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Source code

void GUI::startPressed(void)
{	
QThread* viewerThread = new QThread();	
// Move ViewerThread void to new viewerThread ??? 	
connect(viewerThread, SIGNAL(started()), this, SLOT(ViewerThread(void)));
viewerThread->start();
}

Source code

class GUI : public QMainWindow, private Ui::KinectThresholdingCppClass
{
	Q_OBJECT

	public:
		GUI(QWidget *parent = 0, Qt::WFlags flags = 0);
		~GUI();

		/* Windows */
		QHalconWindow *qWindow;
		QVTKWidget *vtkWidget;

		/* Objects */
		Kinect *kinect;

		/* Visualisation stuff */
		PointCloud<PointXYZRGB>::ConstPtr cloud;

		/* Timers */
		QTimer *updateLogBrowserTimer;

		/* Threads */
		RGBViewerThread *rgbViewer;

	private:
		/* Imported GUI elements from the UI file */
		Ui::KinectThresholdingCppClass ui;

		/* Windows */
		GUIRobotConfig *robotConfig;
		GUIKinectAccelerometer *kinectAccelerometer;

		/* Log file */
		PJLib::Log *log;

	private slots:
		void startPressed(void);
		void UpdateSpanValues(void);
		void UpdateThresholdingChecked(void);
		void StartRobotConfig(void);
		void StartKinectAccelerometer(void);
		void ActionViewRGB(void);
		void ActionViewPoint_Cloud(void);
		void UpdateLogBrowser(void);
		void TestButtonPressed(void);
};



/* Constructor: make GUI */
GUI::GUI(QWidget *parent, Qt::WFlags flags)  : QMainWindow(parent, flags)
{
	setupUi(this);
	this->setWindowIcon(QIcon(QString("Images/robovisionIcon.png")));
	//this->setFixedSize(this->sizeHint());

	qWindow = new QHalconWindow(qWindowHub);
	qWindow->setMinimumSize(640, 480);

	/* Setup the log browser */
	this->log = new PJLib::Log("Logs\\", "Log.txt");
	logBrowser->setSearchPaths(QStringList("Logs\\"));
	logBrowser->setSource(QUrl::fromLocalFile("Log.txt"));
	this->updateLogBrowserTimer = new QTimer(this);
	this->updateLogBrowserTimer->start(500);

	/* Connect the GUI to the program action */
	QObject::connect(QButtonStart, SIGNAL(clicked()), this, SLOT(startPressed()));
	QObject::connect(qxtSpanSliderX, SIGNAL(spanChanged(int, int)), this, SLOT(UpdateSpanValues()));
	QObject::connect(qxtSpanSliderY, SIGNAL(spanChanged(int, int)), this, SLOT(UpdateSpanValues()));
	QObject::connect(qxtSpanSliderZ, SIGNAL(spanChanged(int, int)), this, SLOT(UpdateSpanValues()));
	QObject::connect(actionRobotConfig, SIGNAL(triggered()), this, SLOT(StartRobotConfig()));
	QObject::connect(actionAccelerometer, SIGNAL(triggered()), this, SLOT(StartKinectAccelerometer()));
	QObject::connect(actionViewRGB, SIGNAL(triggered()), this, SLOT(ActionViewRGB()));
	QObject::connect(actionViewPoint_Cloud, SIGNAL(triggered()), this, SLOT(ActionViewPoint_Cloud()));
	QObject::connect(testButton, SIGNAL(clicked()), this, SLOT(TestButtonPressed()));
	QObject::connect(this->updateLogBrowserTimer, SIGNAL(timeout()), this, SLOT(UpdateLogBrowser()));
	QObject::connect(this->thresholdingGroupBox, SIGNAL(toggled(bool)), this, SLOT(UpdateThresholdingChecked()));
	
	/* Set the globals */
	testWindow = qWindow->halconWindow;
	lowX = qxtSpanSliderX->lowerValue();
	highX = qxtSpanSliderX->upperValue();
	lowY = qxtSpanSliderY->lowerValue();
	highY= qxtSpanSliderY->upperValue();
	lowZ = qxtSpanSliderZ->lowerValue();
	highZ = qxtSpanSliderZ->upperValue();
	isThresholdingChecked = thresholdingGroupBox->isChecked();

	/* Initialise the kinect and create new 3D model */
	bool isKinectConnected = false;
	while(!isKinectConnected)
	{
		try
		{
			this->kinect = new Kinect(this->log);
			isKinectConnected = true;
		}
		catch (exception& ex)
		{
			QString *error = new QString();
			error->append("The kinect could not be initialised. Make sure it is connected properly (USB and Power).");
			error->append("\n\nThe error message: \n");
			error->append(ex.what());
			QMessageBox kinectErrorBox;
			kinectErrorBox.setWindowTitle("Kinect not initialised!");
			kinectErrorBox.setIcon(QMessageBox::Critical);
			kinectErrorBox.setText(*error);
			kinectErrorBox.setStandardButtons(QMessageBox::Retry | QMessageBox::Abort);
			QIcon kinectIcon = QIcon("Images/kinectIcon.png");
			kinectErrorBox.setWindowIcon(kinectIcon);

			/* Set the stylesheet */
			QFile file("PJStyleSheet.css");				// TO DO
			file.open(QFile::ReadOnly);
			QString StyleSheet = QLatin1String(file.readAll());
			kinectErrorBox.setStyleSheet(StyleSheet);

			kinectErrorBox.show();

			switch (kinectErrorBox.exec()) {
				case QMessageBox::Retry:
					break;
				case QMessageBox::Abort:
					exit(0);
					break;
				default:
					break;
			}
		}
	}
	model3D = new Model3D(kinect);

	/* Initialise threads */
	this->rgbViewer = new RGBViewerThread();
}

GUI::~GUI()
{
	rgbViewer->terminate();
	this->close();
	exit(0);
}

void GUI::startPressed(void)
{
	//boost::thread workerThread(&GUI::ViewerThread); 
	//workerThread.start_thread();

	/*
	QThread* viewerThread = new QThread();
	// Move ViewerThread void to new viewerThread ??? 
	connect(viewerThread, SIGNAL(started()), this, SLOT(ViewerThread(void)));
	viewerThread->start();
	*/

	if(actionViewRGB->isChecked() && !rgbViewer->isRunning())
	{
		this->rgbViewer->start(); 
	}
	else if(actionViewPoint_Cloud->isChecked())
	{
		this->cloud.reset(new pcl::PointCloud<pcl::PointXYZRGB>);
		this->cloud = model3D->GrabPointCloud();
		/*vtkWidget = new QVTKWidget(this->qWindowHub);
		boost::shared_ptr<pcl::visualization::PCLVisualizer>viewer(new pcl::visualization::PCLVisualizer ("3D Viewer"));
		viewer->setBackgroundColor (0, 0, 0);
		viewer->addPointCloud<pcl::PointXYZRGB>(cloud);*/

		//pviz->addPointCloud<pcl::PointXYZRGB>(cloud);
		//pviz.setBackgroundColor(0, 0, 0);
		//vtkWidget->show();

		/* Visualise the point cloud */
		visualization::CloudViewer viewer("Point Cloud");
		viewer.showCloud(cloud);
		while (!viewer.wasStopped ());	
	}
	else
	{
		// Should never end up here ...
	}
}

void GUI::UpdateSpanValues(void)
{
	lowX = qxtSpanSliderX->lowerValue();
	highX = qxtSpanSliderX->upperValue();
	lowY = qxtSpanSliderY->lowerValue();
	highY= qxtSpanSliderY->upperValue();
	lowZ = qxtSpanSliderZ->lowerValue();
	highZ = qxtSpanSliderZ->upperValue();
}

void GUI::UpdateThresholdingChecked(void)
{
	isThresholdingChecked = thresholdingGroupBox->isChecked();
}

/* View actions */
void GUI::ActionViewRGB(void)
{
	/* Disable the other option */
	actionViewPoint_Cloud->setChecked(false);
}

void GUI::ActionViewPoint_Cloud(void)
{
	/* Disable the other option */
	actionViewRGB->setChecked(false);

	/* If the rgbViewer was running, stop it and clear the testWindow */
	if(rgbViewer->isRunning())
	{
		rgbViewer->terminate();
		// Clear the testWindow -> TO DO
	}

	/* Put the pointcloud window in the windowHub */
	// TO DO 
}

void GUI::UpdateLogBrowser(void)
{
	this->logBrowser->reload();
}

/* Configuration screens */
void GUI::StartRobotConfig(void)
{
	robotConfig = new GUIRobotConfig(this, this->kinect, testWindow);
	robotConfig->show();
}

void GUI::StartKinectAccelerometer(void)
{
	kinectAccelerometer = new GUIKinectAccelerometer(this->kinect, this);
	kinectAccelerometer->show();
}

/* Test buttons */
void GUI::TestButtonPressed(void)
{
	PointCloud<PointXYZRGB>::ConstPtr cloud; 
	try
	{
		cloud = model3D->PointCloudFromMultipleImagesWithRobot();
		
		/* Visualise the point cloud */
		visualization::CloudViewer viewer("Point Cloud");		// TO DO: learn to use the PCLVisualiser
		viewer.showCloud(cloud);
		while (!viewer.wasStopped ());

		/*boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer (new pcl::visualization::PCLVisualizer ("3D Viewer"));
		viewer->setBackgroundColor (0, 0, 0);
		viewer->addPointCloud(cloud, "Point Cloud");
		viewer->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "sample cloud");
		viewer->addCoordinateSystem (1.0);
		viewer->initCameraParameters ();*/
	}
	catch (exception& ex)
	{
		QString errorMessage;
		errorMessage.append("ERROR: ");
		errorMessage.append(ex.what());
		QMessageBox::critical(0, "Error", errorMessage);
	}	
}

Source code

class ViewerConfig : public QObject
{
	Q_OBJECT 

	public:
ViewerConfig(){};
int lowX;
int highX;
int lowY;
int highY;
int lowZ;
int highZ;
bool isThresholdingChecked;
bool isContinuousChecked;

	public slots:
void UpdateContinuousStatus(bool checkBoxStatus);
void UpdateThresholdingStatus(bool checkBoxStatus);
void UpdateThresholdRangeX(int lowX, int highX);
void UpdateThresholdRangeY(int lowY, int highY);
void UpdateThresholdRangeZ(int lowZ, int highZ);
};

class Viewer : public QObject
{
	Q_OBJECT 

	private:
/* Window to display things */
HWindow *hWindow;

/* Object that grab frames */
Kinect *kinect;

/* Information about how the frame needs to be grabbed */
ViewerConfig *viewerConfig;

/* Images */
HImage image; // Image from the RGB camera
HImage imageX; // Image with X-coördinate information
HImage imageY; // Image with Y-coördinate information
HImage imageZ; // Image with Z-coördinate information
HRegion thresholdX; // Thresholded X-image
HRegion thresholdY; // Thresholded Y-image
HRegion thresholdZ; // Thresholded Z-image
HRegion threshold3D;	// Combination of XYZ thresholds
HImage imageFinal;

bool isWindowInitialised;

void InitialiseWindow(void);
HImage GetFrame(void);

	public:
Viewer::Viewer(HWindow *hWindow, Kinect *kinect, ViewerConfig *viewerConfig);

	public slots:
void Start(void);
};

Source code

QObject::connect(this->qxtSpanSliderX, SIGNAL(spanChanged(int, int)), this->viewerConfig, SLOT(UpdateThresholdRangeX(int, int)));
	QObject::connect(this->qxtSpanSliderY, SIGNAL(spanChanged(int, int)), this->viewerConfig, SLOT(UpdateThresholdRangeY(int, int)));
	QObject::connect(this->qxtSpanSliderZ, SIGNAL(spanChanged(int, int)), this->viewerConfig, SLOT(UpdateThresholdRangeZ(int, int)));
	QObject::connect(this->thresholdingGroupBox, SIGNAL(toggled(bool)), this->viewerConfig, SLOT(UpdateThresholdingStatus(bool)));

Source code

void GUI::startPressed(void)
{
	QThread *thread;
	thread = new QThread;
	this->viewer->moveToThread(thread);

	QObject::connect(thread, SIGNAL(started()), this->viewer, SLOT(Start()));
	thread->start();
}