true, true, 0); + + double realErosion = preprocessor.GetProperty(PreProcessorProperty::EROSION); + this->erosion = LabeledSlider("Erosion", 1.0, 25.0, 1.0, realErosion); + editor.Pack_start(this->erosion.GetWidget(), true, true, 0); + + double realDilation = preprocessor.GetProperty(PreProcessorProperty::DILATION); + this->dilation = LabeledSlider("Dilation", 1.0, 25.0, 1.0, realDilation); + editor.Pack_start(this->dilation.GetWidget(), true, true, 0); + + this->preprocessoreditor = editor.GetWidget(); +} + +/** + * Updates the UI of the editor. + */ +void PreprocessorEditor::Update() { + //set checkboxes to appropriate states based on which mode is selected. + if(this->isFull.GetState() && this->isPartial.GetState()) { + //both checkboxes checked, toggle intended + bool intendedStateIsFull = !this->lastIsFull; + + if(intendedStateIsFull) { + this->isFull.SetState(true); + this->isPartial.SetState(false); + } else { + this->isFull.SetState(false); + this->isPartial.SetState(true); + } + + this->lastIsFull = intendedStateIsFull; + } + + if(!this->isFull.GetState() && !this->isPartial.GetState()) { + //if no checkboxes are checked just revert back to whatever the last state was + if(this->lastIsFull) { + this->isFull.SetState(true); + this->isPartial.SetState(false); + } else { + this->isFull.SetState(false); + this->isPartial.SetState(true); + } + } + + //update the color in the box to the desired color + int hue = (int) this->colorH.GetValue(); + int saturation = (int) this->colorS.GetValue(); + int value = (int) this->colorV.GetValue(); + + Mat previewImage = Mat(Size(30, 30), CV_8UC3, Scalar(hue, saturation, value)); + cvtColor(previewImage, previewImage, COLOR_HSV2BGR_FULL); + this->colorPreview.Update(previewImage); +} + +/** + * Returns the value of the editor property + */ +double PreprocessorEditor::GetProperty(PreProcessorProperty prop) { + switch(prop) { + case PreProcessorProperty::IS_FULL: + return (this->isFull.GetState() ? 1.0 : 0.0); + case PreProcessorProperty::THRESHOLD: + return this->threshold.GetValue(); + case PreProcessorProperty::EROSION: + return this->erosion.GetValue(); + case PreProcessorProperty::DILATION: + return this->dilation.GetValue(); + case PreProcessorProperty::COLOR_HUE: + return this->colorH.GetValue(); + case PreProcessorProperty::COLOR_SATURATION: + return this->colorS.GetValue(); + case PreProcessorProperty::COLOR_VALUE: + return this->colorV.GetValue(); + case PreProcessorProperty::COLOR_ERROR: + return this->colorError.GetValue(); + } +} + +/** + * Sets the editor property to the value "value" + */ +void PreprocessorEditor::SetProperty(PreProcessorProperty prop, double value) { + switch(prop) { + case PreProcessorProperty::IS_FULL: + this->isFull.SetState(value == 1.0); + break; + case PreProcessorProperty::THRESHOLD: + this->threshold.SetValue(value); + break; + case PreProcessorProperty::EROSION: + this->erosion.SetValue(value); + break; + case PreProcessorProperty::DILATION: + this->dilation.SetValue(value); + break; + case PreProcessorProperty::COLOR_HUE: + this->colorH.SetValue(value); + break; + case PreProcessorProperty::COLOR_SATURATION: + this->colorS.SetValue(value); + break; + case PreProcessorProperty::COLOR_VALUE: + this->colorV.SetValue(value); + break; + case PreProcessorProperty::COLOR_ERROR: + this->colorError.SetValue(value); + break; + } +} + +/** + * Sets the name of the editor. + */ +void PreprocessorEditor::SetName(std::string name) { + gtk_widget_set_name(this->preprocessoreditor, name.c_str()); +} diff --git a/KiwiLight - Vision Code/ui/RunnerEditor.cpp b/KiwiLight - Vision Code/ui/RunnerEditor.cpp index b9bfa7c..78a1e16 100644 --- a/KiwiLight - Vision Code/ui/RunnerEditor.cpp +++ b/KiwiLight - Vision Code/ui/RunnerEditor.cpp @@ -1,215 +1,215 @@ -#include "../KiwiLight.h" - -/** - * Source file for the RunnerEditor class. - * Written By: Brach Knutson - */ - -using namespace KiwiLight; - -static void ReconnectUDP() { - KiwiLightApp::EditorReconnectUDP(); -} - -RunnerEditor::RunnerEditor(Runner runner) { - Panel editor = Panel(false, 0); - // OFFSET_X, - // OFFSET_Y, - // IMAGE_WIDTH, - // IMAGE_HEIGHT, - // TRUE_WIDTH, - // PERCEIVED_WIDTH, - // CALIBRATED_DISTANCE, - // ERROR_CORRECTION - - Panel udpPanel = Panel(true, 0); - Panel udpInputPanel = Panel(false, 0); - Panel udpAddressPanel = Panel(true, 0); - Label udpAddressPanelHeader = Label("IPv4 Address: "); - udpAddressPanel.Pack_start(udpAddressPanelHeader.GetWidget(), true, true, 0); - - std::string realUDPAddress = KiwiLightApp::GetUDP().GetAddress(); - this->udpAddress = TextBox(realUDPAddress); - udpAddressPanel.Pack_start(this->udpAddress.GetWidget(), true, true, 0); - - udpInputPanel.Pack_start(udpAddressPanel.GetWidget(), true, true, 0); - - Panel udpPortPanel = Panel(true, 0); - Label udpPortPanelHeader = Label("Port: "); - udpPortPanel.Pack_start(udpPortPanelHeader.GetWidget(), true, true, 0); - - int realUDPPort = KiwiLightApp::GetUDP().GetPort(); - this->udpPort = NumberBox(0.0, 9999.0, 1.0, (double) realUDPPort); - udpPortPanel.Pack_start(this->udpPort.GetWidget(), true, true, 0); - udpInputPanel.Pack_start(udpPortPanel.GetWidget(), true, true, 0); - udpPanel.Pack_start(udpInputPanel.GetWidget(), true, true, 0); - Button reconnectUDP = Button("Reconnect", ReconnectUDP); - udpPanel.Pack_start(reconnectUDP.GetWidget(), true, true, 0); - - this->enableUDP = Button("Enable", KiwiLightApp::ToggleUDP); - udpPanel.Pack_start(this->enableUDP.GetWidget(), true, true, 0); - - editor.Pack_start(udpPanel.GetWidget(), true, true, 0); - - - Panel offsetPanel = Panel(false, 0); - Label offsetPanelHeader = Label("Camera offset (inches)"); - offsetPanelHeader.SetName("subHeader"); - offsetPanel.Pack_start(offsetPanelHeader.GetWidget(), true, true, 0); - - Panel offsetPanelContents = Panel(true, 0); - double realOffsetX = runner.GetRunnerProperty(RunnerProperty::OFFSET_X); - this->offsetX = LabeledSlider("Horizontal", -48.0, 48.0, -1.0, realOffsetX); - offsetPanelContents.Pack_start(this->offsetX.GetWidget(), true, true, 0); - - double realOffsetY = runner.GetRunnerProperty(RunnerProperty::OFFSET_Y); - this->offsetY = LabeledSlider("Vertical", -48.0, 48.0, 0.1, realOffsetY); - offsetPanelContents.Pack_start(this->offsetY.GetWidget(), true, true, 0); - - offsetPanel.Pack_start(offsetPanelContents.GetWidget(), true, true, 0); - editor.Pack_start(offsetPanel.GetWidget(), true, true, 0); - - Panel resizePanel = Panel(false, 0); - Label resizePanelHeader = Label("Image Resize (pixels)"); - resizePanelHeader.SetName("subHeader"); - resizePanel.Pack_start(resizePanelHeader.GetWidget(), true, true, 0); - - Panel resizePanelContents = Panel(true, 0); - double realResizeX = runner.GetRunnerProperty(RunnerProperty::IMAGE_WIDTH); - this->imageWidth = LabeledSlider("Horizontal", 50.0, 1080.0, 1.0, realResizeX); - resizePanelContents.Pack_start(this->imageWidth.GetWidget(), true, true, 0); - - double realResizeY = runner.GetRunnerProperty(RunnerProperty::IMAGE_HEIGHT); - this->imageHeight = LabeledSlider("Vertical", 50.0, 720.0, 1.0, realResizeY); - resizePanelContents.Pack_start(this->imageHeight.GetWidget(), true, true, 0); - - resizePanel.Pack_start(resizePanelContents.GetWidget(), true, true, 0); - editor.Pack_start(resizePanel.GetWidget(), true, true, 0); - - Panel distancePanel = Panel(false, 0); - Label distancePanelHeader = Label("Distance Constants"); - distancePanelHeader.SetName("subHeader"); - distancePanel.Pack_start(distancePanelHeader.GetWidget(), true, true, 0); - - this->distanceLabel = Label("Calculated Distance: (no target!)"); - this->distanceLabel.SetName("gray"); - distancePanel.Pack_start(this->distanceLabel.GetWidget(), true, true, 0); - - Panel imageConstantsPanel = Panel(true, 0); - double realTargetWidth = runner.GetRunnerProperty(RunnerProperty::TRUE_WIDTH); - this->targetTrueWidth = LabeledSlider("Target Width (inches)", 0.0, 120.0, 0.1, realTargetWidth); - imageConstantsPanel.Pack_start(this->targetTrueWidth.GetWidget(), true, true, 0); - - double realFocalWidth = runner.GetRunnerProperty(RunnerProperty::PERCEIVED_WIDTH); - this->targetPercievedWidth = LabeledSlider("Focal Width", 0.0, 1000.0, 0.1, realFocalWidth); - imageConstantsPanel.Pack_start(this->targetPercievedWidth.GetWidget(), true, true, 0); - - distancePanel.Pack_start(imageConstantsPanel.GetWidget(), true, true, 0); - - Panel errorCorrectionPanel = Panel(true, 0); - double realCalibratedDistance = runner.GetRunnerProperty(RunnerProperty::CALIBRATED_DISTANCE); - this->targetCalibratedDistance = LabeledSlider("Calibrated Distance (inches)", 6.0, 240.0, 0.1, realCalibratedDistance); - errorCorrectionPanel.Pack_start(this->targetCalibratedDistance.GetWidget(), true, true, 0); - - double realErrorCorrection = runner.GetRunnerProperty(RunnerProperty::ERROR_CORRECTION); - this->targetErrorCorrection = LabeledSlider("Error Correction", -3.0, 3.0, 0.01, realErrorCorrection); - errorCorrectionPanel.Pack_start(this->targetErrorCorrection.GetWidget(), true, true, 0); - - distancePanel.Pack_start(errorCorrectionPanel.GetWidget(), true, true, 0); - editor.Pack_start(distancePanel.GetWidget(), true, true, 0); - - this->runnereditor = editor.GetWidget(); -} - -/** - * Updates the editor and performs important stuff - */ -void RunnerEditor::Update(int targetDistance) { - std::string distanceValueString = (targetDistance < 0 ? "(no target!)" : std::to_string(targetDistance)); - this->distanceLabel.SetText("Target Distance: " + distanceValueString); -} - -/** - * Returns the value of the property associated with prop. - */ -double RunnerEditor::GetProperty(RunnerProperty prop) { - switch(prop) { - case RunnerProperty::OFFSET_X: - return this->offsetX.GetValue(); - case RunnerProperty::OFFSET_Y: - return this->offsetY.GetValue(); - case RunnerProperty::IMAGE_WIDTH: - return this->imageWidth.GetValue(); - case RunnerProperty::IMAGE_HEIGHT: - return this->imageHeight.GetValue(); - case RunnerProperty::TRUE_WIDTH: - return this->targetTrueWidth.GetValue(); - case RunnerProperty::PERCEIVED_WIDTH: - return this->targetPercievedWidth.GetValue(); - case RunnerProperty::CALIBRATED_DISTANCE: - return this->targetCalibratedDistance.GetValue(); - case RunnerProperty::ERROR_CORRECTION: - return this->targetErrorCorrection.GetValue(); - } -} - -/** - * Sets the value of prop to value. - */ -void RunnerEditor::SetProperty(RunnerProperty prop, double value) { - switch(prop) { - case RunnerProperty::OFFSET_X: - this->offsetX.SetValue(value); - break; - case RunnerProperty::OFFSET_Y: - this->offsetY.SetValue(value); - break; - case RunnerProperty::IMAGE_WIDTH: - this->imageWidth.SetValue(value); - break; - case RunnerProperty::IMAGE_HEIGHT: - this->imageHeight.SetValue(value); - break; - case RunnerProperty::TRUE_WIDTH: - this->targetTrueWidth.SetValue(value); - break; - case RunnerProperty::PERCEIVED_WIDTH: - this->targetPercievedWidth.SetValue(value); - break; - case RunnerProperty::CALIBRATED_DISTANCE: - this->targetCalibratedDistance.SetValue(value); - break; - case RunnerProperty::ERROR_CORRECTION: - this->targetErrorCorrection.SetValue(value); - break; - } -} - - -std::string RunnerEditor::GetUDPAddr() { - return this->udpAddress.GetText(); -} - - -int RunnerEditor::GetUDPPort() { - return (int) this->udpPort.GetValue(); -} - - -void RunnerEditor::SetUDPAddr(std::string newAddr) { - this->udpAddress.SetText(newAddr); -} - - -void RunnerEditor::SetUDPPort(int newPort) { - this->udpPort.SetValue((double) newPort); -} - - -void RunnerEditor::SetUDPEnabledLabels(bool UDPEnabled) { - this->enableUDP.SetText((UDPEnabled ? "Disable" : "Enable")); -} - -void RunnerEditor::SetName(std::string name) { - gtk_widget_set_name(this->runnereditor, name.c_str()); -} +#include "../KiwiLight.h" + +/** + * Source file for the RunnerEditor class. + * Written By: Brach Knutson + */ + +using namespace KiwiLight; + +static void ReconnectUDP() { + KiwiLightApp::EditorReconnectUDP(); +} + +RunnerEditor::RunnerEditor(Runner runner) { + Panel editor = Panel(false, 0); + // OFFSET_X, + // OFFSET_Y, + // IMAGE_WIDTH, + // IMAGE_HEIGHT, + // TRUE_WIDTH, + // PERCEIVED_WIDTH, + // CALIBRATED_DISTANCE, + // ERROR_CORRECTION + + Panel udpPanel = Panel(true, 0); + Panel udpInputPanel = Panel(false, 0); + Panel udpAddressPanel = Panel(true, 0); + Label udpAddressPanelHeader = Label("IPv4 Address: "); + udpAddressPanel.Pack_start(udpAddressPanelHeader.GetWidget(), true, true, 0); + + std::string realUDPAddress = KiwiLightApp::GetUDP().GetAddress(); + this->udpAddress = TextBox(realUDPAddress); + udpAddressPanel.Pack_start(this->udpAddress.GetWidget(), true, true, 0); + + udpInputPanel.Pack_start(udpAddressPanel.GetWidget(), true, true, 0); + + Panel udpPortPanel = Panel(true, 0); + Label udpPortPanelHeader = Label("Port: "); + udpPortPanel.Pack_start(udpPortPanelHeader.GetWidget(), true, true, 0); + + int realUDPPort = KiwiLightApp::GetUDP().GetPort(); + this->udpPort = NumberBox(0.0, 9999.0, 1.0, (double) realUDPPort); + udpPortPanel.Pack_start(this->udpPort.GetWidget(), true, true, 0); + udpInputPanel.Pack_start(udpPortPanel.GetWidget(), true, true, 0); + udpPanel.Pack_start(udpInputPanel.GetWidget(), true, true, 0); + Button reconnectUDP = Button("Reconnect", ReconnectUDP); + udpPanel.Pack_start(reconnectUDP.GetWidget(), true, true, 0); + + this->enableUDP = Button("Enable", KiwiLightApp::ToggleUDP); + udpPanel.Pack_start(this->enableUDP.GetWidget(), true, true, 0); + + editor.Pack_start(udpPanel.GetWidget(), true, true, 0); + + + Panel offsetPanel = Panel(false, 0); + Label offsetPanelHeader = Label("Camera offset (inches)"); + offsetPanelHeader.SetName("subHeader"); + offsetPanel.Pack_start(offsetPanelHeader.GetWidget(), true, true, 0); + + Panel offsetPanelContents = Panel(true, 0); + double realOffsetX = runner.GetRunnerProperty(RunnerProperty::OFFSET_X); + this->offsetX = LabeledSlider("Horizontal", -48.0, 48.0, -1.0, realOffsetX); + offsetPanelContents.Pack_start(this->offsetX.GetWidget(), true, true, 0); + + double realOffsetY = runner.GetRunnerProperty(RunnerProperty::OFFSET_Y); + this->offsetY = LabeledSlider("Vertical", -48.0, 48.0, 0.1, realOffsetY); + offsetPanelContents.Pack_start(this->offsetY.GetWidget(), true, true, 0); + + offsetPanel.Pack_start(offsetPanelContents.GetWidget(), true, true, 0); + editor.Pack_start(offsetPanel.GetWidget(), true, true, 0); + + Panel resizePanel = Panel(false, 0); + Label resizePanelHeader = Label("Image Resize (pixels)"); + resizePanelHeader.SetName("subHeader"); + resizePanel.Pack_start(resizePanelHeader.GetWidget(), true, true, 0); + + Panel resizePanelContents = Panel(true, 0); + double realResizeX = runner.GetRunnerProperty(RunnerProperty::IMAGE_WIDTH); + this->imageWidth = LabeledSlider("Horizontal", 50.0, 1080.0, 1.0, realResizeX); + resizePanelContents.Pack_start(this->imageWidth.GetWidget(), true, true, 0); + + double realResizeY = runner.GetRunnerProperty(RunnerProperty::IMAGE_HEIGHT); + this->imageHeight = LabeledSlider("Vertical", 50.0, 720.0, 1.0, realResizeY); + resizePanelContents.Pack_start(this->imageHeight.GetWidget(), true, true, 0); + + resizePanel.Pack_start(resizePanelContents.GetWidget(), true, true, 0); + editor.Pack_start(resizePanel.GetWidget(), true, true, 0); + + Panel distancePanel = Panel(false, 0); + Label distancePanelHeader = Label("Distance Constants"); + distancePanelHeader.SetName("subHeader"); + distancePanel.Pack_start(distancePanelHeader.GetWidget(), true, true, 0); + + this->distanceLabel = Label("Calculated Distance: (no target!)"); + this->distanceLabel.SetName("gray"); + distancePanel.Pack_start(this->distanceLabel.GetWidget(), true, true, 0); + + Panel imageConstantsPanel = Panel(true, 0); + double realTargetWidth = runner.GetRunnerProperty(RunnerProperty::TRUE_WIDTH); + this->targetTrueWidth = LabeledSlider("Target Width (inches)", 0.0, 120.0, 0.1, realTargetWidth); + imageConstantsPanel.Pack_start(this->targetTrueWidth.GetWidget(), true, true, 0); + + double realFocalWidth = runner.GetRunnerProperty(RunnerProperty::PERCEIVED_WIDTH); + this->targetPercievedWidth = LabeledSlider("Focal Width", 0.0, 1000.0, 0.1, realFocalWidth); + imageConstantsPanel.Pack_start(this->targetPercievedWidth.GetWidget(), true, true, 0); + + distancePanel.Pack_start(imageConstantsPanel.GetWidget(), true, true, 0); + + Panel errorCorrectionPanel = Panel(true, 0); + double realCalibratedDistance = runner.GetRunnerProperty(RunnerProperty::CALIBRATED_DISTANCE); + this->targetCalibratedDistance = LabeledSlider("Calibrated Distance (inches)", 6.0, 240.0, 0.1, realCalibratedDistance); + errorCorrectionPanel.Pack_start(this->targetCalibratedDistance.GetWidget(), true, true, 0); + + double realErrorCorrection = runner.GetRunnerProperty(RunnerProperty::ERROR_CORRECTION); + this->targetErrorCorrection = LabeledSlider("Error Correction", -3.0, 3.0, 0.01, realErrorCorrection); + errorCorrectionPanel.Pack_start(this->targetErrorCorrection.GetWidget(), true, true, 0); + + distancePanel.Pack_start(errorCorrectionPanel.GetWidget(), true, true, 0); + editor.Pack_start(distancePanel.GetWidget(), true, true, 0); + + this->runnereditor = editor.GetWidget(); +} + +/** + * Updates the editor and performs important stuff + */ +void RunnerEditor::Update(int targetDistance) { + std::string distanceValueString = (targetDistance < 0 ? "(no target!)" : std::to_string(targetDistance)); + this->distanceLabel.SetText("Target Distance: " + distanceValueString); +} + +/** + * Returns the value of the property associated with prop. + */ +double RunnerEditor::GetProperty(RunnerProperty prop) { + switch(prop) { + case RunnerProperty::OFFSET_X: + return this->offsetX.GetValue(); + case RunnerProperty::OFFSET_Y: + return this->offsetY.GetValue(); + case RunnerProperty::IMAGE_WIDTH: + return this->imageWidth.GetValue(); + case RunnerProperty::IMAGE_HEIGHT: + return this->imageHeight.GetValue(); + case RunnerProperty::TRUE_WIDTH: + return this->targetTrueWidth.GetValue(); + case RunnerProperty::PERCEIVED_WIDTH: + return this->targetPercievedWidth.GetValue(); + case RunnerProperty::CALIBRATED_DISTANCE: + return this->targetCalibratedDistance.GetValue(); + case RunnerProperty::ERROR_CORRECTION: + return this->targetErrorCorrection.GetValue(); + } +} + +/** + * Sets the value of prop to value. + */ +void RunnerEditor::SetProperty(RunnerProperty prop, double value) { + switch(prop) { + case RunnerProperty::OFFSET_X: + this->offsetX.SetValue(value); + break; + case RunnerProperty::OFFSET_Y: + this->offsetY.SetValue(value); + break; + case RunnerProperty::IMAGE_WIDTH: + this->imageWidth.SetValue(value); + break; + case RunnerProperty::IMAGE_HEIGHT: + this->imageHeight.SetValue(value); + break; + case RunnerProperty::TRUE_WIDTH: + this->targetTrueWidth.SetValue(value); + break; + case RunnerProperty::PERCEIVED_WIDTH: + this->targetPercievedWidth.SetValue(value); + break; + case RunnerProperty::CALIBRATED_DISTANCE: + this->targetCalibratedDistance.SetValue(value); + break; + case RunnerProperty::ERROR_CORRECTION: + this->targetErrorCorrection.SetValue(value); + break; + } +} + + +std::string RunnerEditor::GetUDPAddr() { + return this->udpAddress.GetText(); +} + + +int RunnerEditor::GetUDPPort() { + return (int) this->udpPort.GetValue(); +} + + +void RunnerEditor::SetUDPAddr(std::string newAddr) { + this->udpAddress.SetText(newAddr); +} + + +void RunnerEditor::SetUDPPort(int newPort) { + this->udpPort.SetValue((double) newPort); +} + + +void RunnerEditor::SetUDPEnabledLabels(bool UDPEnabled) { + this->enableUDP.SetText((UDPEnabled ? "Disable" : "Enable")); +} + +void RunnerEditor::SetName(std::string name) { + gtk_widget_set_name(this->runnereditor, name.c_str()); +} diff --git a/KiwiLight - Vision Code/ui/Scrollable.cpp b/KiwiLight - Vision Code/ui/Scrollable.cpp index 6f6a25f..237123c 100644 --- a/KiwiLight - Vision Code/ui/Scrollable.cpp +++ b/KiwiLight - Vision Code/ui/Scrollable.cpp @@ -1,28 +1,28 @@ -#include "UI.h" - -/** - * Source file for the Scrollable class. - * Written By: Brach Knutson - */ - -using namespace KiwiLight; - - -Scrollable::Scrollable(bool horizontal, bool vertical) { - this->scrollable = gtk_scrolled_window_new(NULL, NULL); - gtk_scrolled_window_set_policy(GTK_SCROLLED_WINDOW(this->scrollable), - (horizontal ? GTK_POLICY_AUTOMATIC : GTK_POLICY_NEVER), - (vertical? GTK_POLICY_AUTOMATIC : GTK_POLICY_NEVER)); - - gtk_container_set_border_width(GTK_CONTAINER(this->scrollable), 5); -} - - -void Scrollable::PackWidget(GtkWidget *wid) { - gtk_container_add(GTK_CONTAINER(this->scrollable), wid); -} - - -void Scrollable::SetName(std::string name) { - gtk_widget_set_name(this->scrollable, name.c_str()); +#include "UI.h" + +/** + * Source file for the Scrollable class. + * Written By: Brach Knutson + */ + +using namespace KiwiLight; + + +Scrollable::Scrollable(bool horizontal, bool vertical) { + this->scrollable = gtk_scrolled_window_new(NULL, NULL); + gtk_scrolled_window_set_policy(GTK_SCROLLED_WINDOW(this->scrollable), + (horizontal ? GTK_POLICY_AUTOMATIC : GTK_POLICY_NEVER), + (vertical? GTK_POLICY_AUTOMATIC : GTK_POLICY_NEVER)); + + gtk_container_set_border_width(GTK_CONTAINER(this->scrollable), 5); +} + + +void Scrollable::PackWidget(GtkWidget *wid) { + gtk_container_add(GTK_CONTAINER(this->scrollable), wid); +} + + +void Scrollable::SetName(std::string name) { + gtk_widget_set_name(this->scrollable, name.c_str()); } \ No newline at end of file diff --git a/KiwiLight - Vision Code/ui/Separator.cpp b/KiwiLight - Vision Code/ui/Separator.cpp index 8e4b3f6..dd7148b 100644 --- a/KiwiLight - Vision Code/ui/Separator.cpp +++ b/KiwiLight - Vision Code/ui/Separator.cpp @@ -1,24 +1,24 @@ -#include "UI.h" - -/** - * Source file for the UI Separator class. - * Written By: Brach Knutson - */ - - -using namespace KiwiLight; - -/** - * Creates a new Separator. - */ -Separator::Separator(bool horizontal) { - if(horizontal) - this->separator = gtk_separator_new(GTK_ORIENTATION_HORIZONTAL); - else - this->separator = gtk_separator_new(GTK_ORIENTATION_VERTICAL); -} - - -void Separator::SetName(std::string name) { - gtk_widget_set_name(this->separator, name.c_str()); +#include "UI.h" + +/** + * Source file for the UI Separator class. + * Written By: Brach Knutson + */ + + +using namespace KiwiLight; + +/** + * Creates a new Separator. + */ +Separator::Separator(bool horizontal) { + if(horizontal) + this->separator = gtk_separator_new(GTK_ORIENTATION_HORIZONTAL); + else + this->separator = gtk_separator_new(GTK_ORIENTATION_VERTICAL); +} + + +void Separator::SetName(std::string name) { + gtk_widget_set_name(this->separator, name.c_str()); } \ No newline at end of file diff --git a/KiwiLight - Vision Code/ui/Settings.cpp b/KiwiLight - Vision Code/ui/Settings.cpp index c4fee2c..519acad 100644 --- a/KiwiLight - Vision Code/ui/Settings.cpp +++ b/KiwiLight - Vision Code/ui/Settings.cpp @@ -1,168 +1,168 @@ -#include "../KiwiLight.h" - -/** - * Source file for the Settings class - * Written By: Brach Knutson - */ - - -using namespace KiwiLight; - -/** - * Create a new Settings menu. - */ -Settings::Settings(XMLDocument doc) { - - std::vector docSettings = - doc.GetTagsByName("camera")[0] - .GetTagsByName("settings")[0] - .GetTagsByName("setting"); - - Panel editor = Panel(false, 0); - - //camera index - Panel cameraIndexPanel = Panel(true, 0); - Label cameraIndexHeader = Label("Camera Index: "); - cameraIndexPanel.Pack_start(cameraIndexHeader.GetWidget(), true, true, 0); - - int realCameraIndex = std::stoi(doc.GetTagsByName("camera")[0].GetAttributesByName("index")[0].Value()); - this->cameraIndex = NumberBox(0.0, 10.0, 1.0, realCameraIndex); - cameraIndexPanel.Pack_start(this->cameraIndex.GetWidget(), true, true, 0); - editor.Pack_start(cameraIndexPanel.GetWidget(), true, true, 0); - - //resolution area - Label resolutionHeader = Label("Resolution"); - resolutionHeader.SetName("subHeader"); - editor.Pack_start(resolutionHeader.GetWidget(), true, true, 0); - - //frame width - int realFrameWidth = std::stoi(Util::SearchCameraSettingsByID(docSettings, CAP_PROP_FRAME_WIDTH).Content()); - CameraSetting frameWidth = CameraSetting("Width: ", CAP_PROP_FRAME_WIDTH, 100, 2000, realFrameWidth); - this->settings.push_back(frameWidth); - editor.Pack_start(frameWidth.GetWidget(), true, true, 0); - - //frame height - int realFrameHeight = std::stoi(Util::SearchCameraSettingsByID(docSettings, CAP_PROP_FRAME_HEIGHT).Content()); - CameraSetting frameHeight = CameraSetting("Height: ", CAP_PROP_FRAME_HEIGHT, 100, 2000, realFrameHeight); - this->settings.push_back(frameHeight); - editor.Pack_start(frameHeight.GetWidget(), true, true, 0); - - Label resolutionNote = Label( - "NOTE: Some resolutions may not be supported by your camera!" - ); - editor.Pack_start(resolutionNote.GetWidget(), true, true, 0); - - Separator hsep = Separator(true); - editor.Pack_start(hsep.GetWidget(), true, true, 0); - - Label settingsHeader = Label("Other Settings"); - editor.Pack_start(settingsHeader.GetWidget(), true, true, 0); - - //exposure auto - double realExposureAuto = std::stod(Util::SearchCameraSettingsByID(docSettings, CAP_PROP_AUTO_EXPOSURE).Content()); - CameraSetting autoExposure = CameraSetting("Auto Exposure: ", CAP_PROP_AUTO_EXPOSURE, 0, 1, realExposureAuto); - this->settings.push_back(autoExposure); - editor.Pack_start(autoExposure.GetWidget(), true, true, 0); - - //exposure - double realExposure = std::stod(Util::SearchCameraSettingsByID(docSettings, CAP_PROP_EXPOSURE).Content()); - CameraSetting exposure = CameraSetting("Exposure: ", CAP_PROP_EXPOSURE, -1, 1, realExposure); - this->settings.push_back(exposure); - editor.Pack_start(exposure.GetWidget(), true, true, 0); - - //white balance auto - double realWhiteBalanceAuto = std::stod(Util::SearchCameraSettingsByID(docSettings, CAP_PROP_AUTO_WB).Content()); - CameraSetting autoWB = CameraSetting("Auto White Balance: ", CAP_PROP_AUTO_WB, 0, 1, realWhiteBalanceAuto); - this->settings.push_back(autoWB); - editor.Pack_start(autoWB.GetWidget(), true, true, 0); - - //white balance - double realWhiteBalance = std::stod(Util::SearchCameraSettingsByID(docSettings, CAP_PROP_WB_TEMPERATURE).Content()); - CameraSetting WB = CameraSetting("White Balance: ", CAP_PROP_WB_TEMPERATURE, -1, 1, realWhiteBalance); - this->settings.push_back(WB); - editor.Pack_start(WB.GetWidget(), true, true, 0); - - //brightness - double realBrightness = std::stod(Util::SearchCameraSettingsByID(docSettings, CAP_PROP_BRIGHTNESS).Content()); - CameraSetting brightness = CameraSetting("Brightness: ", CAP_PROP_BRIGHTNESS, -1, 1, realBrightness); - this->settings.push_back(brightness); - editor.Pack_start(brightness.GetWidget(), true, true, 0); - - //the apply button - Button apply = Button("Apply", KiwiLightApp::EditorApplyCameraSettings); - editor.Pack_start(apply.GetWidget(), true, true, 0); - - this->settingsWidget = editor.GetWidget(); -} - -void Settings::Update() { - -} - - -/** - * Returns an XMLTag containing information describing the settings' values. - */ -XMLTag Settings::GetFinishedTag() { - XMLTag settingsTag = XMLTag("settings"); - for(int i=0; isettings.size(); i++) { - XMLTag newSetting = XMLTag("setting", std::to_string(this->settings[i].GetValue())); - //add the name attribute - XMLTagAttribute settingAttr = XMLTagAttribute("id", std::to_string(this->settings[i].GetValueName())); - newSetting.AddAttribute(settingAttr); - - settingsTag.AddTag(newSetting); - } - - return settingsTag; -} - -/** - * Finds the setting with the given ID and sets its value. - */ -void Settings::SetSettingValueFromID(int id, double value) { - for(int i=0; isettings.size(); i++) { - if(this->settings[i].GetValueName() == id) { - this->settings[i].SetValue(value); - } - } -} - - -/** - * Finds the setting with the given ID and returns it's value, or -1.0 if none found. - */ -double Settings::GetSettingValueFromID(int id) { - for(int i=0; isettings.size(); i++) { - if(this->settings[i].GetValueName() == id) { - return this->settings[i].GetValue(); - } - } - - return -1; -} - - -void Settings::SetCameraIndex(int index) { - this->cameraIndex.SetValue((double) index); -} - - -int Settings::GetCameraIndex() { - return this->cameraIndex.GetValue(); -} - - -std::vector Settings::GetSettingIDs() { - std::vector ids; - for(int i=0; isettings.size(); i++) { - ids.push_back(this->settings[i].GetValueName()); - } - - return ids; -} - - -void Settings::SetName(std::string name) { - gtk_widget_set_name(this->settingsWidget, name.c_str()); -} +#include "../KiwiLight.h" + +/** + * Source file for the Settings class + * Written By: Brach Knutson + */ + + +using namespace KiwiLight; + +/** + * Create a new Settings menu. + */ +Settings::Settings(XMLDocument doc) { + + std::vector docSettings = + doc.GetTagsByName("camera")[0] + .GetTagsByName("settings")[0] + .GetTagsByName("setting"); + + Panel editor = Panel(false, 0); + + //camera index + Panel cameraIndexPanel = Panel(true, 0); + Label cameraIndexHeader = Label("Camera Index: "); + cameraIndexPanel.Pack_start(cameraIndexHeader.GetWidget(), true, true, 0); + + int realCameraIndex = std::stoi(doc.GetTagsByName("camera")[0].GetAttributesByName("index")[0].Value()); + this->cameraIndex = NumberBox(0.0, 10.0, 1.0, realCameraIndex); + cameraIndexPanel.Pack_start(this->cameraIndex.GetWidget(), true, true, 0); + editor.Pack_start(cameraIndexPanel.GetWidget(), true, true, 0); + + //resolution area + Label resolutionHeader = Label("Resolution"); + resolutionHeader.SetName("subHeader"); + editor.Pack_start(resolutionHeader.GetWidget(), true, true, 0); + + //frame width + int realFrameWidth = std::stoi(Util::SearchCameraSettingsByID(docSettings, CAP_PROP_FRAME_WIDTH).Content()); + CameraSetting frameWidth = CameraSetting("Width: ", CAP_PROP_FRAME_WIDTH, 100, 2000, realFrameWidth); + this->settings.push_back(frameWidth); + editor.Pack_start(frameWidth.GetWidget(), true, true, 0); + + //frame height + int realFrameHeight = std::stoi(Util::SearchCameraSettingsByID(docSettings, CAP_PROP_FRAME_HEIGHT).Content()); + CameraSetting frameHeight = CameraSetting("Height: ", CAP_PROP_FRAME_HEIGHT, 100, 2000, realFrameHeight); + this->settings.push_back(frameHeight); + editor.Pack_start(frameHeight.GetWidget(), true, true, 0); + + Label resolutionNote = Label( + "NOTE: Some resolutions may not be supported by your camera!" + ); + editor.Pack_start(resolutionNote.GetWidget(), true, true, 0); + + Separator hsep = Separator(true); + editor.Pack_start(hsep.GetWidget(), true, true, 0); + + Label settingsHeader = Label("Other Settings"); + editor.Pack_start(settingsHeader.GetWidget(), true, true, 0); + + //exposure auto + double realExposureAuto = std::stod(Util::SearchCameraSettingsByID(docSettings, CAP_PROP_AUTO_EXPOSURE).Content()); + CameraSetting autoExposure = CameraSetting("Auto Exposure: ", CAP_PROP_AUTO_EXPOSURE, 0, 1, realExposureAuto); + this->settings.push_back(autoExposure); + editor.Pack_start(autoExposure.GetWidget(), true, true, 0); + + //exposure + double realExposure = std::stod(Util::SearchCameraSettingsByID(docSettings, CAP_PROP_EXPOSURE).Content()); + CameraSetting exposure = CameraSetting("Exposure: ", CAP_PROP_EXPOSURE, -1, 1, realExposure); + this->settings.push_back(exposure); + editor.Pack_start(exposure.GetWidget(), true, true, 0); + + //white balance auto + double realWhiteBalanceAuto = std::stod(Util::SearchCameraSettingsByID(docSettings, CAP_PROP_AUTO_WB).Content()); + CameraSetting autoWB = CameraSetting("Auto White Balance: ", CAP_PROP_AUTO_WB, 0, 1, realWhiteBalanceAuto); + this->settings.push_back(autoWB); + editor.Pack_start(autoWB.GetWidget(), true, true, 0); + + //white balance + double realWhiteBalance = std::stod(Util::SearchCameraSettingsByID(docSettings, CAP_PROP_WB_TEMPERATURE).Content()); + CameraSetting WB = CameraSetting("White Balance: ", CAP_PROP_WB_TEMPERATURE, -1, 1, realWhiteBalance); + this->settings.push_back(WB); + editor.Pack_start(WB.GetWidget(), true, true, 0); + + //brightness + double realBrightness = std::stod(Util::SearchCameraSettingsByID(docSettings, CAP_PROP_BRIGHTNESS).Content()); + CameraSetting brightness = CameraSetting("Brightness: ", CAP_PROP_BRIGHTNESS, -1, 1, realBrightness); + this->settings.push_back(brightness); + editor.Pack_start(brightness.GetWidget(), true, true, 0); + + //the apply button + Button apply = Button("Apply", KiwiLightApp::EditorApplyCameraSettings); + editor.Pack_start(apply.GetWidget(), true, true, 0); + + this->settingsWidget = editor.GetWidget(); +} + +void Settings::Update() { + +} + + +/** + * Returns an XMLTag containing information describing the settings' values. + */ +XMLTag Settings::GetFinishedTag() { + XMLTag settingsTag = XMLTag("settings"); + for(int i=0; isettings.size(); i++) { + XMLTag newSetting = XMLTag("setting", std::to_string(this->settings[i].GetValue())); + //add the name attribute + XMLTagAttribute settingAttr = XMLTagAttribute("id", std::to_string(this->settings[i].GetValueName())); + newSetting.AddAttribute(settingAttr); + + settingsTag.AddTag(newSetting); + } + + return settingsTag; +} + +/** + * Finds the setting with the given ID and sets its value. + */ +void Settings::SetSettingValueFromID(int id, double value) { + for(int i=0; isettings.size(); i++) { + if(this->settings[i].GetValueName() == id) { + this->settings[i].SetValue(value); + } + } +} + + +/** + * Finds the setting with the given ID and returns it's value, or -1.0 if none found. + */ +double Settings::GetSettingValueFromID(int id) { + for(int i=0; isettings.size(); i++) { + if(this->settings[i].GetValueName() == id) { + return this->settings[i].GetValue(); + } + } + + return -1; +} + + +void Settings::SetCameraIndex(int index) { + this->cameraIndex.SetValue((double) index); +} + + +int Settings::GetCameraIndex() { + return this->cameraIndex.GetValue(); +} + + +std::vector Settings::GetSettingIDs() { + std::vector ids; + for(int i=0; isettings.size(); i++) { + ids.push_back(this->settings[i].GetValueName()); + } + + return ids; +} + + +void Settings::SetName(std::string name) { + gtk_widget_set_name(this->settingsWidget, name.c_str()); +} diff --git a/KiwiLight - Vision Code/ui/Slider.cpp b/KiwiLight - Vision Code/ui/Slider.cpp index f70faa6..d907a6f 100644 --- a/KiwiLight - Vision Code/ui/Slider.cpp +++ b/KiwiLight - Vision Code/ui/Slider.cpp @@ -1,36 +1,36 @@ -#include "UI.h" - -/** - * Source file for the Slider class. - * Written By: Brach Knutson - */ - - -using namespace KiwiLight; - -Slider::Slider(double min, double max, double step, double value) { - this->slider = gtk_scale_new_with_range(GTK_ORIENTATION_HORIZONTAL, min, max, step); - gtk_range_set_value(GTK_RANGE(this->slider), gdouble(value)); -} - - -Slider::Slider(bool horizontal, double min, double max, double step, double value) { - // this->slider = gtk_scale_new_with_range((horizontal ? GTK_ORIENTATION_HORIZONTAL : GTK_ORIENTATION_VERTICAL), min, max, step); - this->slider = gtk_scale_new_with_range(GTK_ORIENTATION_VERTICAL, min, max, step); - gtk_range_set_value(GTK_RANGE(this->slider), gdouble(value)); -} - - -void Slider::SetValue(double value) { - gtk_range_set_value(GTK_RANGE(this->slider), value); -} - - -double Slider::GetValue() { - return gtk_range_get_value(GTK_RANGE(this->slider)); -} - - -void Slider::SetName(std::string name) { - gtk_widget_set_name(this->slider, name.c_str()); +#include "UI.h" + +/** + * Source file for the Slider class. + * Written By: Brach Knutson + */ + + +using namespace KiwiLight; + +Slider::Slider(double min, double max, double step, double value) { + this->slider = gtk_scale_new_with_range(GTK_ORIENTATION_HORIZONTAL, min, max, step); + gtk_range_set_value(GTK_RANGE(this->slider), gdouble(value)); +} + + +Slider::Slider(bool horizontal, double min, double max, double step, double value) { + // this->slider = gtk_scale_new_with_range((horizontal ? GTK_ORIENTATION_HORIZONTAL : GTK_ORIENTATION_VERTICAL), min, max, step); + this->slider = gtk_scale_new_with_range(GTK_ORIENTATION_VERTICAL, min, max, step); + gtk_range_set_value(GTK_RANGE(this->slider), gdouble(value)); +} + + +void Slider::SetValue(double value) { + gtk_range_set_value(GTK_RANGE(this->slider), value); +} + + +double Slider::GetValue() { + return gtk_range_get_value(GTK_RANGE(this->slider)); +} + + +void Slider::SetName(std::string name) { + gtk_widget_set_name(this->slider, name.c_str()); } \ No newline at end of file diff --git a/KiwiLight - Vision Code/ui/Style.css b/KiwiLight - Vision Code/ui/Style.css index 3efff05..3d46a37 100644 --- a/KiwiLight - Vision Code/ui/Style.css +++ b/KiwiLight - Vision Code/ui/Style.css @@ -1,85 +1,85 @@ - -/** - * Stylesheet written for the KiwiLight UI. - * Written By: Brach Knutson - */ - -window, window * { - background-color: rgb(24, 24, 24); - color: rgb(52, 117, 22); -} - -menubar, -menubar * { - background-color: rgb(50, 50, 50); -} - -menubar label { - background-color:transparent; - color:white; -} - -window:not(dialog) button, -window:not(dialog) button * { - background-color:black; - border-radius: 0px; - border-style:solid; - border-width:5px; - border-color:black; - padding:0px; -} - -window:not(dialog) button:hover, -window:not(dialog) button:hover * { - transition: 150ms ease-out; - background-color:rgb(39, 39, 39); -} - -window:not(dialog) button:active, -window:not(dialog) button:active * { - transition: 150ms ease-out; - background-color:rgb(17, 53, 3); -} - -window:not(dialog) button:disabled { - color:rgb(7, 22, 1); -} - -scrolledwindow * { - background-color: transparent; -} - -scrollbar { - background-color: white; -} - -scale * { - background-color: rgb(39, 39, 39); - color: rgb(52, 117, 22); -} - -#mainHeader { - background-color:rgb(40, 40, 40); -} - -#mainHeader > label { - background-color:transparent; -} - -#white { - color:rgb(212, 212, 212); -} - -#header { - color:rgb(175, 175, 175); - font-size:30px; -} - -#subHeader { - color:rgb(143, 143, 143); - font-size:18px; -} - -#gray { - color:rgb(143, 143, 143); + +/** + * Stylesheet written for the KiwiLight UI. + * Written By: Brach Knutson + */ + +window, window * { + background-color: rgb(24, 24, 24); + color: rgb(52, 117, 22); +} + +menubar, +menubar * { + background-color: rgb(50, 50, 50); +} + +menubar label { + background-color:transparent; + color:white; +} + +window:not(dialog) button, +window:not(dialog) button * { + background-color:black; + border-radius: 0px; + border-style:solid; + border-width:5px; + border-color:black; + padding:0px; +} + +window:not(dialog) button:hover, +window:not(dialog) button:hover * { + transition: 150ms ease-out; + background-color:rgb(39, 39, 39); +} + +window:not(dialog) button:active, +window:not(dialog) button:active * { + transition: 150ms ease-out; + background-color:rgb(17, 53, 3); +} + +window:not(dialog) button:disabled { + color:rgb(7, 22, 1); +} + +scrolledwindow * { + background-color: transparent; +} + +scrollbar { + background-color: white; +} + +scale * { + background-color: rgb(39, 39, 39); + color: rgb(52, 117, 22); +} + +#mainHeader { + background-color:rgb(40, 40, 40); +} + +#mainHeader > label { + background-color:transparent; +} + +#white { + color:rgb(212, 212, 212); +} + +#header { + color:rgb(175, 175, 175); + font-size:30px; +} + +#subHeader { + color:rgb(143, 143, 143); + font-size:18px; +} + +#gray { + color:rgb(143, 143, 143); } \ No newline at end of file diff --git a/KiwiLight - Vision Code/ui/SubMenuItem.cpp b/KiwiLight - Vision Code/ui/SubMenuItem.cpp index 2b54ec8..70969a9 100644 --- a/KiwiLight - Vision Code/ui/SubMenuItem.cpp +++ b/KiwiLight - Vision Code/ui/SubMenuItem.cpp @@ -1,21 +1,21 @@ -#include "UI.h" - -/** - * Source file for the SubMenuItem class. - * Written By: Brach Knutson - */ - - -using namespace KiwiLight; - -/** - * Create a submenu item with the given name, when clicked, the item will call callback. - */ -SubMenuItem::SubMenuItem(std::string name, void(* callback)()) { - this->submenuitem = gtk_menu_item_new_with_label(name.c_str()); - g_signal_connect(this->submenuitem, "activate", G_CALLBACK(callback), NULL); // connect the callback to the menu item. -} - -void SubMenuItem::SetName(std::string name) { - gtk_widget_set_name(this->submenuitem, name.c_str()); +#include "UI.h" + +/** + * Source file for the SubMenuItem class. + * Written By: Brach Knutson + */ + + +using namespace KiwiLight; + +/** + * Create a submenu item with the given name, when clicked, the item will call callback. + */ +SubMenuItem::SubMenuItem(std::string name, void(* callback)()) { + this->submenuitem = gtk_menu_item_new_with_label(name.c_str()); + g_signal_connect(this->submenuitem, "activate", G_CALLBACK(callback), NULL); // connect the callback to the menu item. +} + +void SubMenuItem::SetName(std::string name) { + gtk_widget_set_name(this->submenuitem, name.c_str()); } \ No newline at end of file diff --git a/KiwiLight - Vision Code/ui/TabView.cpp b/KiwiLight - Vision Code/ui/TabView.cpp index 4888fca..212d6b1 100644 --- a/KiwiLight - Vision Code/ui/TabView.cpp +++ b/KiwiLight - Vision Code/ui/TabView.cpp @@ -1,26 +1,26 @@ -#include "UI.h" - -/** - * Source file for the TabView class. - * Written By: Brach Knutson - */ - -using namespace KiwiLight; - - -TabView::TabView(std::string tab1Name, GtkWidget *tab1Content) { - this->tabview = gtk_notebook_new(); - Label tabLabel = Label(tab1Name); - gtk_notebook_append_page(GTK_NOTEBOOK(this->tabview), tab1Content, tabLabel.GetWidget()); -} - - -void TabView::AddTab(std::string tabName, GtkWidget *tabContent) { - Label tabLabel = Label(tabName); - gtk_notebook_append_page(GTK_NOTEBOOK(this->tabview), tabContent, tabLabel.GetWidget()); -} - - -void TabView::SetName(std::string name) { - gtk_widget_set_name(this->tabview, name.c_str()); +#include "UI.h" + +/** + * Source file for the TabView class. + * Written By: Brach Knutson + */ + +using namespace KiwiLight; + + +TabView::TabView(std::string tab1Name, GtkWidget *tab1Content) { + this->tabview = gtk_notebook_new(); + Label tabLabel = Label(tab1Name); + gtk_notebook_append_page(GTK_NOTEBOOK(this->tabview), tab1Content, tabLabel.GetWidget()); +} + + +void TabView::AddTab(std::string tabName, GtkWidget *tabContent) { + Label tabLabel = Label(tabName); + gtk_notebook_append_page(GTK_NOTEBOOK(this->tabview), tabContent, tabLabel.GetWidget()); +} + + +void TabView::SetName(std::string name) { + gtk_widget_set_name(this->tabview, name.c_str()); } \ No newline at end of file diff --git a/KiwiLight - Vision Code/ui/TextBox.cpp b/KiwiLight - Vision Code/ui/TextBox.cpp index 402dc47..1b3c2fb 100644 --- a/KiwiLight - Vision Code/ui/TextBox.cpp +++ b/KiwiLight - Vision Code/ui/TextBox.cpp @@ -1,43 +1,43 @@ -#include "UI.h" - -/** - * Source file for the TextBox class. - * Written By: Brach Knutson - */ - - -using namespace KiwiLight; - -/** - * Creates a new textbox with the given text. - */ -TextBox::TextBox(std::string text) { - this->textbox = gtk_entry_new(); - gtk_entry_set_text(GTK_ENTRY(this->textbox), text.c_str()); -} - -/** - * Sets the textbox text to the given std::string. - */ -void TextBox::SetText(std::string text) { - gtk_entry_set_text(GTK_ENTRY(this->textbox), text.c_str()); -} - -/** - * Sets the alignment of the entry. 0=left, 1=right - */ -void TextBox::SetAlignment(double align) { - gtk_entry_set_alignment(GTK_ENTRY(this->textbox), gfloat(align)); -} - -/** - * Returns the text inside the textbox. - */ -std::string TextBox::GetText() { - return gtk_entry_get_text(GTK_ENTRY(this->textbox)); -} - - -void TextBox::SetName(std::string name) { - gtk_widget_set_name(this->textbox, name.c_str()); +#include "UI.h" + +/** + * Source file for the TextBox class. + * Written By: Brach Knutson + */ + + +using namespace KiwiLight; + +/** + * Creates a new textbox with the given text. + */ +TextBox::TextBox(std::string text) { + this->textbox = gtk_entry_new(); + gtk_entry_set_text(GTK_ENTRY(this->textbox), text.c_str()); +} + +/** + * Sets the textbox text to the given std::string. + */ +void TextBox::SetText(std::string text) { + gtk_entry_set_text(GTK_ENTRY(this->textbox), text.c_str()); +} + +/** + * Sets the alignment of the entry. 0=left, 1=right + */ +void TextBox::SetAlignment(double align) { + gtk_entry_set_alignment(GTK_ENTRY(this->textbox), gfloat(align)); +} + +/** + * Returns the text inside the textbox. + */ +std::string TextBox::GetText() { + return gtk_entry_get_text(GTK_ENTRY(this->textbox)); +} + + +void TextBox::SetName(std::string name) { + gtk_widget_set_name(this->textbox, name.c_str()); } \ No newline at end of file diff --git a/KiwiLight - Vision Code/ui/TroubleshootingWindow.cpp b/KiwiLight - Vision Code/ui/TroubleshootingWindow.cpp index edbb745..2c50596 100644 --- a/KiwiLight - Vision Code/ui/TroubleshootingWindow.cpp +++ b/KiwiLight - Vision Code/ui/TroubleshootingWindow.cpp @@ -1,40 +1,40 @@ -#include "Runner.h" - -/** - * Source file for the TroubleshootingWindow class. - * Written By: Brach Knutson - */ - -using namespace KiwiLight; - - -TroubleshootingWindow::TroubleshootingWindow(TroubleshootingData data[], int dataLen) { - this->window = Window(GTK_WINDOW_TOPLEVEL); - Panel content = Panel(false, 0); - Label title = Label("Troubleshoot Results"); - title.SetName("header"); - content.Pack_start(title.GetWidget(), false, false, 0); - - for(int i=0; iwindow.SetContentPane(content); - - this->troubleshootingwindow = this->window.GetWidget(); -} - - -void TroubleshootingWindow::Show() { - this->window.Show(); -} - - -void TroubleshootingWindow::SetName(std::string name) { - gtk_widget_set_name(this->troubleshootingwindow, name.c_str()); +#include "Runner.h" + +/** + * Source file for the TroubleshootingWindow class. + * Written By: Brach Knutson + */ + +using namespace KiwiLight; + + +TroubleshootingWindow::TroubleshootingWindow(TroubleshootingData data[], int dataLen) { + this->window = Window(GTK_WINDOW_TOPLEVEL); + Panel content = Panel(false, 0); + Label title = Label("Troubleshoot Results"); + title.SetName("header"); + content.Pack_start(title.GetWidget(), false, false, 0); + + for(int i=0; iwindow.SetContentPane(content); + + this->troubleshootingwindow = this->window.GetWidget(); +} + + +void TroubleshootingWindow::Show() { + this->window.Show(); +} + + +void TroubleshootingWindow::SetName(std::string name) { + gtk_widget_set_name(this->troubleshootingwindow, name.c_str()); } \ No newline at end of file diff --git a/KiwiLight - Vision Code/ui/UI.h b/KiwiLight - Vision Code/ui/UI.h index feab6f9..5835124 100644 --- a/KiwiLight - Vision Code/ui/UI.h +++ b/KiwiLight - Vision Code/ui/UI.h @@ -1,719 +1,719 @@ -#ifndef KiwiLight_UI_H -#define KiwiLight_UI_H - -#include -#include -#include -#include "../util/Util.h" -#include "../runner/Runner.h" -#include "gtk-3.0/gtk/gtk.h" -#include "opencv2/opencv.hpp" - -/** - * the main header for the UI module for KiwiLight - * Written By: Brach Knutson - */ - -using namespace cv; - -namespace KiwiLight { - - enum ImageColorspace { - RGB - }; - - /** - * Represents a generic UI widget. - */ - class Widget { - public: - virtual GtkWidget *GetWidget() = 0; - virtual void SetName(std::string name) = 0; - }; - - /** - * Represents a container. Used to organize UI objects inside a window. - */ - class Panel : public Widget { - public: - Panel() {}; - Panel(bool horizontal, int spacing); - void Pack_start(GtkWidget *widget, bool expand, bool fill, int pad); - void Pack_end(GtkWidget *widget, bool expand, bool fill, int pad); - void Show() { gtk_widget_show_all(this->panel); }; - GtkWidget *GetWidget() { return panel; }; - void SetName(std::string name); - - private: - GtkWidget *panel; - }; - - - class Scrollable : public Widget { - public: - Scrollable() {}; - Scrollable(bool horizontal, bool vertical); - void PackWidget(GtkWidget *wid); - GtkWidget *GetWidget() { return this->scrollable; }; - void SetName(std::string name); - - private: - GtkWidget *scrollable; - }; - - - class Frame : public Widget { - public: - Frame() {}; - Frame(std::string label); - void Pack(GtkWidget *widget); - void Unpack(GtkWidget *widget); - GtkWidget *GetWidget() { return this->frame; }; - void SetName(std::string name); - - private: - GtkWidget *frame; - }; - - /** - * Represents a UI window that contains a form, or what have you - */ - class Window : public Widget { - public: - Window() {}; - Window(GtkWindowType type); - Window(GtkWindowType type, bool terminateOnClose); - static void SetOnAppClosed(void(*onAppClosed)()); - void SetOnWindowClosed(void(*onWindowClosed)()); - void SetPane(Panel pane); - void Show(); - void SetSize(int w, int h); - int SetInterval(int interval, void(*method)()); - void RemoveInterval(int id); - void Main() { gtk_main(); }; - void SetCSS(std::string fileName); - GtkWidget *GetWidget() { return this->window; }; - void SetName(std::string name); - - private: - GtkWidget *window; - static void(*onAppClosed)(); - static void(*timeoutMethod)(); - static gboolean delete_event(GtkWidget *widget, GdkEvent *event, gpointer pointer); - static void Destroy(); - static gboolean timeoutCallMethod(); - }; - - /** - * Represents a label with text. - */ - class Label : public Widget { - public: - Label() {}; - Label(std::string text); - void SetText(std::string text); - std::string GetText() { return text; }; - void SetName(std::string name); - void SetLineWrap(bool enabled); - void SetJustify(int justify); - GtkWidget *GetWidget() { return this->label; }; - - static const int JUSTIFY_LEFT = 0, - JUSTIFY_RIGHT = 1, - JUSTIFY_CENTER = 2; - - private: - std::string text; - std::string font; - double font_size; - GtkWidget *label; - }; - - /** - * Represents a user-editable textbox. - */ - class TextBox : public Widget { - public: - TextBox() {}; - TextBox(std::string text); - void SetText(std::string text); - void SetAlignment(double align); - std::string GetText(); - GtkWidget *GetWidget() { return this->textbox; }; - void SetName(std::string name); - - private: - GtkWidget *textbox; - }; - - - class NumberBox : public Widget { - public: - NumberBox() {}; - NumberBox(double min, double max, double value); - NumberBox(double min, double max, double step, double value); - void SetValue(double value); - double GetValue(); - GtkWidget *GetWidget() { return this->numberBox; }; - void SetName(std::string name); - - private: - double min, - max; - - GtkWidget *numberBox; - }; - - /** - * Represents a checkbox with boolean value - */ - class CheckBox : public Widget { - public: - CheckBox() {}; - CheckBox(std::string name, bool checked); - void SetState(bool checked); - bool GetState(); - GtkWidget *GetWidget() { return this->checkbox; }; - void SetName(std::string name); - - private: - GtkWidget *checkbox; - }; - - /** - * Represents a user-editable scale widget. - */ - class Slider : public Widget { - public: - Slider() {}; - Slider(double min, double max, double step, double value); - Slider(bool horizontal, double min, double max, double step, double value); - void SetValue(double value); - double GetValue(); - GtkWidget *GetWidget() { return this->slider; }; - void SetName(std::string name); - - private: - GtkWidget *slider; - }; - - /** - * A faint line that can be placed between to objects in a container - */ - class Separator : public Widget { - public: - Separator(bool horizontal); - GtkWidget *GetWidget() { return this->separator; }; - void SetName(std::string name); - - private: - GtkWidget *separator; - }; - - /** - * Represents a button with a static method callback - */ - class Button : public Widget { - public: - Button() {}; - Button(std::string text, void(*callback)() ); - void SetText(std::string text); - std::string GetText() { return text; }; - void SetCallback( void(*callback)() ); - GtkWidget *GetWidget() { return this->button; }; - void SetName(std::string name); - - private: - std::string text; - GtkWidget *button; - }; - - /** - * A blocking dialog with "ok" and "cancel" buttons. - */ - class ConfirmationDialog : public Widget { - public: - ConfirmationDialog() {}; - ConfirmationDialog(std::string message); - void SetBody(Panel pnl); - bool ShowButDontClose(); - void ShowWithoutRunning(); - bool ShowAndGetResponse(); - void Destroy(); - GtkWidget *GetWidget() { return this->dialog; }; - void SetName(std::string name); - - private: - Panel content; - GtkWidget *dialog; - }; - - /** - * An option that would show under a menu bar item. - */ - class SubMenuItem : public Widget { - public: - SubMenuItem(std::string name, void(*callback)()); - GtkWidget *GetWidget() { return this->submenuitem; }; - void SetName(std::string name); - - private: - GtkWidget *submenuitem; - }; - - /** - * A menu item able to be seen on a menu bar(ex "file", "help", etc) - */ - class MenuItem : public Widget { - public: - MenuItem(std::string name); - void AddSubmenuItem(SubMenuItem item); - GtkWidget *GetWidget() { return this->menuitem; }; - void SetName(std::string name); - - private: - GtkWidget *menuitem; - GtkWidget *menu; - }; - - /** - * A menu bar that would show up at the top of the screen. - */ - class MenuBar : public Widget { - public: - MenuBar(); - void AddItem(MenuItem item); - GtkWidget *GetWidget() { return this->menubar; }; - void SetName(std::string name); - - private: - GtkWidget *menubar; - }; - - class Image : public Widget { - public: - Image() { this->declared = false; }; - Image(std::string fileName); - Image(ImageColorspace colorspace); - bool Declared() { return this->declared; }; - void Update(cv::Mat newImage); - GtkWidget *GetWidget() { return this->image; }; - void SetName(std::string name); - - private: - bool declared; - bool declaredAsStaticImage; - GtkWidget *image; - ImageColorspace colorspace; - - //for one time init without updates - Mat originalImage; - }; - - class FileChooser : public Widget { - public: - FileChooser() {}; - FileChooser(bool writing, std::string defaultFileName); - std::string Show(); - GtkWidget *GetWidget() { return this->filechooser; }; - void SetName(std::string name); - - private: - GtkWidget *filechooser; - }; - - - class TabView : public Widget { - public: - TabView() {}; - TabView(std::string tab1Name, GtkWidget *tab1Content); - void AddTab(std::string tabName, GtkWidget* tabContent); - GtkWidget *GetWidget() { return this->tabview; }; - void SetName(std::string name); - - private: - GtkWidget *tabview; - }; - - - class PopupTextBox : public Widget { - public: - PopupTextBox() {}; - PopupTextBox(std::string name, std::string prompt, std::string initValue); - std::string Show(); - GtkWidget *GetWidget() { return this->popuptextbox; }; - void SetName(std::string name); - - private: - GtkWidget *popuptextbox; - TextBox textbox; - }; - - class LabeledSlider : public Widget { - public: - LabeledSlider() {}; - LabeledSlider(std::string label, double min, double max, double step, double value); - LabeledSlider(bool horizontal, std::string label, double min, double max, double step, double value); - double GetValue(); - void SetValue(double value); - void SetLabel(std::string text); - GtkWidget *GetWidget() { return this->labeledslider; }; - void SetName(std::string name); - - private: - Panel panel; - Label label; - Slider slider; - GtkWidget *labeledslider; - }; - - - class AboutWindow : public Widget { - public: - AboutWindow() {}; - AboutWindow(GtkWindowType type); - void Show(); - GtkWidget *GetWidget() { return this->aboutwindow; }; - void SetName(std::string name); - - private: - Window window; - GtkWidget *aboutwindow; - }; - - - class HelpWindow : public Widget { - public: - HelpWindow() {}; - HelpWindow(GtkWindowType type); - void Show(); - GtkWidget *GetWidget() { return this->helpwindow; }; - void SetName(std::string name); - - private: - Window window; - GtkWidget *helpwindow; - }; - - - class TroubleshootingWindow : public Widget { - public: - TroubleshootingWindow() {}; - TroubleshootingWindow(TroubleshootingData data[], int dataLen); - void Show(); - GtkWidget *GetWidget() { return this->troubleshootingwindow; }; - void SetName(std::string name); - - private: - Window window; - GtkWidget *troubleshootingwindow; - }; - - /** - * A singlular widget adjusting a camera setting - */ - class CameraSetting : public Widget { - public: - CameraSetting() {}; - CameraSetting(std::string name, int valueName, double min, double max, double value); - double GetValue(); - int GetValueName(); - void SetValue(double newValue); - void Destroy(); - std::string GetName() { return name; }; - GtkWidget *GetWidget() { return this->camerasetting; }; - void SetName(std::string name); - - private: - GtkWidget *camerasetting; - - Label nameLabel; - NumberBox input; - - std::string - name, - type; - - int - valueName, - min, - max, - value; - }; - - /** - * Panel where configuration can be viewed - */ - class ConfigPanel : public Widget { - public: - ConfigPanel() {}; - ConfigPanel(std::string fileName) : ConfigPanel(XMLDocument(fileName)) {}; - ConfigPanel(XMLDocument doc); - void LoadConfig(std::string fileName); - void LoadConfig(XMLDocument file); - void Clear(); - std::string GetConfigurationName() { return this->configNameString; }; - std::string GetConfigFile() { return this->configFile; }; - GtkWidget *GetWidget() { return this->configPanel; }; - void SetName(std::string name); - - private: - Panel panel; - Label - header, - fileLabel, - PreProcessorLabel, - TargetLabel, - UDPAddressLabel, - UDPPortLabel; - - std::string - configFile, - configNameString; - - GtkWidget *configPanel; - }; - - class OverviewPanel : public Widget { - public: - OverviewPanel() {}; - OverviewPanel(XMLDocument doc); - void Update(); - void SetConfigName(std::string name); - std::string GetConfigName(); - void SetTargetInformationLabels( - bool targetSpotted, - int targetImgX, - int targetImgY, - double targetDist, - double targetHAngle, - double targetVAngle - ); - void SetCameraIndex(int index); - int GetCameraIndex(); - void SetUDPAddr(std::string addr); - std::string GetUDPAddr(); - void SetUDPPort(int port); - int GetUDPPort(); - void SetUDPEnabledLabels(bool UDPEnabled); - void SetTargetInformationLabelsFromString(std::string iterOutput); - GtkWidget *GetWidget() { return overviewpanel; }; - void SetName(std::string name); - - private: - TextBox configName; - TextBox udpAddr; - NumberBox udpPort; - NumberBox cameraIndex; - Button enableUDP; - - Label - targetSpotted, - targetImageLocation, - targetDist, - targetHAngle, - targetVAngle; - - GtkWidget *overviewpanel; - }; - - /** - * A window where camera settings can be modified. - */ - class Settings : public Widget { - public: - Settings() {}; - Settings(XMLDocument doc); - void Update(); - void UpdateValue(); - void Show() { gtk_widget_show_all(this->settingsWidget); }; - XMLTag GetFinishedTag(); - void SetSettingValueFromID(int id, double value); - double GetSettingValueFromID(int id); - void SetCameraIndex(int index); - int GetCameraIndex(); - std::vector GetSettingIDs(); - GtkWidget *GetWidget() { return settingsWidget; }; - void SetName(std::string name); - - private: - NumberBox cameraIndex; - std::vector settings; - GtkWidget *settingsWidget; - }; - - - class PreprocessorEditor : public Widget { - public: - PreprocessorEditor() {}; - PreprocessorEditor(PreProcessor preprocessor); - void Update(); - double GetProperty(PreProcessorProperty prop); - void SetProperty(PreProcessorProperty prop, double value); - GtkWidget *GetWidget() { return this->preprocessoreditor; }; - void SetName(std::string name); - - private: - bool lastIsFull; - CheckBox - isFull, - isPartial; - - NumberBox - colorH, - colorS, - colorV; - - Image colorPreview; - - LabeledSlider - colorError, - threshold, - erosion, - dilation; - - GtkWidget *preprocessoreditor; - }; - - - class PostprocessorEditor : public Widget { - public: - PostprocessorEditor() {}; - PostprocessorEditor(PostProcessor postprocessor); - void Update(); - int GetNumContours(); - void SetNumContours(int contours); - SettingPair GetProperty(int contour, TargetProperty prop); - void SetProperty(int contour, TargetProperty prop, SettingPair value); - GtkWidget *GetWidget() { return this->postprocessoreditor; }; - void SetName(std::string name); - - private: - int lastDesiredContour; - - NumberBox - contourchooser, - distX, - distY; - - LabeledSlider - distXErr, - distYErr, - angle, - angleErr, - ar, - arErr, - solidity, - solidityErr, - minimumArea; - - Label totalContours; - - Runner storageRunner; - - GtkWidget *postprocessoreditor; - }; - - - class RunnerEditor : public Widget { - public: - RunnerEditor() {}; - RunnerEditor(Runner runner); - void Update(int targetDistance); - double GetProperty(RunnerProperty prop); - void SetProperty(RunnerProperty prop, double value); - std::string GetUDPAddr(); - int GetUDPPort(); - void SetUDPAddr(std::string newAddr); - void SetUDPPort(int newPort); - void SetUDPEnabledLabels(bool UDPEnabled); - GtkWidget *GetWidget() { return this->runnereditor; }; - void SetName(std::string name); - - private: - Label distanceLabel; - - TextBox udpAddress; - NumberBox udpPort; - - Button enableUDP; - - LabeledSlider - offsetX, - offsetY, - imageWidth, - imageHeight, - targetTrueWidth, - targetPercievedWidth, - targetCalibratedDistance, - targetErrorCorrection; - - GtkWidget *runnereditor; - }; - - class ConfigEditor : public Widget { - public: - ConfigEditor() {}; - ConfigEditor(std::string fileName); - void Update(); - bool UpdateImageOnly(); - std::string GetLastFrameResult(); - void Save(); - void Close(); - void StartLearningTarget(); - void StartLearningDistance(); - void ReconnectUDPFromEditor(); - void SetUDPEnabledLabels(bool UDPEnabled); - void ApplyCameraSettings(); - void SetCameraIndexBoxes(int index); - void ReconnectUDPFromOverview(); - void OpenNewCameraFromOverview(); - std::string GetFileName() { return this->fileName; }; - cv::Mat GetOutputImage() { return this->out; }; - GtkWidget *GetWidget() { return this->configeditor; }; - void SetName(std::string name); - - private: - void UpdateImage(); - - //universal config learning utility - ConfigLearner learner; - bool learnerActivated; - - //universal focal width learning utility - TargetDistanceLearner distanceLearner; - bool distanceLearnerRunning; - - TargetTroubleshooter troubleshooter; - - Label serviceMonitor; - Label serviceLabel; - - //runtime things - Runner runner; - XMLDocument currentDoc; - std::string - fileName, - confName; - - std::string lastIterationResult; - - TabView tabs; - OverviewPanel configOverview; - Settings cameraSettings; - PreprocessorEditor preprocessorSettings; - PostprocessorEditor postprocessorSettings; - RunnerEditor runnerSettings; - - cv::Mat out, - original; - Image outputImage; - - Window window; - Panel content; - - GtkWidget *configeditor; - }; -} - -#endif +#ifndef KiwiLight_UI_H +#define KiwiLight_UI_H + +#include +#include +#include +#include "../util/Util.h" +#include "../runner/Runner.h" +#include "gtk-3.0/gtk/gtk.h" +#include "opencv2/opencv.hpp" + +/** + * the main header for the UI module for KiwiLight + * Written By: Brach Knutson + */ + +using namespace cv; + +namespace KiwiLight { + + enum ImageColorspace { + RGB + }; + + /** + * Represents a generic UI widget. + */ + class Widget { + public: + virtual GtkWidget *GetWidget() = 0; + virtual void SetName(std::string name) = 0; + }; + + /** + * Represents a container. Used to organize UI objects inside a window. + */ + class Panel : public Widget { + public: + Panel() {}; + Panel(bool horizontal, int spacing); + void Pack_start(GtkWidget *widget, bool expand, bool fill, int pad); + void Pack_end(GtkWidget *widget, bool expand, bool fill, int pad); + void Show() { gtk_widget_show_all(this->panel); }; + GtkWidget *GetWidget() { return panel; }; + void SetName(std::string name); + + private: + GtkWidget *panel; + }; + + + class Scrollable : public Widget { + public: + Scrollable() {}; + Scrollable(bool horizontal, bool vertical); + void PackWidget(GtkWidget *wid); + GtkWidget *GetWidget() { return this->scrollable; }; + void SetName(std::string name); + + private: + GtkWidget *scrollable; + }; + + + class Frame : public Widget { + public: + Frame() {}; + Frame(std::string label); + void Pack(GtkWidget *widget); + void Unpack(GtkWidget *widget); + GtkWidget *GetWidget() { return this->frame; }; + void SetName(std::string name); + + private: + GtkWidget *frame; + }; + + /** + * Represents a UI window that contains a form, or what have you + */ + class Window : public Widget { + public: + Window() {}; + Window(GtkWindowType type); + Window(GtkWindowType type, bool terminateOnClose); + static void SetOnAppClosed(void(*onAppClosed)()); + void SetOnWindowClosed(void(*onWindowClosed)()); + void SetPane(Panel pane); + void Show(); + void SetSize(int w, int h); + int SetInterval(int interval, void(*method)()); + void RemoveInterval(int id); + void Main() { gtk_main(); }; + void SetCSS(std::string fileName); + GtkWidget *GetWidget() { return this->window; }; + void SetName(std::string name); + + private: + GtkWidget *window; + static void(*onAppClosed)(); + static void(*timeoutMethod)(); + static gboolean delete_event(GtkWidget *widget, GdkEvent *event, gpointer pointer); + static void Destroy(); + static gboolean timeoutCallMethod(); + }; + + /** + * Represents a label with text. + */ + class Label : public Widget { + public: + Label() {}; + Label(std::string text); + void SetText(std::string text); + std::string GetText() { return text; }; + void SetName(std::string name); + void SetLineWrap(bool enabled); + void SetJustify(int justify); + GtkWidget *GetWidget() { return this->label; }; + + static const int JUSTIFY_LEFT = 0, + JUSTIFY_RIGHT = 1, + JUSTIFY_CENTER = 2; + + private: + std::string text; + std::string font; + double font_size; + GtkWidget *label; + }; + + /** + * Represents a user-editable textbox. + */ + class TextBox : public Widget { + public: + TextBox() {}; + TextBox(std::string text); + void SetText(std::string text); + void SetAlignment(double align); + std::string GetText(); + GtkWidget *GetWidget() { return this->textbox; }; + void SetName(std::string name); + + private: + GtkWidget *textbox; + }; + + + class NumberBox : public Widget { + public: + NumberBox() {}; + NumberBox(double min, double max, double value); + NumberBox(double min, double max, double step, double value); + void SetValue(double value); + double GetValue(); + GtkWidget *GetWidget() { return this->numberBox; }; + void SetName(std::string name); + + private: + double min, + max; + + GtkWidget *numberBox; + }; + + /** + * Represents a checkbox with boolean value + */ + class CheckBox : public Widget { + public: + CheckBox() {}; + CheckBox(std::string name, bool checked); + void SetState(bool checked); + bool GetState(); + GtkWidget *GetWidget() { return this->checkbox; }; + void SetName(std::string name); + + private: + GtkWidget *checkbox; + }; + + /** + * Represents a user-editable scale widget. + */ + class Slider : public Widget { + public: + Slider() {}; + Slider(double min, double max, double step, double value); + Slider(bool horizontal, double min, double max, double step, double value); + void SetValue(double value); + double GetValue(); + GtkWidget *GetWidget() { return this->slider; }; + void SetName(std::string name); + + private: + GtkWidget *slider; + }; + + /** + * A faint line that can be placed between to objects in a container + */ + class Separator : public Widget { + public: + Separator(bool horizontal); + GtkWidget *GetWidget() { return this->separator; }; + void SetName(std::string name); + + private: + GtkWidget *separator; + }; + + /** + * Represents a button with a static method callback + */ + class Button : public Widget { + public: + Button() {}; + Button(std::string text, void(*callback)() ); + void SetText(std::string text); + std::string GetText() { return text; }; + void SetCallback( void(*callback)() ); + GtkWidget *GetWidget() { return this->button; }; + void SetName(std::string name); + + private: + std::string text; + GtkWidget *button; + }; + + /** + * A blocking dialog with "ok" and "cancel" buttons. + */ + class ConfirmationDialog : public Widget { + public: + ConfirmationDialog() {}; + ConfirmationDialog(std::string message); + void SetBody(Panel pnl); + bool ShowButDontClose(); + void ShowWithoutRunning(); + bool ShowAndGetResponse(); + void Destroy(); + GtkWidget *GetWidget() { return this->dialog; }; + void SetName(std::string name); + + private: + Panel content; + GtkWidget *dialog; + }; + + /** + * An option that would show under a menu bar item. + */ + class SubMenuItem : public Widget { + public: + SubMenuItem(std::string name, void(*callback)()); + GtkWidget *GetWidget() { return this->submenuitem; }; + void SetName(std::string name); + + private: + GtkWidget *submenuitem; + }; + + /** + * A menu item able to be seen on a menu bar(ex "file", "help", etc) + */ + class MenuItem : public Widget { + public: + MenuItem(std::string name); + void AddSubmenuItem(SubMenuItem item); + GtkWidget *GetWidget() { return this->menuitem; }; + void SetName(std::string name); + + private: + GtkWidget *menuitem; + GtkWidget *menu; + }; + + /** + * A menu bar that would show up at the top of the screen. + */ + class MenuBar : public Widget { + public: + MenuBar(); + void AddItem(MenuItem item); + GtkWidget *GetWidget() { return this->menubar; }; + void SetName(std::string name); + + private: + GtkWidget *menubar; + }; + + class Image : public Widget { + public: + Image() { this->declared = false; }; + Image(std::string fileName); + Image(ImageColorspace colorspace); + bool Declared() { return this->declared; }; + void Update(cv::Mat newImage); + GtkWidget *GetWidget() { return this->image; }; + void SetName(std::string name); + + private: + bool declared; + bool declaredAsStaticImage; + GtkWidget *image; + ImageColorspace colorspace; + + //for one time init without updates + Mat originalImage; + }; + + class FileChooser : public Widget { + public: + FileChooser() {}; + FileChooser(bool writing, std::string defaultFileName); + std::string Show(); + GtkWidget *GetWidget() { return this->filechooser; }; + void SetName(std::string name); + + private: + GtkWidget *filechooser; + }; + + + class TabView : public Widget { + public: + TabView() {}; + TabView(std::string tab1Name, GtkWidget *tab1Content); + void AddTab(std::string tabName, GtkWidget* tabContent); + GtkWidget *GetWidget() { return this->tabview; }; + void SetName(std::string name); + + private: + GtkWidget *tabview; + }; + + + class PopupTextBox : public Widget { + public: + PopupTextBox() {}; + PopupTextBox(std::string name, std::string prompt, std::string initValue); + std::string Show(); + GtkWidget *GetWidget() { return this->popuptextbox; }; + void SetName(std::string name); + + private: + GtkWidget *popuptextbox; + TextBox textbox; + }; + + class LabeledSlider : public Widget { + public: + LabeledSlider() {}; + LabeledSlider(std::string label, double min, double max, double step, double value); + LabeledSlider(bool horizontal, std::string label, double min, double max, double step, double value); + double GetValue(); + void SetValue(double value); + void SetLabel(std::string text); + GtkWidget *GetWidget() { return this->labeledslider; }; + void SetName(std::string name); + + private: + Panel panel; + Label label; + Slider slider; + GtkWidget *labeledslider; + }; + + + class AboutWindow : public Widget { + public: + AboutWindow() {}; + AboutWindow(GtkWindowType type); + void Show(); + GtkWidget *GetWidget() { return this->aboutwindow; }; + void SetName(std::string name); + + private: + Window window; + GtkWidget *aboutwindow; + }; + + + class HelpWindow : public Widget { + public: + HelpWindow() {}; + HelpWindow(GtkWindowType type); + void Show(); + GtkWidget *GetWidget() { return this->helpwindow; }; + void SetName(std::string name); + + private: + Window window; + GtkWidget *helpwindow; + }; + + + class TroubleshootingWindow : public Widget { + public: + TroubleshootingWindow() {}; + TroubleshootingWindow(TroubleshootingData data[], int dataLen); + void Show(); + GtkWidget *GetWidget() { return this->troubleshootingwindow; }; + void SetName(std::string name); + + private: + Window window; + GtkWidget *troubleshootingwindow; + }; + + /** + * A singlular widget adjusting a camera setting + */ + class CameraSetting : public Widget { + public: + CameraSetting() {}; + CameraSetting(std::string name, int valueName, double min, double max, double value); + double GetValue(); + int GetValueName(); + void SetValue(double newValue); + void Destroy(); + std::string GetName() { return name; }; + GtkWidget *GetWidget() { return this->camerasetting; }; + void SetName(std::string name); + + private: + GtkWidget *camerasetting; + + Label nameLabel; + NumberBox input; + + std::string + name, + type; + + int + valueName, + min, + max, + value; + }; + + /** + * Panel where configuration can be viewed + */ + class ConfigPanel : public Widget { + public: + ConfigPanel() {}; + ConfigPanel(std::string fileName) : ConfigPanel(XMLDocument(fileName)) {}; + ConfigPanel(XMLDocument doc); + void LoadConfig(std::string fileName); + void LoadConfig(XMLDocument file); + void Clear(); + std::string GetConfigurationName() { return this->configNameString; }; + std::string GetConfigFile() { return this->configFile; }; + GtkWidget *GetWidget() { return this->configPanel; }; + void SetName(std::string name); + + private: + Panel panel; + Label + header, + fileLabel, + PreProcessorLabel, + TargetLabel, + UDPAddressLabel, + UDPPortLabel; + + std::string + configFile, + configNameString; + + GtkWidget *configPanel; + }; + + class OverviewPanel : public Widget { + public: + OverviewPanel() {}; + OverviewPanel(XMLDocument doc); + void Update(); + void SetConfigName(std::string name); + std::string GetConfigName(); + void SetTargetInformationLabels( + bool targetSpotted, + int targetImgX, + int targetImgY, + double targetDist, + double targetHAngle, + double targetVAngle + ); + void SetCameraIndex(int index); + int GetCameraIndex(); + void SetUDPAddr(std::string addr); + std::string GetUDPAddr(); + void SetUDPPort(int port); + int GetUDPPort(); + void SetUDPEnabledLabels(bool UDPEnabled); + void SetTargetInformationLabelsFromString(std::string iterOutput); + GtkWidget *GetWidget() { return overviewpanel; }; + void SetName(std::string name); + + private: + TextBox configName; + TextBox udpAddr; + NumberBox udpPort; + NumberBox cameraIndex; + Button enableUDP; + + Label + targetSpotted, + targetImageLocation, + targetDist, + targetHAngle, + targetVAngle; + + GtkWidget *overviewpanel; + }; + + /** + * A window where camera settings can be modified. + */ + class Settings : public Widget { + public: + Settings() {}; + Settings(XMLDocument doc); + void Update(); + void UpdateValue(); + void Show() { gtk_widget_show_all(this->settingsWidget); }; + XMLTag GetFinishedTag(); + void SetSettingValueFromID(int id, double value); + double GetSettingValueFromID(int id); + void SetCameraIndex(int index); + int GetCameraIndex(); + std::vector GetSettingIDs(); + GtkWidget *GetWidget() { return settingsWidget; }; + void SetName(std::string name); + + private: + NumberBox cameraIndex; + std::vector settings; + GtkWidget *settingsWidget; + }; + + + class PreprocessorEditor : public Widget { + public: + PreprocessorEditor() {}; + PreprocessorEditor(PreProcessor preprocessor); + void Update(); + double GetProperty(PreProcessorProperty prop); + void SetProperty(PreProcessorProperty prop, double value); + GtkWidget *GetWidget() { return this->preprocessoreditor; }; + void SetName(std::string name); + + private: + bool lastIsFull; + CheckBox + isFull, + isPartial; + + NumberBox + colorH, + colorS, + colorV; + + Image colorPreview; + + LabeledSlider + colorError, + threshold, + erosion, + dilation; + + GtkWidget *preprocessoreditor; + }; + + + class PostprocessorEditor : public Widget { + public: + PostprocessorEditor() {}; + PostprocessorEditor(PostProcessor postprocessor); + void Update(); + int GetNumContours(); + void SetNumContours(int contours); + SettingPair GetProperty(int contour, TargetProperty prop); + void SetProperty(int contour, TargetProperty prop, SettingPair value); + GtkWidget *GetWidget() { return this->postprocessoreditor; }; + void SetName(std::string name); + + private: + int lastDesiredContour; + + NumberBox + contourchooser, + distX, + distY; + + LabeledSlider + distXErr, + distYErr, + angle, + angleErr, + ar, + arErr, + solidity, + solidityErr, + minimumArea; + + Label totalContours; + + Runner storageRunner; + + GtkWidget *postprocessoreditor; + }; + + + class RunnerEditor : public Widget { + public: + RunnerEditor() {}; + RunnerEditor(Runner runner); + void Update(int targetDistance); + double GetProperty(RunnerProperty prop); + void SetProperty(RunnerProperty prop, double value); + std::string GetUDPAddr(); + int GetUDPPort(); + void SetUDPAddr(std::string newAddr); + void SetUDPPort(int newPort); + void SetUDPEnabledLabels(bool UDPEnabled); + GtkWidget *GetWidget() { return this->runnereditor; }; + void SetName(std::string name); + + private: + Label distanceLabel; + + TextBox udpAddress; + NumberBox udpPort; + + Button enableUDP; + + LabeledSlider + offsetX, + offsetY, + imageWidth, + imageHeight, + targetTrueWidth, + targetPercievedWidth, + targetCalibratedDistance, + targetErrorCorrection; + + GtkWidget *runnereditor; + }; + + class ConfigEditor : public Widget { + public: + ConfigEditor() {}; + ConfigEditor(std::string fileName); + void Update(); + bool UpdateImageOnly(); + std::string GetLastFrameResult(); + void Save(); + void Close(); + void StartLearningTarget(); + void StartLearningDistance(); + void ReconnectUDPFromEditor(); + void SetUDPEnabledLabels(bool UDPEnabled); + void ApplyCameraSettings(); + void SetCameraIndexBoxes(int index); + void ReconnectUDPFromOverview(); + void OpenNewCameraFromOverview(); + std::string GetFileName() { return this->fileName; }; + cv::Mat GetOutputImage() { return this->out; }; + GtkWidget *GetWidget() { return this->configeditor; }; + void SetName(std::string name); + + private: + void UpdateImage(); + + //universal config learning utility + ConfigLearner learner; + bool learnerActivated; + + //universal focal width learning utility + TargetDistanceLearner distanceLearner; + bool distanceLearnerRunning; + + TargetTroubleshooter troubleshooter; + + Label serviceMonitor; + Label serviceLabel; + + //runtime things + Runner runner; + XMLDocument currentDoc; + std::string + fileName, + confName; + + std::string lastIterationResult; + + TabView tabs; + OverviewPanel configOverview; + Settings cameraSettings; + PreprocessorEditor preprocessorSettings; + PostprocessorEditor postprocessorSettings; + RunnerEditor runnerSettings; + + cv::Mat out, + original; + Image outputImage; + + Window window; + Panel content; + + GtkWidget *configeditor; + }; +} + +#endif diff --git a/KiwiLight - Vision Code/ui/Window.cpp b/KiwiLight - Vision Code/ui/Window.cpp index 62c519c..70eb016 100644 --- a/KiwiLight - Vision Code/ui/Window.cpp +++ b/KiwiLight - Vision Code/ui/Window.cpp @@ -1,110 +1,110 @@ -#include "UI.h" - -/** - * Source file for the Window class. - * Written By: Brach Knutson - */ - - -using namespace KiwiLight; - -void(*Window::onAppClosed)() = 0; -void(*Window::timeoutMethod)() = 0; - -gboolean Window::delete_event(GtkWidget *widget, GdkEvent *event, gpointer pointer) { - Window::onAppClosed(); - return FALSE; -} - -void Window::Destroy() { - gtk_main_quit(); -} - -void Window::SetOnAppClosed(void(*onAppClosed)()) { - Window::onAppClosed = onAppClosed; -} - -void Window::SetOnWindowClosed(void(*onWindowClosed)()) { - g_signal_connect(this->window, "delete-event", G_CALLBACK(onWindowClosed), NULL); - g_signal_connect(this->window, "destroy", G_CALLBACK(onWindowClosed), NULL); -} - -/** - * Creates a new window. - */ -Window::Window(GtkWindowType type) { - this->window = gtk_window_new(type); - g_signal_connect(this->window, "delete-event", G_CALLBACK(delete_event), NULL); - g_signal_connect(this->window, "destroy", G_CALLBACK(Destroy), NULL); - gtk_container_set_border_width(GTK_CONTAINER(this->window), 0); -} - - -Window::Window(GtkWindowType type, bool terminateOnClose) { - this->window = gtk_window_new(type); - gtk_container_set_border_width(GTK_CONTAINER(this->window), 0); - - if(terminateOnClose) { - g_signal_connect(this->window, "delete-event", G_CALLBACK(delete_event), NULL); - g_signal_connect(this->window, "destroy", G_CALLBACK(Destroy), NULL); - } -} - -/** - * Sets the main content pane to the given panel. A - * content pane must be set for a window or else no - * content will be shown. - */ -void Window::SetPane(Panel pane) { - gtk_container_add(GTK_CONTAINER(this->window), pane.GetWidget()); -} - -/** - * Set the size of the window to the width w and - * height h. - */ -void Window::SetSize(int w, int h) { - gtk_window_set_default_size(GTK_WINDOW(this->window), w, h); -} - -/** - * Run a method on a timed interval. - */ -int Window::SetInterval(int interval, void(*method)()) { - timeoutMethod = method; - return g_timeout_add(interval, GSourceFunc(timeoutCallMethod), NULL); -} - -/** - * Cancel an existing interval by given id - */ -void Window::RemoveInterval(int id) { - g_source_remove(id); -} - -/** - * Shows the window and all widgets within it. - */ -void Window::Show() { - gtk_widget_show_all(this->window); -} - - -void Window::SetCSS(std::string fileName) { - GtkCssProvider *css = gtk_css_provider_new(); - GdkDisplay *disp = gdk_display_get_default(); - GdkScreen *screen = gdk_screen_get_default(); - gtk_css_provider_load_from_path(css, fileName.c_str(), NULL); - gtk_style_context_add_provider_for_screen(screen, GTK_STYLE_PROVIDER(css), GTK_STYLE_PROVIDER_PRIORITY_APPLICATION); -} - - -gboolean Window::timeoutCallMethod() { - timeoutMethod(); - return TRUE; -} - - -void Window::SetName(std::string name) { - gtk_widget_set_name(this->window, name.c_str()); +#include "UI.h" + +/** + * Source file for the Window class. + * Written By: Brach Knutson + */ + + +using namespace KiwiLight; + +void(*Window::onAppClosed)() = 0; +void(*Window::timeoutMethod)() = 0; + +gboolean Window::delete_event(GtkWidget *widget, GdkEvent *event, gpointer pointer) { + Window::onAppClosed(); + return FALSE; +} + +void Window::Destroy() { + gtk_main_quit(); +} + +void Window::SetOnAppClosed(void(*onAppClosed)()) { + Window::onAppClosed = onAppClosed; +} + +void Window::SetOnWindowClosed(void(*onWindowClosed)()) { + g_signal_connect(this->window, "delete-event", G_CALLBACK(onWindowClosed), NULL); + g_signal_connect(this->window, "destroy", G_CALLBACK(onWindowClosed), NULL); +} + +/** + * Creates a new window. + */ +Window::Window(GtkWindowType type) { + this->window = gtk_window_new(type); + g_signal_connect(this->window, "delete-event", G_CALLBACK(delete_event), NULL); + g_signal_connect(this->window, "destroy", G_CALLBACK(Destroy), NULL); + gtk_container_set_border_width(GTK_CONTAINER(this->window), 0); +} + + +Window::Window(GtkWindowType type, bool terminateOnClose) { + this->window = gtk_window_new(type); + gtk_container_set_border_width(GTK_CONTAINER(this->window), 0); + + if(terminateOnClose) { + g_signal_connect(this->window, "delete-event", G_CALLBACK(delete_event), NULL); + g_signal_connect(this->window, "destroy", G_CALLBACK(Destroy), NULL); + } +} + +/** + * Sets the main content pane to the given panel. A + * content pane must be set for a window or else no + * content will be shown. + */ +void Window::SetPane(Panel pane) { + gtk_container_add(GTK_CONTAINER(this->window), pane.GetWidget()); +} + +/** + * Set the size of the window to the width w and + * height h. + */ +void Window::SetSize(int w, int h) { + gtk_window_set_default_size(GTK_WINDOW(this->window), w, h); +} + +/** + * Run a method on a timed interval. + */ +int Window::SetInterval(int interval, void(*method)()) { + timeoutMethod = method; + return g_timeout_add(interval, GSourceFunc(timeoutCallMethod), NULL); +} + +/** + * Cancel an existing interval by given id + */ +void Window::RemoveInterval(int id) { + g_source_remove(id); +} + +/** + * Shows the window and all widgets within it. + */ +void Window::Show() { + gtk_widget_show_all(this->window); +} + + +void Window::SetCSS(std::string fileName) { + GtkCssProvider *css = gtk_css_provider_new(); + GdkDisplay *disp = gdk_display_get_default(); + GdkScreen *screen = gdk_screen_get_default(); + gtk_css_provider_load_from_path(css, fileName.c_str(), NULL); + gtk_style_context_add_provider_for_screen(screen, GTK_STYLE_PROVIDER(css), GTK_STYLE_PROVIDER_PRIORITY_APPLICATION); +} + + +gboolean Window::timeoutCallMethod() { + timeoutMethod(); + return TRUE; +} + + +void Window::SetName(std::string name) { + gtk_widget_set_name(this->window, name.c_str()); } \ No newline at end of file diff --git a/KiwiLight - Vision Code/util/Color.cpp b/KiwiLight - Vision Code/util/Color.cpp index cb38019..dac82b2 100644 --- a/KiwiLight - Vision Code/util/Color.cpp +++ b/KiwiLight - Vision Code/util/Color.cpp @@ -1,51 +1,51 @@ -#include "Util.h" - -/** - * Source file for the Color class. - * Written By: Brach Knutson - */ - -using namespace cv; -using namespace KiwiLight; - -/** - * Creates a new color with the given values and errors. - * NOTE: all color values are in the HSV colorspace (hue - saturation - value). - */ -Color::Color(int h, int s, int v, int hError, int sError, int vError) { - this->h = h; - this->s = s; - this->v = v; - this->hError = hError; - this->sError = sError; - this->vError = vError; -} - -/** - * Returns a representation of the color in a cv::Scalar for use in the inRange or whatever - */ -cv::Scalar Color::ReturnScalar() { - return cv::Scalar(this->h, this->s, this->v); -} - -/** - * Returns a cv::Scalar representation of the upper bound of the color range. - * (that is, all values have had their corrisponding error values added to them) - */ -cv::Scalar Color::GetUpperBound() { - int newH = this->h + this->hError; - int newS = this->s + this->sError; - int newV = this->v + this->vError; - return cv::Scalar(newH, newS, newV); -} - -/** - * Returns a cv::Scalar representation of the lower bound of the color range. - * (all values had errors subtracted from them) - */ -cv::Scalar Color::GetLowerBound() { - int newH = this->h - this->hError; - int newS = this->s - this->sError; - int newV = this->v - this->vError; - return cv::Scalar(newH, newS, newV); +#include "Util.h" + +/** + * Source file for the Color class. + * Written By: Brach Knutson + */ + +using namespace cv; +using namespace KiwiLight; + +/** + * Creates a new color with the given values and errors. + * NOTE: all color values are in the HSV colorspace (hue - saturation - value). + */ +Color::Color(int h, int s, int v, int hError, int sError, int vError) { + this->h = h; + this->s = s; + this->v = v; + this->hError = hError; + this->sError = sError; + this->vError = vError; +} + +/** + * Returns a representation of the color in a cv::Scalar for use in the inRange or whatever + */ +cv::Scalar Color::ReturnScalar() { + return cv::Scalar(this->h, this->s, this->v); +} + +/** + * Returns a cv::Scalar representation of the upper bound of the color range. + * (that is, all values have had their corrisponding error values added to them) + */ +cv::Scalar Color::GetUpperBound() { + int newH = this->h + this->hError; + int newS = this->s + this->sError; + int newV = this->v + this->vError; + return cv::Scalar(newH, newS, newV); +} + +/** + * Returns a cv::Scalar representation of the lower bound of the color range. + * (all values had errors subtracted from them) + */ +cv::Scalar Color::GetLowerBound() { + int newH = this->h - this->hError; + int newS = this->s - this->sError; + int newV = this->v - this->vError; + return cv::Scalar(newH, newS, newV); } \ No newline at end of file diff --git a/KiwiLight - Vision Code/util/DataUtils.cpp b/KiwiLight - Vision Code/util/DataUtils.cpp index 13bc86b..ce3ee29 100644 --- a/KiwiLight - Vision Code/util/DataUtils.cpp +++ b/KiwiLight - Vision Code/util/DataUtils.cpp @@ -1,211 +1,211 @@ -#include "Util.h" - -/** - * Source file for the DataUtils class. - * Written By: Brach Knutson - */ - -using namespace KiwiLight; - -/** - * Sorts "data" in order from least to greatest. Sorts using insertion sort. - */ -std::vector DataUtils::SortLeastGreatestDouble(std::vector data) { - std::vector result; - - for(int i=0; i= valueToInsert) { - result.emplace(result.begin(), valueToInsert); - } else { - //look for a position to insert the value in - bool placeToInsertFound = false; - for(int k=1; k valueBeforeI && valueToInsert <= valueAtI) { - result.emplace(result.begin() + k, valueToInsert); - placeToInsertFound = true; - break; - } - } - - //value is greater than everything in the list - if(!placeToInsertFound) { - result.emplace(result.end(), valueToInsert); - } - } - } - - return result; -} - - -double DataUtils::Total(std::vector data) { - double total = 0.0; - - for(int i=0; i data) { - double avg = 0.0; - - for(int i=0; i data) { - int middle = data.size() / 2; - return data[middle]; -} - - -double DataUtils::Greatest(std::vector data) { - double greatest = -1000000000.0; - - for(int i=0; i greatest) { - greatest = value; - } - } - - return greatest; -} - - -double DataUtils::Least(std::vector data) { - double least = 1000000000.0; - - for(int i=0; i data) { - double avgDiff = 0.0; - int totalDifferences = 0; - - for(int i=0; i data, double value) { - int occurrances = 0; - - for(int i=0; i data) { - int indexWithMostOccurrances = 0; - int numberOfOccurrances = -1; - - for(int i=0; i numberOfOccurrances) { - numberOfOccurrances = occurrances; - indexWithMostOccurrances = i; - } - } - - return data[indexWithMostOccurrances]; -} - - -bool DataUtils::IsOutlier(std::vector data, int indexOfValue, double allowableError) { - double average = DataUtils::Average(data); - double upperBound = average + allowableError; - double lowerBound = average - allowableError; - - return !(data[indexOfValue] > lowerBound && data[indexOfValue] < upperBound); -} - - -std::vector DataUtils::RemoveOutliers(std::vector data, double allowableError) { - std::vector newSet = std::vector(); - - for(int i=0; i DataUtils::VectorDoubleToInt(std::vector data) { - std::vector result; - for(int i=0; i DataUtils::VectorIntToDouble(std::vector data) { - std::vector result; - for(int i=0; i data) { - std::string vectorString = "["; - - for(int i=0; i DataUtils::SortLeastGreatestDouble(std::vector data) { + std::vector result; + + for(int i=0; i= valueToInsert) { + result.emplace(result.begin(), valueToInsert); + } else { + //look for a position to insert the value in + bool placeToInsertFound = false; + for(int k=1; k valueBeforeI && valueToInsert <= valueAtI) { + result.emplace(result.begin() + k, valueToInsert); + placeToInsertFound = true; + break; + } + } + + //value is greater than everything in the list + if(!placeToInsertFound) { + result.emplace(result.end(), valueToInsert); + } + } + } + + return result; +} + + +double DataUtils::Total(std::vector data) { + double total = 0.0; + + for(int i=0; i data) { + double avg = 0.0; + + for(int i=0; i data) { + int middle = data.size() / 2; + return data[middle]; +} + + +double DataUtils::Greatest(std::vector data) { + double greatest = -1000000000.0; + + for(int i=0; i greatest) { + greatest = value; + } + } + + return greatest; +} + + +double DataUtils::Least(std::vector data) { + double least = 1000000000.0; + + for(int i=0; i data) { + double avgDiff = 0.0; + int totalDifferences = 0; + + for(int i=0; i data, double value) { + int occurrances = 0; + + for(int i=0; i data) { + int indexWithMostOccurrances = 0; + int numberOfOccurrances = -1; + + for(int i=0; i numberOfOccurrances) { + numberOfOccurrances = occurrances; + indexWithMostOccurrances = i; + } + } + + return data[indexWithMostOccurrances]; +} + + +bool DataUtils::IsOutlier(std::vector data, int indexOfValue, double allowableError) { + double average = DataUtils::Average(data); + double upperBound = average + allowableError; + double lowerBound = average - allowableError; + + return !(data[indexOfValue] > lowerBound && data[indexOfValue] < upperBound); +} + + +std::vector DataUtils::RemoveOutliers(std::vector data, double allowableError) { + std::vector newSet = std::vector(); + + for(int i=0; i DataUtils::VectorDoubleToInt(std::vector data) { + std::vector result; + for(int i=0; i DataUtils::VectorIntToDouble(std::vector data) { + std::vector result; + for(int i=0; i data) { + std::string vectorString = "["; + + for(int i=0; i Flags::flagNames = std::vector(); - -/** - * Raises a flag with the passed name. - */ -void Flags::RaiseFlag(std::string flagName) { - if(!Flags::GetFlag(flagName)) { //flag not there, raise it - Flags::flagNames.push_back(flagName); - } -} - -/** - * Removes any flag with the given name. - */ -void Flags::LowerFlag(std::string flagName) { - //repopulate the flag std::vector without the given flag - std::vector newFlags = std::vector(); - for(int i=0; i Flags::flagNames = std::vector(); + +/** + * Raises a flag with the passed name. + */ +void Flags::RaiseFlag(std::string flagName) { + if(!Flags::GetFlag(flagName)) { //flag not there, raise it + Flags::flagNames.push_back(flagName); + } +} + +/** + * Removes any flag with the given name. + */ +void Flags::LowerFlag(std::string flagName) { + //repopulate the flag std::vector without the given flag + std::vector newFlags = std::vector(); + for(int i=0; ivalue = value; - this->error = error; -} - - -double SettingPair::LowerBound() { - return this->value - this->error; -} - - -double SettingPair::UpperBound() { - return this->value + this->error; +#include "Util.h" + +/** + * Source file for the SettingPair class. + * Written By: Brach Knutson + */ + +using namespace KiwiLight; + + +SettingPair::SettingPair(double value, double error) { + this->value = value; + this->error = error; +} + + +double SettingPair::LowerBound() { + return this->value - this->error; +} + + +double SettingPair::UpperBound() { + return this->value + this->error; } \ No newline at end of file diff --git a/KiwiLight - Vision Code/util/Shell.cpp b/KiwiLight - Vision Code/util/Shell.cpp index 516639b..f8113ed 100644 --- a/KiwiLight - Vision Code/util/Shell.cpp +++ b/KiwiLight - Vision Code/util/Shell.cpp @@ -1,40 +1,40 @@ -#include "Util.h" - -/** - * Source file for the Shell class. - * Written By: Brach Knutson - */ - -using namespace KiwiLight; - -std::string Shell::ExecuteCommand(std::string command) { - //to create the out file for the command, find HOME to place it in KiwiLightData - std::string outLocation = ""; - char *home = getenv("HOME"); - if(home != NULL) { - outLocation = std::string(home) + "/KiwiLightData/tmp/shell_out.log"; - } else { - std::cout << "The Shell utility was unable to find HOME" << std::endl; - } - - std::string execute = command + " >> " + outLocation; - system(execute.c_str()); - - //create a file stream to view the log - std::fstream log = std::fstream(outLocation); - std::string logString = ""; - - //loop through and read every line, formatting into std::string separated by newline characters - std::string line; - while(getline(log, line)) { - logString += line + "\n"; - } - - log.close(); - - //clear the file text for the next time - std::ofstream file = std::ofstream(outLocation, std::ofstream::out | std::ofstream::trunc); - file.close(); - - return logString; +#include "Util.h" + +/** + * Source file for the Shell class. + * Written By: Brach Knutson + */ + +using namespace KiwiLight; + +std::string Shell::ExecuteCommand(std::string command) { + //to create the out file for the command, find HOME to place it in KiwiLightData + std::string outLocation = ""; + char *home = getenv("HOME"); + if(home != NULL) { + outLocation = std::string(home) + "/KiwiLightData/tmp/shell_out.log"; + } else { + std::cout << "The Shell utility was unable to find HOME" << std::endl; + } + + std::string execute = command + " >> " + outLocation; + system(execute.c_str()); + + //create a file stream to view the log + std::fstream log = std::fstream(outLocation); + std::string logString = ""; + + //loop through and read every line, formatting into std::string separated by newline characters + std::string line; + while(getline(log, line)) { + logString += line + "\n"; + } + + log.close(); + + //clear the file text for the next time + std::ofstream file = std::ofstream(outLocation, std::ofstream::out | std::ofstream::trunc); + file.close(); + + return logString; } \ No newline at end of file diff --git a/KiwiLight - Vision Code/util/StringUtils.cpp b/KiwiLight - Vision Code/util/StringUtils.cpp index 673a7f9..926f1c9 100644 --- a/KiwiLight - Vision Code/util/StringUtils.cpp +++ b/KiwiLight - Vision Code/util/StringUtils.cpp @@ -1,70 +1,70 @@ -#include "Util.h" - -/** - * Source file for the StringUtils class. - * Written By: Brach Knutson - */ - - -using namespace KiwiLight; - -/** - * Splits the given std::string str by the char character. - */ -std::vector StringUtils::SplitString(std::string str, char character) { - std::vector substrings; - std::string current = ""; - - for(int i=0; i 0) { - substrings.push_back(current); - } - - return substrings; -} - - -std::string StringUtils::Substring(std::string str, int begin, int end) { - std::string substr = ""; - - if(begin == end || - begin > end || - begin > str.length() || - end > str.length()) { - return ""; - } - - for(int i=begin; i StringUtils::SplitString(std::string str, char character) { + std::vector substrings; + std::string current = ""; + + for(int i=0; i 0) { + substrings.push_back(current); + } + + return substrings; +} + + +std::string StringUtils::Substring(std::string str, int begin, int end) { + std::string substr = ""; + + if(begin == end || + begin > end || + begin > str.length() || + end > str.length()) { + return ""; + } + + for(int i=begin; iaddress = dest_ip; - this->port = port; - - this->sock = socket(AF_INET, SOCK_DGRAM, 0); //"0" for wildcard of what protocol is best - if(this->sock < 0) //socket creation didnt be like that tho - err("SOCKET FAILED"); - - memset(&this->client_address, 0, sizeof(this->client_address)); - this->client_address.sin_family = AF_INET; - this->client_address.sin_port = htons(port); - - //do inet_pton() - int pton_result = inet_pton(AF_INET, dest_ip.c_str(), &this->client_address.sin_addr); - if(pton_result <= 0) - err("PTON FAILED"); - - //wait for the connect to succeed before we go - std::cout << "Waiting to connect..." << std::endl; - while(true) { - //now connect - int connect_result = connect(this->sock, (sockaddr*) &this->client_address, sizeof(this->client_address)); - if(connect_result > -1) //the connection was the big good - break; - } - - std::cout << "Connection set up." << std::endl; -} - - -UDP::UDP(std::string dest_ip, int port, bool blockUntilConnected) { - this->address = dest_ip; - this->port = port; - - this->sock = socket(AF_INET, SOCK_DGRAM, 0); //"0" for wildcard of what protocol is best - if(this->sock < 0) //socket creation didnt be like that tho - err("SOCKET FAILED"); - - memset(&this->client_address, 0, sizeof(this->client_address)); - this->client_address.sin_family = AF_INET; - this->client_address.sin_port = htons(port); - - //do inet_pton() - int pton_result = inet_pton(AF_INET, dest_ip.c_str(), &this->client_address.sin_addr); - if(pton_result <= 0) - err("PTON FAILED"); - - //wait for the connect to succeed before we go - while(true) { - //now connect - int connect_result = connect(this->sock, (sockaddr*) &this->client_address, sizeof(this->client_address)); - if(connect_result > -1 || !blockUntilConnected) //the connection was the big good - break; - } -} - - -UDP::UDP(std::string this_ip, std::string dest_ip, int port, bool blockUntilConnected) { - this->address = dest_ip; - this->port = port; - - this->sock = socket(AF_INET, SOCK_DGRAM, 0); //"0" for wildcard of what protocol is best - if(this->sock < 0) //socket creation didnt be like that tho - err("SOCKET FAILED"); - - //define destination address - memset(&this->client_address, 0, sizeof(this->client_address)); - this->client_address.sin_family = AF_INET; - this->client_address.sin_port = htons(port); - - //define our address - sockaddr_in server_address; - memset(&server_address, 0, sizeof(server_address)); - server_address.sin_family = AF_INET; - server_address.sin_port = htons(port); - - //convert "this_ip" to a usable address struct - int pton_result_1 = inet_pton(AF_INET, this_ip.c_str(), &this->client_address.sin_addr); - if(pton_result_1 <= 0) - err("THIS PTON FAILED"); - - //convert "dest_ip" to a usable address struct - int pton_result_2 = inet_pton(AF_INET, dest_ip.c_str(), &this->client_address.sin_addr); - if(pton_result_2 <= 0) - err("DEST PTON FAILED"); - - - //"bind" our address to the socket - int bind_result = bind(this->sock, (sockaddr*) &server_address, sizeof(server_address)); - if(bind_result < 0) - err("BIND FAILED"); - - //wait for the connect to succeed before we go - std::cout << "Waiting to connect..." << std::endl; - while(true) { - //now connect - int connect_result = connect(this->sock, (sockaddr*) &this->client_address, sizeof(this->client_address)); - if(connect_result > -1 || !blockUntilConnected) //the connection was the big good - break; - } - - std::cout << "Connection set up." << std::endl; -} - -/** - * Attempts to connect to the router. - * @return true if the connection was successful, or the UDP was already connected, false otherwise. - */ -bool UDP::AttemptToConnect() { - if(!this->connected) { - int connect_result = connect(this->sock, (sockaddr*) &this->client_address, sizeof(this->client_address)); - - if(connect_result < 0) { - std::cout << "CONNECT FAILED" << std::endl; - } - return (connect_result > -1); - } - - return true; -} - -/** - * Sends the given message to the destination - * @param msg a string containing the message to send - */ -void UDP::Send(std::string msg) { - const char *buffer = msg.c_str(); - //std::cout << msg << std::endl; - int send_result = send(this->sock, buffer, strlen(buffer), 0); //the big send -} - -/** - * Reads the buffer and returns whats there - * @return a string containing the contents of the buffer - */ -std::string UDP::Recieve() { - char buffer[1024] = {0}; - int read_result = recv(this->sock, buffer, 1024, MSG_DONTWAIT); - std::string bufferStr = std::string(buffer); - return bufferStr; -} - -/** - * closes the UDP socket - */ -void UDP::Close() { - close(this->sock); -} +#include "Util.h" + +/** + * source file for UDP class + * Written By: Brach Knutson + */ + +using namespace KiwiLight; + + +/** + * literally kills everything + */ +void err(const char *msg) { + perror(msg); + exit(1); +} + +/** + * Construct a new UDP object connecting to dest_ip on port + * @param dest_ip a string containing the ip of the server in standard dot notation + * @param port the port to connect on + */ +UDP::UDP(std::string dest_ip, int port) { + this->address = dest_ip; + this->port = port; + + this->sock = socket(AF_INET, SOCK_DGRAM, 0); //"0" for wildcard of what protocol is best + if(this->sock < 0) //socket creation didnt be like that tho + err("SOCKET FAILED"); + + memset(&this->client_address, 0, sizeof(this->client_address)); + this->client_address.sin_family = AF_INET; + this->client_address.sin_port = htons(port); + + //do inet_pton() + int pton_result = inet_pton(AF_INET, dest_ip.c_str(), &this->client_address.sin_addr); + if(pton_result <= 0) + err("PTON FAILED"); + + //wait for the connect to succeed before we go + std::cout << "Waiting to connect..." << std::endl; + while(true) { + //now connect + int connect_result = connect(this->sock, (sockaddr*) &this->client_address, sizeof(this->client_address)); + if(connect_result > -1) //the connection was the big good + break; + } + + std::cout << "Connection set up." << std::endl; +} + + +UDP::UDP(std::string dest_ip, int port, bool blockUntilConnected) { + this->address = dest_ip; + this->port = port; + + this->sock = socket(AF_INET, SOCK_DGRAM, 0); //"0" for wildcard of what protocol is best + if(this->sock < 0) //socket creation didnt be like that tho + err("SOCKET FAILED"); + + memset(&this->client_address, 0, sizeof(this->client_address)); + this->client_address.sin_family = AF_INET; + this->client_address.sin_port = htons(port); + + //do inet_pton() + int pton_result = inet_pton(AF_INET, dest_ip.c_str(), &this->client_address.sin_addr); + if(pton_result <= 0) + err("PTON FAILED"); + + //wait for the connect to succeed before we go + while(true) { + //now connect + int connect_result = connect(this->sock, (sockaddr*) &this->client_address, sizeof(this->client_address)); + if(connect_result > -1 || !blockUntilConnected) //the connection was the big good + break; + } +} + + +UDP::UDP(std::string this_ip, std::string dest_ip, int port, bool blockUntilConnected) { + this->address = dest_ip; + this->port = port; + + this->sock = socket(AF_INET, SOCK_DGRAM, 0); //"0" for wildcard of what protocol is best + if(this->sock < 0) //socket creation didnt be like that tho + err("SOCKET FAILED"); + + //define destination address + memset(&this->client_address, 0, sizeof(this->client_address)); + this->client_address.sin_family = AF_INET; + this->client_address.sin_port = htons(port); + + //define our address + sockaddr_in server_address; + memset(&server_address, 0, sizeof(server_address)); + server_address.sin_family = AF_INET; + server_address.sin_port = htons(port); + + //convert "this_ip" to a usable address struct + int pton_result_1 = inet_pton(AF_INET, this_ip.c_str(), &this->client_address.sin_addr); + if(pton_result_1 <= 0) + err("THIS PTON FAILED"); + + //convert "dest_ip" to a usable address struct + int pton_result_2 = inet_pton(AF_INET, dest_ip.c_str(), &this->client_address.sin_addr); + if(pton_result_2 <= 0) + err("DEST PTON FAILED"); + + + //"bind" our address to the socket + int bind_result = bind(this->sock, (sockaddr*) &server_address, sizeof(server_address)); + if(bind_result < 0) + err("BIND FAILED"); + + //wait for the connect to succeed before we go + std::cout << "Waiting to connect..." << std::endl; + while(true) { + //now connect + int connect_result = connect(this->sock, (sockaddr*) &this->client_address, sizeof(this->client_address)); + if(connect_result > -1 || !blockUntilConnected) //the connection was the big good + break; + } + + std::cout << "Connection set up." << std::endl; +} + +/** + * Attempts to connect to the router. + * @return true if the connection was successful, or the UDP was already connected, false otherwise. + */ +bool UDP::AttemptToConnect() { + if(!this->connected) { + int connect_result = connect(this->sock, (sockaddr*) &this->client_address, sizeof(this->client_address)); + + if(connect_result < 0) { + std::cout << "CONNECT FAILED" << std::endl; + } + return (connect_result > -1); + } + + return true; +} + +/** + * Sends the given message to the destination + * @param msg a string containing the message to send + */ +void UDP::Send(std::string msg) { + const char *buffer = msg.c_str(); + //std::cout << msg << std::endl; + int send_result = send(this->sock, buffer, strlen(buffer), 0); //the big send +} + +/** + * Reads the buffer and returns whats there + * @return a string containing the contents of the buffer + */ +std::string UDP::Recieve() { + char buffer[1024] = {0}; + int read_result = recv(this->sock, buffer, 1024, MSG_DONTWAIT); + std::string bufferStr = std::string(buffer); + return bufferStr; +} + +/** + * closes the UDP socket + */ +void UDP::Close() { + close(this->sock); +} diff --git a/KiwiLight - Vision Code/util/Util.cpp b/KiwiLight - Vision Code/util/Util.cpp index 5c60cf7..14f3f97 100644 --- a/KiwiLight - Vision Code/util/Util.cpp +++ b/KiwiLight - Vision Code/util/Util.cpp @@ -1,30 +1,30 @@ -#include "Util.h" - -/** - * Source file for the Util class. - * Written By: Brach Knutson - */ - -using namespace cv; -using namespace KiwiLight; - -/** - * Searches the vector of camera setting XMLTags and returns the one with the correct ID. - * @param settings The list of camera settings to search through. See precondition for more details. - * @param id The Camera property ID to search for. - * @return The first XMLTag with the matching ID, or NULL if none found. - * Precondition: The XMLTags in settings MUST be formatted as follows: - * [content] - */ -XMLTag Util::SearchCameraSettingsByID(std::vector settings, int id) { - for(int i=0; i[content] + */ +XMLTag Util::SearchCameraSettingsByID(std::vector settings, int id) { + for(int i=0; i -#include -#include -#include "opencv2/opencv.hpp" -#include "netdb.h" -#include "unistd.h" -#include "sys/socket.h" -#include "sys/types.h" -#include "netinet/in.h" -#include "arpa/inet.h" - -using namespace cv; - -namespace KiwiLight { - - struct Distance { - Distance(double x, double y) { - this->x = x; - this->y = y; - } - double x; - double y; - }; - - /** - * An easy event and variable flagging system - */ - class Flags { - public: - static void RaiseFlag(std::string flagName); - static void LowerFlag(std::string flagName); - static void SetFlagState(std::string flagName, bool state); - static bool GetFlag(std::string flagName); - - private: - static std::vector flagNames; - }; - - /** - * Class that can execute shell commands and return their output. - */ - class Shell { - public: - static std::string ExecuteCommand(std::string command); - }; - - class StringUtils { - public: - static std::vector SplitString(std::string str, char character); - static std::string Substring(std::string str, int begin, int end); - static bool StringStartsWith(std::string str, std::string startsWith); - static int CountCharacters(std::string str, char character); - }; - - - class DataUtils { - public: - static std::vector SortLeastGreatestDouble(std::vector data); - static double Total(std::vector data); - static double Average(std::vector data); - static double Median(std::vector data); - static double Greatest(std::vector data); - static double Least(std::vector data); - static double AverageDifference(std::vector data); - static int NumberOfOccurrances(std::vector data, double value); - static double MostCommonValue(std::vector data); - static bool IsOutlier(std::vector data, int indexOfValue, double allowableError); - static std::vector RemoveOutliers(std::vector data, double allowableError); - static std::string VectorToString(std::vector data); - - std::vector VectorDoubleToInt(std::vector data); - std::vector VectorIntToDouble(std::vector data); - }; - - - /** - * A UDP sender utility that sends and recieves information to and from the RIO. - */ - class UDP { - public: - UDP(){}; - UDP(std::string dest_ip, int port); - UDP(std::string dest_ip, int port, bool blockUntilConnected); - UDP(std::string this_ip, std::string dest_ip, int port, bool blockUntilConnected); - bool AttemptToConnect(); - bool Connected() { return this->connected; }; - void Send(std::string msg); - std::string Recieve(); - void Close(); - std::string GetAddress() { return this->address; }; - int GetPort() { return this->port; }; - - private: - int sock; //sock fd returned by socket() call - sockaddr_in client_address; //address of the server - - bool connected; - - std::string address; - int port; - }; - - class XMLTagAttribute { - public: - XMLTagAttribute(std::string name, std::string value); - std::string Name() { return this->name; }; - std::string Value() { return this->value; }; - std::string ReturnString(); - - private: - std::string name; - std::string value; - }; - - /** - * Represents a tag formatted in XML that may be found as a child of others (or contain others) - */ - class XMLTag { - public: - XMLTag() {}; - XMLTag(std::string name); - XMLTag(std::string name, std::vector attributes); - XMLTag(std::string name, std::vector children); - XMLTag(std::string name, std::vector children, std::vector attributes); - XMLTag(std::string name, std::string content, std::vector attributes); - XMLTag(std::string name, std::string content); - void AddTag(XMLTag tag); - void AddAttribute(XMLTagAttribute attribute); - void AddContent(std::string content); - std::vector GetTagsByName(std::string name); - std::vector Tags() { return this->children; }; - std::vector GetAttributesByName(std::string name); - std::vector Attributes() { return this->attributes; }; - std::string Name() { return this->name; }; - std::string Content() { return this->content; }; - std::string ReturnString(std::string prefix); - std::string ReturnString(); - - private: - bool containsChildren; - std::string name; - std::string content; - std::vector children; - std::vector attributes; - }; - - /** - * Represents a text document formatted in XML - */ - class XMLDocument { - public: - XMLDocument(); - XMLDocument(std::vector tags); - XMLDocument(std::string filePath); - bool HasContents() { return this->hasContents; }; - void AddTag(XMLTag tag); - std::vector GetTagsByName(std::string name); - std::string FileName() { return this->fileName; }; - std::string ReturnString(); - void WriteFile(std::string filePath); - - private: - std::string fileName; - bool hasContents; - std::vector children; - }; - - /** - * General util class containing useful methods used by multiple classes - */ - class Util { - public: - static XMLTag SearchCameraSettingsByID(std::vector settings, int id); - }; - - /** - * Represents a single value with an error. - */ - class SettingPair { - public: - SettingPair() {}; - SettingPair(double value, double error); - double UpperBound(); - double LowerBound(); - double Value() { return this->value; }; - double Error() { return this->error; }; - - private: - double value, - error; - }; - - /** - * Represents a color in the HSV colorspace - */ - class Color { - public: - Color() {}; - Color(int h, int s, int v, int hError, int sError, int vError); - - cv::Scalar ReturnScalar(); - cv::Scalar GetLowerBound(); - cv::Scalar GetUpperBound(); - int GetH() { return this->h; }; - int GetS() { return this->s; }; - int GetV() { return this->v; }; - int GetHError() { return this->hError; }; - int GetSError() { return this->sError; }; - int GetVError() { return this->vError; }; - - private: - int h, - s, - v, - hError, - sError, - vError; - }; -} - -#endif +#ifndef UTIL_H +#define UTIL_H + +#include +#include +#include +#include "opencv2/opencv.hpp" +#include "netdb.h" +#include "unistd.h" +#include "sys/socket.h" +#include "sys/types.h" +#include "netinet/in.h" +#include "arpa/inet.h" + +using namespace cv; + +namespace KiwiLight { + + struct Distance { + Distance(double x, double y) { + this->x = x; + this->y = y; + } + double x; + double y; + }; + + /** + * An easy event and variable flagging system + */ + class Flags { + public: + static void RaiseFlag(std::string flagName); + static void LowerFlag(std::string flagName); + static void SetFlagState(std::string flagName, bool state); + static bool GetFlag(std::string flagName); + + private: + static std::vector flagNames; + }; + + /** + * Class that can execute shell commands and return their output. + */ + class Shell { + public: + static std::string ExecuteCommand(std::string command); + }; + + class StringUtils { + public: + static std::vector SplitString(std::string str, char character); + static std::string Substring(std::string str, int begin, int end); + static bool StringStartsWith(std::string str, std::string startsWith); + static int CountCharacters(std::string str, char character); + }; + + + class DataUtils { + public: + static std::vector SortLeastGreatestDouble(std::vector data); + static double Total(std::vector data); + static double Average(std::vector data); + static double Median(std::vector data); + static double Greatest(std::vector data); + static double Least(std::vector data); + static double AverageDifference(std::vector data); + static int NumberOfOccurrances(std::vector data, double value); + static double MostCommonValue(std::vector data); + static bool IsOutlier(std::vector data, int indexOfValue, double allowableError); + static std::vector RemoveOutliers(std::vector data, double allowableError); + static std::string VectorToString(std::vector data); + + std::vector VectorDoubleToInt(std::vector data); + std::vector VectorIntToDouble(std::vector data); + }; + + + /** + * A UDP sender utility that sends and recieves information to and from the RIO. + */ + class UDP { + public: + UDP(){}; + UDP(std::string dest_ip, int port); + UDP(std::string dest_ip, int port, bool blockUntilConnected); + UDP(std::string this_ip, std::string dest_ip, int port, bool blockUntilConnected); + bool AttemptToConnect(); + bool Connected() { return this->connected; }; + void Send(std::string msg); + std::string Recieve(); + void Close(); + std::string GetAddress() { return this->address; }; + int GetPort() { return this->port; }; + + private: + int sock; //sock fd returned by socket() call + sockaddr_in client_address; //address of the server + + bool connected; + + std::string address; + int port; + }; + + class XMLTagAttribute { + public: + XMLTagAttribute(std::string name, std::string value); + std::string Name() { return this->name; }; + std::string Value() { return this->value; }; + std::string ReturnString(); + + private: + std::string name; + std::string value; + }; + + /** + * Represents a tag formatted in XML that may be found as a child of others (or contain others) + */ + class XMLTag { + public: + XMLTag() {}; + XMLTag(std::string name); + XMLTag(std::string name, std::vector attributes); + XMLTag(std::string name, std::vector children); + XMLTag(std::string name, std::vector children, std::vector attributes); + XMLTag(std::string name, std::string content, std::vector attributes); + XMLTag(std::string name, std::string content); + void AddTag(XMLTag tag); + void AddAttribute(XMLTagAttribute attribute); + void AddContent(std::string content); + std::vector GetTagsByName(std::string name); + std::vector Tags() { return this->children; }; + std::vector GetAttributesByName(std::string name); + std::vector Attributes() { return this->attributes; }; + std::string Name() { return this->name; }; + std::string Content() { return this->content; }; + std::string ReturnString(std::string prefix); + std::string ReturnString(); + + private: + bool containsChildren; + std::string name; + std::string content; + std::vector children; + std::vector attributes; + }; + + /** + * Represents a text document formatted in XML + */ + class XMLDocument { + public: + XMLDocument(); + XMLDocument(std::vector tags); + XMLDocument(std::string filePath); + bool HasContents() { return this->hasContents; }; + void AddTag(XMLTag tag); + std::vector GetTagsByName(std::string name); + std::string FileName() { return this->fileName; }; + std::string ReturnString(); + void WriteFile(std::string filePath); + + private: + std::string fileName; + bool hasContents; + std::vector children; + }; + + /** + * General util class containing useful methods used by multiple classes + */ + class Util { + public: + static XMLTag SearchCameraSettingsByID(std::vector settings, int id); + }; + + /** + * Represents a single value with an error. + */ + class SettingPair { + public: + SettingPair() {}; + SettingPair(double value, double error); + double UpperBound(); + double LowerBound(); + double Value() { return this->value; }; + double Error() { return this->error; }; + + private: + double value, + error; + }; + + /** + * Represents a color in the HSV colorspace + */ + class Color { + public: + Color() {}; + Color(int h, int s, int v, int hError, int sError, int vError); + + cv::Scalar ReturnScalar(); + cv::Scalar GetLowerBound(); + cv::Scalar GetUpperBound(); + int GetH() { return this->h; }; + int GetS() { return this->s; }; + int GetV() { return this->v; }; + int GetHError() { return this->hError; }; + int GetSError() { return this->sError; }; + int GetVError() { return this->vError; }; + + private: + int h, + s, + v, + hError, + sError, + vError; + }; +} + +#endif diff --git a/KiwiLight - Vision Code/util/XMLDocument.cpp b/KiwiLight - Vision Code/util/XMLDocument.cpp index 3286a20..46f7b4c 100644 --- a/KiwiLight - Vision Code/util/XMLDocument.cpp +++ b/KiwiLight - Vision Code/util/XMLDocument.cpp @@ -1,187 +1,187 @@ -#include "Util.h" - -/** - * Source file for the XMLDocument class. - * Written By: Brach Knutson - */ - -using namespace KiwiLight; - -/** - * Creates a blank XML document. - */ -XMLDocument::XMLDocument() { - this->fileName = ""; - this->hasContents = false; -} - -/** - * Creates an XML document starting with the given tags. - */ -XMLDocument::XMLDocument(std::vector tags) { - this->fileName = ""; - this->children = tags; - - if(tags.size() > 0) { - this->hasContents = true; - } else { - this->hasContents = false; - } -} - -/** - * Creates a new XML document using the formatted file passed. - */ -XMLDocument::XMLDocument(std::string fileName) { - this->fileName = fileName; - std::fstream log = std::fstream(fileName); - std::vector fileLines = std::vector(); - - std::string line; - while(std::getline(log, line)) { - //get rid of spaces at beginning of each line - int beginningOfContent = 0; - std::string trimmedContent = ""; - for(int i=0; ihasContents = false; - return; - } - - //parse the vector of lines and build a hierarchy of xml tags for this document - std::vector workingHierarchy = std::vector(); //the hierarchy of tags to be completed - for(int i=0; i'); - std::string tag = StringUtils::Substring(line, 1, closingBracket); - std::string content = StringUtils::Substring(line, closingBracket + 1, line.length()); - if(StringUtils::StringStartsWith(tag, "/")) { - //ending tag, rebuild the hierarchy without this tag - if(workingHierarchy.size() > 1) { - XMLTag addTag = workingHierarchy[workingHierarchy.size() - 1]; - workingHierarchy[workingHierarchy.size() - 2].AddTag(addTag); - - } else { - this->AddTag(workingHierarchy[0]); - } - std::vector newHierarchy = std::vector(); - for(int k=0; k nameAndAttrs = StringUtils::SplitString(tag, ' '); - std::vector attrs = std::vector(); - std::string name = nameAndAttrs[0]; - - for(int k=1; k 0) { - //get the index of the starting bracket of the closing tag - int closingTag = content.find(""); - content = StringUtils::Substring(content, 0, closingTag); - newTag.AddContent(content); - - if(workingHierarchy.size() > 0) { - workingHierarchy[workingHierarchy.size() - 1].AddTag(newTag); - } else { - this->AddTag(newTag); - } - - } else { - workingHierarchy.push_back(newTag); - } - } - } else { - if(!StringUtils::StringStartsWith(line, "DJEa*|D!LdPB24aNo zCaV;SCoHG%N|6GkNN0IUrV``&An*4`1K`_kxREzw(8cZ^L+jX>Rzn(Q`;d4O>EQbR zIaL#18J6+94mE;0;l+=u9~`pupMDC>#-7yhf2~U&wew=D7uw;*Z~7Ck6vg5px$l0~ z7(eSFs1s1*6W$0^m_1o1k?W>Lnq0qSGB8YNU~%Xb0`}X6tX~*S5vxW%7;4j3hVvTS zU!nL0G8=-V> z>wuG8d5mFqd?$1}XYi;F70VgxL8%~_VI3o3{R?^CmhPRZWl$}i#Rpv$dFH?6Ica6O z(j)ppOVL`&C}6cFQAr2RDx8E$l2Z*#W`NZQc%c>kQ=(Z+?e zY6N$yb1glS!tWra^)!Rik7<`9`<&BwQoTjE{T}5l!mVaNn&c152e@jdgJ^x-h$pB# z5k+C$?A=FF@iO2aMT7eWPd9`2<#fG{oX4FfS9NU1KHwoJvXkt@gl(<2+Q3i;;n=<& 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