VisionGUI.qt.C

00001 /*
00002  * VisionGUI.qt.C
00003  *
00004  *        Description: This class interacts with ICE to receive messages
00005  *                        from the image processing components.  Right now it only interfaces
00006  *                        with the Retina (to add other ones in, you need to define your
00007  *                        ICE message, edit the menu so that you can specify whether or not
00008  *                        to overlay your stuff).  Also, this is a VisionBrainComponentI as
00009  *                        we are listening to the RetinaMessages for the images to display.
00010  *
00011  *
00012  *                        TODO: 1) Integrate with ObjectFinder
00013  *                        TODO: 2) Add a FrameRate submenu to the file menu and have it change
00014  *                                                the VBCI's framerate variable.
00015  *
00016  */
00017 
00018 #include "Robots/BeoHawk/gui/VisionGUI.qt.H"
00019 #include "QtUtil/ImageConvert4.H"
00020 
00021 VisionGUI::VisionGUI(OptionManager &mgr,
00022                 const std::string &descrName, const std::string &tagName) :
00023                 VisionBrainComponentI(mgr, descrName, tagName) {
00024 
00025         ui.setupUi(this);
00026         connect (ui.actionExit, SIGNAL(triggered()), this, SLOT(close()));
00027         connect (this, SIGNAL(imageReady()), this, SLOT(updateImageLabel()));
00028         connect (ui.actionSave_Frame_as_Image, SIGNAL(triggered()), this, SLOT(saveImage()));
00029 }
00030 
00031 VisionGUI::~VisionGUI() {
00032 }
00033 
00034 void VisionGUI::registerTopics() {
00035 
00036         LINFO("Registering VisionGUI Messages/Subscriptions");
00037         registerVisionTopics();
00038 }
00039 
00040 void VisionGUI::updateFrame(Image<PixRGB<byte> > img, bool isFwdCamera) {
00041 
00042         cleanImage = img;
00043         if (!ui.actionFreeze_Frame->isChecked()) {
00044                 curImage = convertToQImage4(img);
00045                 emit imageReady();
00046         }
00047 }