#include <uclientfuncimggui.h>

Inheritance diagram for UClientFuncImgGui:

Public Types
enum	ColorDisplayType { CDT_NONE, CDT_YUV, CDT_CROMA }

Public Member Functions
void	clear ()

virtual void	doTimeTick ()

UImage *	getImage (const char *capt)

UHighGuiWindowHandle *	getImageSource (const char *capt)

bool	saveImage (const char capt, const char noshow)

void	setFocalLine (int line)

void	setFuzzyClasses (int value)

void	setFuzzyIter (int value)

void	setFuzzyLine (int row, int col)

void	setFuzzyWidth (int value)

void	setToMaxRes (bool value)

void	setUVSource (const char *captName, ColorDisplayType type)

void	showImage (UImage *img)

	UClientFuncImgGui ()

	~UClientFuncImgGui ()

Public Member Functions inherited from UClientFuncImage
virtual void	changedNamespace (const char *newNamespace)

virtual const char *	commandList ()

virtual void	handleNewData (USmlTag tag, const char ifname)

virtual const char *	name ()

	UClientFuncImage ()

virtual	~UClientFuncImage ()

Public Member Functions inherited from UResIfBase
	UResIfBase ()

	~UResIfBase ()

Public Member Functions inherited from UClientFuncBase
int	getMsgCnt ()

bool	getVerbose ()

bool	sendMsg (UClientPortSml cnn, const char buff, int buffCnt)

bool	sendMsg (UClientPortSml cnn, const char buff)

void	setVerbose (bool value)

	UClientFuncBase ()

virtual	~UClientFuncBase ()

Public Member Functions inherited from UResVarPool
int	addMethod (const char formalName, const char paramTypes, const char *comment)

int	addMethodV (const char formalName, const char paramTypes, const char *comment)

UVarPool *	addStruct (const char name, const char comment, bool copy=false)

UVariable *	addVar (const char name, const double initialValue, const char type, const char *comment)

UVariable *	addVar (const char name, const char initialValue, const char type, const char comment)

UVariable *	addVarA (const char name, const char initialValue, const char type, const char comment)

bool	callGlobal (const char name, const char paramOrder, char *strings, const double doubles, double value, UDataBase returnStruct, int returnStructCnt)

bool	callGlobalV (const char name, const char paramOrder, UVariable params, UDataBase returnStruct, int *returnStructCnt)
	Call a method from the root var pool scope It may be in the structure direct (no '.') or in any sub-structure that the 'name.subname' indicate. More...

bool	callLocal (const char name, const char paramOrder, char *strings, const double doubles, double value, UDataBase returnStruct, int returnStructCnt)

bool	callVS (const char function, const char stringParam)

int	callVSCD (const char function, const char strPar, UDataBase *data, int cooSys)

void	createBaseVar ()

virtual bool	createVarSpace (const int varCnt, const int structCnt, const int methCnt, const char *note, bool copy=false)

bool	getGlobalString (const char name, const char *value)

bool	getGlobalValue (const char name, double value)

bool	getGlobalValue (const char name, const char *value)

bool	getGlobalValue (const char name, bool value)

bool	getGlobalValue (const char name, UTime value)

bool	getLocalValue (const char name, double value)
	get a value in this variable tree More...

bool	getLocalValue (const char name, bool value)

bool	getLocalValue (const char name, UTime value)

double	getLocalValue (int idx)

UPosition	getLocalValue3D (int idx)

UPosRot	getLocalValue6D (int idx)

bool	getLocalValueBool (int idx)

int	getLocalValueInt (int idx)

UTime	getLocalValueTime (int idx)

const char *	getLogFileName ()

const char *	getVarDescription (int idx)

UVarCalc *	getVarPool ()

virtual bool	gotAllResources (char *missingThese, int missingTheseCnt)

bool	isLogFileOpen ()

bool	isLogFileOpen (const char *structName)

bool	isVarPoolUpdated (int lastCnt, int *newCnt)

void	logFileClose ()

bool	logFileOpen ()

void	logFileStart (const char *structName, bool open)

virtual bool	methodCall (const char name, const char paramOrder, char *strings, const double doubles, double value, UDataBase returnStruct=NULL, int returnStructCnt=NULL)

virtual const char *	print (const char preString, char buff, int buffCnt)

bool	setGlobalVar (const char *name, const double value, bool mayAdd)
	Assigns a value to a variable. The variable may be a part of a structure. More...

bool	setLocalVar (int idx, double value, const int element)

bool	setLocalVar (const char *name, const double value, bool mayAdd)
	Assigns a value to a variable. The variable may be a part of a structure. More...

bool	setLocalVar3D (int idx, UPosition *value)

bool	setLocalVar6D (int idx, UPosRot *value)

bool	setLocalVarAdd (int idx, double value, const int element)

bool	setLocalVarPose (int idx, UPose *value)

virtual bool	setResource (UResBase *resource, bool remove)

void	setVarPool (UVarCalc *sharedVarPool)

int	updateQTvars (int structIdx)

	UResVarPool ()

virtual	~UResVarPool ()

Public Member Functions inherited from UResBase
void	createReplayVar (UVarPool *pool)

virtual void	createResources ()

UCmdExe *	getCorePointer ()

char *	getLogFileName (char *fn, const int fnCnt)

int	getResFuncIdx ()

const char *	getResID ()

int	getResVersion ()

bool	isA (const char *idStr)

bool	isAlsoA (const char *id)

virtual void	print (const char *preString)

virtual void	saveSettings ()

void	setCorePointer (UCmdExe *serverCore)

void	setResFuncIdx (int idx)

virtual void	setResID (const char *id, const int version)

virtual void	stop (bool)

virtual void	updateReplayStatus ()

	UResBase ()

virtual	~UResBase ()

Public Member Functions inherited from UReplay
void	addChild (UReplay *child)

virtual bool	decodeReplayLine (char *)

char *	getLogFileName (char *fn, const int fnCnt)

char *	getReplayFileName (char *fn, const int fnCnt)

int	getReplayLogLine ()

bool	isReplay ()

bool	isReplayFileOpen ()

void	removeChild (UReplay *child)

virtual void	replayAdvanceTime (UTime untilTime)

void	replaySetBaseFileName (const char name, const char preName="")

void	replaySetFileName (const char *name)

virtual bool	replayStep ()

int	replayStep (int steps)

virtual bool	replayToTime (UTime untilTime)

void	setParent (UReplay *parent)

bool	setReplay (bool value)

	UReplay ()

virtual	~UReplay ()

Public Member Functions inherited from ULock
bool	lock ()

void	lockInit ()

void	post ()

bool	tryLock ()

bool	tryWait ()

	ULock ()

void	unlock ()

bool	wait ()

	~ULock ()

Public Member Functions inherited from UVarMethodImplement
virtual bool	methodCallV (const char name, const char paramOrder, UVariable params[], UDataBase returnStruct, int returnStructCnt)

virtual	~UVarMethodImplement ()

Protected Member Functions
bool	doFuzzyClassify (UImage *imgsrc)

UPixel	getCroma (UPixel *rgb, int sourceFormat)

int	getPixelClass (UPixel yuv, int clustCnt)

virtual void	gotNewImage (UImage img, int poolNum, USmlTag tag)

void	paintClustEllipse (bool isUV, UMatrix mV, UMatrix mQ, UImage *img, int clust)

void	paintClustPixels (bool isUV, UImage imgsrc, UImage imgUV)

void	showFocusNumber (UImage imgs, UImage imgd)

void	showLine (UImage imgs, UImage imgd, int line)

void	showUVImage ()

Protected Member Functions inherited from UClientFuncImage
virtual UImage *	getImageBuffer (int poolNumber, int height, int width, int channels, int depth)

virtual void	gotNewCamInfo (int device, UPosRot pose, double focalLength, double k1, double k2, const char *name)

Protected Member Functions inherited from UClientFuncBase
void	handleHelp (USmlTag *tag)

void	printReply (USmlTagIn tag, const char preString)

Protected Member Functions inherited from UResVarPool
void	setDescription (const char *note, bool copy=false)

Protected Member Functions inherited from UResBase
UResBase *	getStaticResource (const char *resName, bool mayCreate, bool staticOnly=true)
	get a pointer to a static resource. More...

Private Member Functions
UHighGuiWindowHandle *	getWndName (char *name, bool mayCreate)

Private Attributes
int	focalLine

UFuzzySplit *	fuzzy

int	fuzzyClasses

int	fuzzyCol

int	fuzzyIter

int	fuzzyLine

int	fuzzyWidth

UImage *	imgRefr

unsigned int	imgSourceUV

bool	imgToMax

UImage *	imgUV

bool	saveOnMatch

bool	saveOnMatchAndShow

char	saveOnMatchStr [MAX_MATCH_STR_LNG]

UHighGuiWindowHandle *	window [MAX_WINDOWS]

int	windowCnt

Static Private Attributes
static const int	MAX_MATCH_STR_LNG = 100

Additional Inherited Members
Static Public Member Functions inherited from UResVarPool
static const char *	getResClassID ()

Public Attributes inherited from UClientFuncBase
ULock	decodeLock

Public Attributes inherited from UReplay
bool	replayTimeAdvancePending

UTime	replayTimeNow

Protected Attributes inherited from UClientFuncImage
char	posName [MAX_MOUNT_NAME_SIZE]

Protected Attributes inherited from UClientFuncBase
int	msgHandled

char	serverNamespace [MAX_SML_NAME_LENGTH]

int	serverNamespaceValue

bool	verboseMessages

Protected Attributes inherited from UResBase
int	resFuncIdx

char	resID [MAX_RESOURCE_ID_LENGTH]

char	resIsAlso [MAX_RESOURCE_ISALSO_LENGTH]

int	resVersion

Protected Attributes inherited from UReplay
bool	replay

FILE *	replayFile

char	replayFileName [REPLAY_FILE_NAME_LENGTH]
	replay filename More...

char	replayLine [MAX_LOG_LINE_LENGTH]

int	replayLogLine

UReplay *	replayParent

UTime	replayTimeNext

Static Protected Attributes inherited from UReplay
static const int	MAX_LOG_LINE_LENGTH = 10000

static const int	REPLAY_FILE_NAME_LENGTH = 264
	max length of replay filename More...

Detailed Description

Show images from image server

Author: Christian Andersen

Member Enumeration Documentation

enum UClientFuncImgGui::ColorDisplayType

Enumerator
CDT_NONE
CDT_YUV
CDT_CROMA

Constructor & Destructor Documentation

UClientFuncImgGui::UClientFuncImgGui ( )

Constructor

References focalLine, fuzzy, fuzzyClasses, fuzzyCol, fuzzyIter, fuzzyLine, fuzzyWidth, imgRefr, imgToMax, imgUV, saveOnMatch, saveOnMatchAndShow, and windowCnt.

UClientFuncImgGui::~UClientFuncImgGui ( )

Destructor

References UHighGuiWindowHandle::cvWndName, fuzzy, window, and windowCnt.

Member Function Documentation

void UClientFuncImgGui::clear ( void )

Close all images and release resources

References imgSourceUV, imgUV, window, and windowCnt.

Referenced by clientCmdLine().

bool UClientFuncImgGui::doFuzzyClassify ( UImage * imgsrc )

protected

Classify mouse sample and the-rest into two clusters

References UFuzzySplit::addElement(), UFuzzySplit::classify(), UFuzzySplit::clear(), UFuzzySplit::countMembers(), fuzzy, fuzzyClasses, fuzzyCol, fuzzyIter, fuzzyLine, fuzzyWidth, UImage::getLine(), UFuzzySplit::getMembCount(), UImage::getPixRef(), globalPixPoint2, globalPixPointS, UImage::height(), UFuzzySplit::initFromValues(), maxi(), mini(), UFuzzyPixel::print(), UFuzzyPixel::setPixel(), sqr(), UImage::width(), and UPixel::y.

Referenced by showUVImage().

void UClientFuncImgGui::doTimeTick ( )

virtual

time to update GUI

Reimplemented from UClientFuncBase.

References CDT_NONE, globalColorDisplayType, globalUvRedisplay, gotNewImage(), imgRefr, and showUVImage().

UPixel UClientFuncImgGui::getCroma	(	UPixel *	rgb,
		int	sourceFormat
	)

protected

Convert this BGR pixel to a cromatisity only pixel

References UPixel::asBGR(), UPixel::p1, UPixel::p2, UPixel::p3, and PIX_PLANES_BGR.

Referenced by getPixelClass().

UImage * UClientFuncImgGui::getImage ( const char * capt )

Get pointer to one of the windows with this caption

References UHighGuiWindowHandle::getImage(), img, UImage::name, window, and windowCnt.

UHighGuiWindowHandle * UClientFuncImgGui::getImageSource ( const char * capt )

Get handle to highgui image with this caption part. Default image is first, if noone else. Result may be NULL if no image defined.

References CDT_NONE, imgSourceUV, setUVSource(), and window.

Referenced by clientCmdLine().

int UClientFuncImgGui::getPixelClass	(	UPixel	yuv,
		int	clustCnt
	)

protected

Get cluster number for this pixel. Must know the number of classes the pixels are divided into.

References CDT_CROMA, CDT_YUV, fuzzy, getCroma(), globalColorDisplayType, PIX_PLANES_BGR, UFuzzyPixel::setPixel(), and UFuzzySplit::updateElement().

Referenced by paintClustPixels(), and showUVImage().

UHighGuiWindowHandle * UClientFuncImgGui::getWndName	(	char *	name,
		bool	mayCreate
	)

private

Get the handle for this image name

References UHighGuiWindowHandle::cvWndName, MAX_CV_WINDOW_NAME_SIZE, MAX_WINDOWS, window, and windowCnt.

Referenced by gotNewImage().

void UClientFuncImgGui::gotNewImage	(	UImage *	img,
		int	poolNum,
		USmlTag *	tag
	)

protectedvirtual

Called when a new image in RGB format (openCv format) is available.

Reimplemented from UClientFuncImage.

References UImage::copyToMaxRes(), UImage::cvArr(), focalLine, UImage::getColorType(), getWndName(), globalPixPoint1, globalUvRedisplay, imagePath, img, imgToMax, MAX_FILENAME_LENGTH, UImage::name, PIX_PLANES_BGR, PIX_PLANES_BW, PIX_PLANES_RGB, PIX_PLANES_YUV, PIX_PLANES_YUV420, saveOnMatch, saveOnMatchAndShow, saveOnMatchStr, showFocusNumber(), UHighGuiWindowHandle::showImage(), showImage(), showLine(), and UImage::toBGR().

Referenced by doTimeTick().

void UClientFuncImgGui::paintClustEllipse	(	bool	isUV,
		UMatrix *	mV,
		UMatrix *	mQ,
		UImage *	img,
		int	clust
	)

protected

Paint cluster covariance ellipse in UV image, if not UV, then cromatisity

References a, UMatrix::cols(), UImage::cvArr(), UMatrix4::eig2x2(), UMatrix::get(), maxi(), mini(), roundi(), UMatrix::rows(), and UMatrix::setRC().

Referenced by showUVImage().

void UClientFuncImgGui::paintClustPixels	(	bool	isUV,
		UImage *	imgsrc,
		UImage *	imgUV
	)

protected

Paint pixels within 'clust' into image in blue

References CDT_CROMA, CDT_YUV, fuzzyClasses, UImage::getLine(), getPixelClass(), globalColorDisplayType, UImage::height(), maxi(), mini(), UPixel::p2, UPixel::p3, roundi(), UImage::setPix(), UPixel::u, UPixel::v, and UImage::width().

Referenced by showUVImage().

bool UClientFuncImgGui::saveImage	(	const char *	capt,
		const char *	noshow
	)

Save image with this string part in caption

References UImage::cvArr(), UHighGuiWindowHandle::cvWndName, UTime::getForFilename(), UHighGuiWindowHandle::getImage(), imagePath, img, imgSourceUV, UImage::imgTime, imgUV, MAX_MATCH_STR_LNG, UImage::name, saveOnMatch, saveOnMatchAndShow, saveOnMatchStr, window, and windowCnt.

Referenced by clientCmdLine().

void UClientFuncImgGui::setFocalLine ( int line )

inline

Set line for amplitude analysis

Referenced by clientCmdLine().

void UClientFuncImgGui::setFuzzyClasses ( int value )

inline

Set number of classes to cklassify into. 2 = 2x mouse, 3=2xmouse + background (all other values are illegal)

Referenced by clientCmdLine().

void UClientFuncImgGui::setFuzzyIter ( int value )

inline

Set number of iterations for fuzzy classifier 0=seed area only

Referenced by clientCmdLine().

void UClientFuncImgGui::setFuzzyLine	(	int	row,
		int	col
	)

Set number of classes to cklassify into. 2 = 2x mouse, 3=2xmouse + background (all other values are illegal)

References fuzzyCol, fuzzyLine, and globalUvRedisplay.

Referenced by clientCmdLine().

void UClientFuncImgGui::setFuzzyWidth ( int value )

Set width of mask, where sample for fuzzy-classifier is taken. The other class is taken over the full image

References fuzzyWidth.

Referenced by clientCmdLine().

void UClientFuncImgGui::setToMaxRes ( bool value )

inline

Set flag, that determines if images are to be converted to max res

Referenced by clientCmdLine().

void UClientFuncImgGui::setUVSource	(	const char *	captName,
		ColorDisplayType	type
	)

Set the image to be displayed for color analysis

References UHighGuiWindowHandle::getImage(), globalColorDisplayType, img, imgSourceUV, UImage::name, window, and windowCnt.

Referenced by clientCmdLine(), and getImageSource().

void UClientFuncImgGui::showFocusNumber	(	UImage *	imgs,
		UImage *	imgd
	)

protected

Show largest intensi-jump from one pixel to the next over the full image (every 3rd line)

References absi(), UImage::cvArr(), UImage::getLine(), UImage::height(), UPixel::p1, UPixel::p2, UPixel::p3, and UImage::width().

Referenced by gotNewImage().

void UClientFuncImgGui::showImage ( UImage * img )

inline

Set pointer to laser scanner path results

may be used to paint in camera image

References UHighGuiWindowHandle::img.

Referenced by gotNewImage().

void UClientFuncImgGui::showLine	(	UImage *	imgs,
		UImage *	imgd,
		int	line
	)

protected

Paint color intensity line on top of image for 'line' (2/3 width)

References UImage::cvArr(), focalLine, UClientFuncImage::getImageBuffer(), UImage::getPixRef(), UImage::height(), img, UPixel::p1, UPixel::p2, UPixel::p3, UImage::width(), and UPixel::y.

Referenced by gotNewImage().

void UClientFuncImgGui::showUVImage ( )

protected

Show UV image from default source and default (global) threshold

References UPixel::asYUV(), CDT_CROMA, CDT_YUV, UImage::clear(), UImage::copy(), UImage::cvArr(), doFuzzyClassify(), fuzzy, fuzzyClasses, fuzzyWidth, UImage::getColorType(), UFuzzySplit::getF(), UPixel::getGreen(), UHighGuiWindowHandle::getImage(), UImage::getLine(), UImage::getPix(), getPixelClass(), UImage::getPixRef(), UPixel::getRed(), UFuzzySplit::getV(), globalColorDisplayType, globalPixPoint2, globalThresholdMax, globalThresholdMin, UImage::height(), imgSourceUV, imgUV, maxi(), mini(), UImage::name, on_trackbar(), UPixel::p1, UPixel::p2, UPixel::p3, paintClustEllipse(), paintClustPixels(), PIX_PLANES_BGR, roundi(), UImage::setPix(), UPixel::setRGBto(), UImage::setSize(), UPixel::setYUVto(), UImage::toCromaBGR(), UPixel::tone(), UImage::toYUV(), UPixel::u, UPixel::v, UImage::width(), window, windowCnt, and UPixel::y.

Referenced by doTimeTick().

Member Data Documentation

int UClientFuncImgGui::focalLine

private

Show focus line curve

Referenced by gotNewImage(), showLine(), and UClientFuncImgGui().

UFuzzySplit* UClientFuncImgGui::fuzzy

private

Fuzzy classifier

Referenced by doFuzzyClassify(), getPixelClass(), showUVImage(), UClientFuncImgGui(), and ~UClientFuncImgGui().

int UClientFuncImgGui::fuzzyClasses

private

Number of fuzzy classifier classes

Referenced by doFuzzyClassify(), paintClustPixels(), showUVImage(), and UClientFuncImgGui().

int UClientFuncImgGui::fuzzyCol

private

Fuzzy seed from 'fuzzyLine' in image split at 'fuzzyCol' position.

Referenced by doFuzzyClassify(), setFuzzyLine(), and UClientFuncImgGui().

int UClientFuncImgGui::fuzzyIter

private

Number of fuzzy classifier iterations

Referenced by doFuzzyClassify(), and UClientFuncImgGui().

int UClientFuncImgGui::fuzzyLine

private

Fuzzy seed from fuzzyLine in image split at fuzzyCol position.

Referenced by doFuzzyClassify(), setFuzzyLine(), and UClientFuncImgGui().

int UClientFuncImgGui::fuzzyWidth

private

Show fuzzy classifier

Referenced by doFuzzyClassify(), setFuzzyWidth(), showUVImage(), and UClientFuncImgGui().

UImage* UClientFuncImgGui::imgRefr

private

Image to redisplay

Referenced by doTimeTick(), and UClientFuncImgGui().

unsigned int UClientFuncImgGui::imgSourceUV

private

Image to use for UV display

Referenced by clear(), getImageSource(), saveImage(), setUVSource(), and showUVImage().

bool UClientFuncImgGui::imgToMax

private

Copy all images to max resolution

Referenced by gotNewImage(), and UClientFuncImgGui().

UImage* UClientFuncImgGui::imgUV

private

Image that displays the UV colour values

Referenced by clear(), saveImage(), showUVImage(), and UClientFuncImgGui().

const int UClientFuncImgGui::MAX_MATCH_STR_LNG = 100

staticprivate

Match string length

Referenced by saveImage().

bool UClientFuncImgGui::saveOnMatch

private

Save images if match caption

Referenced by gotNewImage(), saveImage(), and UClientFuncImgGui().

bool UClientFuncImgGui::saveOnMatchAndShow

private

Display image also if it was saved

Referenced by gotNewImage(), saveImage(), and UClientFuncImgGui().

char UClientFuncImgGui::saveOnMatchStr[MAX_MATCH_STR_LNG]

private

Caption match string

Referenced by gotNewImage(), and saveImage().

UHighGuiWindowHandle* UClientFuncImgGui::window[MAX_WINDOWS]

private

openCV variables to show window

Referenced by clear(), getImage(), getImageSource(), getWndName(), saveImage(), setUVSource(), showUVImage(), and ~UClientFuncImgGui().

int UClientFuncImgGui::windowCnt

private

Number of windows created

Referenced by clear(), getImage(), getWndName(), saveImage(), setUVSource(), showUVImage(), UClientFuncImgGui(), and ~UClientFuncImgGui().

The documentation for this class was generated from the following files:

Public Types

Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Static Private Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation