Add sample tracker for new dynamic library interface

CMakeLists.txt

+cmake_minimum_required(VERSION 2.8.7 FATAL_ERROR)
+project(sampletracker)
+
+#------------------------------------------------------------------------------
+# Required CPM Setup - no need to modify - See: https://github.com/iauns/cpm
+#------------------------------------------------------------------------------
+
+set(CPM_DIR "${CMAKE_CURRENT_BINARY_DIR}/cpm_packages" CACHE TYPE STRING)
+find_package(Git)
+if(NOT GIT_FOUND)
+  message(FATAL_ERROR "CPM requires Git.")
+endif()
+if (NOT EXISTS ${CPM_DIR}/CPM.cmake)
+  message(STATUS "Cloning repo (https://github.com/iauns/cpm)")
+  execute_process(
+    COMMAND "${GIT_EXECUTABLE}" clone https://github.com/iauns/cpm ${CPM_DIR}
+    RESULT_VARIABLE error_code
+    OUTPUT_QUIET ERROR_QUIET)
+  if(error_code)
+    message(FATAL_ERROR "CPM failed to get the hash for HEAD")
+  endif()
+endif()
+include(${CPM_DIR}/CPM.cmake)
+
+#------------------------------------------------------------------------------
+# CPM Modules
+#------------------------------------------------------------------------------
+
+if(NOT DEFINED CMAKECONFIG_PATH)
+    CPM_AddModule("cmakeconfig"
+        GIT_REPOSITORY "https://github.com/BioroboticsLab/cmakeconfig.git"
+        GIT_TAG "master")
+else()
+    CPM_AddModule("cmakeconfig"
+        SOURCE_DIR "${CMAKECONFIG_PATH}")
+endif()
+
+include_biotracker_core("master")
+
+CPM_Finish()
+
+biorobotics_config()
+
+find_package(Qt5Widgets REQUIRED)
+find_package(Qt5OpenGL REQUIRED)
+
+include_directories(
+    ${PROJECT_SOURCE_DIR}
+    SYSTEM ${Qt5Widgets_INCLUDE_DIRS}
+    SYSTEM ${Qt5OpenGL_INCLUDE_DIRS}
+)
+
+set(CMAKE_INCLUDE_CURRENT_DIR ON)
+set(CMAKE_AUTOMOC ON)
+
+add_definitions(${Qt5Widgets_DEFINITIONS})
+add_definitions(-DQT_NO_KEYWORDS)
+
+add_library(sampletracker SHARED
+    SampleTracker.cpp
+    SampleObject.cpp
+)

SampleObject.cpp

+#include "SampleObject.h"
+
+SampleObject::SampleObject(void)
+    : ObjectModel() {
+}
+
+
+SampleObject::~SampleObject(void) {
+}
+
+void SampleObject::setPosition(cv::Point) {}
+cv::Point SampleObject::getPosition() {
+    return _position;
+}
+
+

SampleObject.h

+#pragma once
+
+#include <opencv2/opencv.hpp>
+
+#include <biotracker/serialization/ObjectModel.h>
+
+class SampleObject :
+    public ObjectModel {
+  public:
+    SampleObject(void);
+    virtual ~SampleObject(void);
+    void setPosition(cv::Point pos);
+    cv::Point getPosition();
+
+  private:
+    cv::Point _position;
+};

SampleTracker.cpp

+#include "SampleTracker.h"
+
+#include <QApplication>
+#include <QIntValidator>
+#include <QPushButton>
+#include <QPainter>
+
+#include <opencv2/imgproc/imgproc.hpp>
+#include <opencv2/highgui/highgui.hpp>
+
+#include <biotracker/TrackingAlgorithm.h>
+#include <biotracker/Registry.h>
+
+extern "C" {
+    void registerTracker() {
+        BioTracker::Core::Registry::getInstance().registerTrackerType<SampleTracker>("SampleTracker");
+    }
+}
+
+SampleTracker::SampleTracker(Settings &settings, QWidget *parent)
+    : TrackingAlgorithm(settings, parent)
+    , _paramsFrame(std::make_shared<QFrame>())
+    , _toolsFrame(std::make_shared<QFrame>())
+    , _showSelectorRec(false)
+    , _showOriginal(false)
+    , _lowH(0)
+    , _highH(255)
+    , _lowS(0)
+    , _highS(255)
+    , _lowV(0)
+    , _highV(255) {
+    initParamsFrame();
+    initToolsFrame();
+    _currentView="";
+    _imageChanged=false;
+}
+
+void SampleTracker::track(ulong, const cv::Mat &imgOriginal) {
+    //dont do nothing if we ain't got an image
+    if (imgOriginal.empty()) {
+        return;
+    }
+    using namespace cv;
+
+    Mat imgHSV;
+
+    cvtColor(imgOriginal, imgHSV,
+             COLOR_BGR2HSV); //Convert the captured frame from BGR to HSV
+
+
+    inRange(imgHSV, Scalar(_lowH, _lowS, _lowV), Scalar(_highH, _highS, _highV),
+            _imgTracked); //Threshold the image
+
+    //morphological opening (remove small objects from the foreground)
+    erode(_imgTracked, _imgTracked, getStructuringElement(MORPH_ELLIPSE, Size(5,
+            5)));
+    dilate(_imgTracked, _imgTracked, getStructuringElement(MORPH_ELLIPSE, Size(5,
+            5)));
+
+    //morphological closing (fill small holes in the foreground)
+    cv::dilate(_imgTracked, _imgTracked,
+               cv::getStructuringElement(cv::MORPH_ELLIPSE, cv::Size(5, 5)));
+    cv::erode(_imgTracked, _imgTracked, cv::getStructuringElement(cv::MORPH_ELLIPSE,
+              cv::Size(5, 5)));
+    _imageChanged = true;
+}
+
+void SampleTracker::paint(ProxyPaintObject &p , const View &view) {
+    if (view.name != _currentView || _imageChanged) {
+        _currentView = view.name;
+
+        // getting image object will force videoView to upload it to graphic mem
+        // this is necessarry even if we do not change the picture, since we changed
+        // it before and otherwise we would still be stuck with the old one
+        auto &image = p.getMat();
+        if (!_imgTracked.empty() && _currentView == "Filter") {
+            //since gui is expecting a BGR image we have to convert our grayscale image
+            cv::cvtColor(_imgTracked, image, CV_GRAY2BGR);
+        }
+        _imageChanged=false;
+    }
+}
+
+void SampleTracker::paintOverlay(QPainter *painter) {
+    painter->drawRoundRect(QRectF(QPointF(100, 100), QPointF(1000, 1000)));
+    if (_showSelectorRec) {
+        drawRectangle(painter);
+    }
+}
+
+//this will draw a basic rectangle
+void SampleTracker::drawRectangle(QPainter *painter) {
+    QColor color(Qt::cyan);
+    color.setAlpha(150);
+    QBrush brush(color);
+    painter->fillRect(QRectF(_selectorRecStart, _selectorRecEnd),brush);
+
+}
+
+void SampleTracker::mouseMoveEvent(QMouseEvent *e) {
+    if (_showSelectorRec) {
+        _selectorRecEnd.setX(e->x());
+        _selectorRecEnd.setY(e->y());
+        //draw rectangle!
+        Q_EMIT update();
+    }
+}
+void SampleTracker::mousePressEvent(QMouseEvent *e) {
+    //check if left button is clicked
+    if (e->button() == Qt::LeftButton) {
+        int x = e->x();
+        int y = e->y();
+        std::string note = "shift + left button press on: x="
+                           + QString::number(x).toStdString() + " y=" + QString::number(y).toStdString();
+        //initialize coordinates for selection tool
+        _selectorRecStart.setX(e->x());
+        _selectorRecStart.setY(e->y());
+        _selectorRecEnd.setX(e->x());
+        _selectorRecEnd.setY(e->y());
+        _showSelectorRec = true;
+    }
+}
+void SampleTracker::mouseReleaseEvent(QMouseEvent *e) {
+    if (e->button() == Qt::LeftButton) {
+        if (_showSelectorRec) {
+            _selectorRecEnd.setX(e->x());
+            _selectorRecEnd.setY(e->y());
+            _showSelectorRec = false;
+            //next draw will delete rectangle!
+            Q_EMIT update();
+            std::string note = "selected area from " + QString::number(
+                                   _selectorRecStart.x()).toStdString() + ":"+
+                               QString::number(_selectorRecStart.y()).toStdString()
+                               + " to " +  QString::number(_selectorRecEnd.x()).toStdString() + ":"+
+                               QString::number(_selectorRecEnd.y()).toStdString();
+            Q_EMIT notifyGUI(note,MSGS::NOTIFICATION);
+        }
+    }
+}
+
+void SampleTracker::mouseWheelEvent(QWheelEvent *) {}
+
+std::shared_ptr<QWidget> SampleTracker::getParamsWidget() {
+    return _paramsFrame;
+}
+
+std::shared_ptr<QWidget> SampleTracker::getToolsWidget() {
+    return _toolsFrame;
+}
+
+void SampleTracker::initToolsFrame() {
+    QFormLayout *layout = new QFormLayout(_toolsFrame.get());
+    layout->addRow(_colorBut);
+    _toolsFrame->setLayout(layout);
+}
+
+
+void SampleTracker::initParamsFrame() {
+    _lowHEdit  = new QLineEdit(_paramsFrame.get());
+    _highHEdit = new QLineEdit(_paramsFrame.get());
+    _lowSEdit  = new QLineEdit(_paramsFrame.get());
+    _highSEdit = new QLineEdit(_paramsFrame.get());
+    _lowVEdit  = new QLineEdit(_paramsFrame.get());
+    _highVEdit = new QLineEdit(_paramsFrame.get());
+
+    _colorBut = new QPushButton("change color!", _paramsFrame.get());
+
+    _lowHEdit->setValidator(new QIntValidator(0, 255, _paramsFrame.get()));
+    _highHEdit->setValidator(new QIntValidator(0, 255, _paramsFrame.get()));
+    _lowSEdit->setValidator(new QIntValidator(0, 255, _paramsFrame.get()));
+    _highSEdit->setValidator(new QIntValidator(0, 255, _paramsFrame.get()));
+    _lowVEdit->setValidator(new QIntValidator(0, 255, _paramsFrame.get()));
+    _highVEdit->setValidator(new QIntValidator(0, 255, _paramsFrame.get()));
+
+    _lowHEdit->setText(QString::number(_lowH));
+    _highHEdit->setText(QString::number(_highH));
+    _lowSEdit->setText(QString::number(_lowS));
+    _highSEdit->setText(QString::number(_highS));
+    _lowVEdit->setText(QString::number(_lowV));
+    _highVEdit->setText(QString::number(_highV));
+
+    QFormLayout *layout = new QFormLayout(_paramsFrame.get());
+    layout->addRow("H-low",  _lowHEdit);
+    layout->addRow("H-high", _highHEdit);
+    layout->addRow("S-low",  _lowSEdit);
+    layout->addRow("S-high", _highSEdit);
+    layout->addRow("V-low",  _lowVEdit);
+    layout->addRow("V-high", _highVEdit);
+    _paramsFrame->setLayout(layout);
+
+    QObject::connect(this->_colorBut, SIGNAL(clicked()), this,
+                     SLOT(changeFilterColor()));
+}
+
+void SampleTracker::changeFilterColor() {
+    _lowH  =    _lowHEdit->text().toInt();
+    _highH =    _highHEdit->text().toInt();
+    _lowS  =    _lowSEdit->text().toInt();
+    _highS =    _highSEdit->text().toInt();
+    _lowV  =    _lowVEdit->text().toInt();
+    _highV =    _highVEdit->text().toInt();
+    Q_EMIT forceTracking();
+}
+
+void SampleTracker::postConnect() {
+    Q_EMIT registerViews({ { "Filter" } });
+}

SampleTracker.h

+#ifndef SampleTracker_H
+#define SampleTracker_H
+
+#include <QGroupBox>
+#include <QFormLayout>
+#include <QLineEdit>
+#include <QPushButton>
+
+#include <biotracker/TrackingAlgorithm.h>
+
+class SampleTracker : public TrackingAlgorithm {
+    Q_OBJECT
+  public:
+    SampleTracker(Settings &settings, QWidget *parent);
+
+    void track(ulong frameNumber, const cv::Mat &frame) override;
+    void paint(ProxyPaintObject &,View const &view = OriginalView) override;
+    void paintOverlay(QPainter *painter) override;
+
+    void postConnect() override;
+
+    std::shared_ptr<QWidget> getParamsWidget() override;
+    std::shared_ptr<QWidget> getToolsWidget() override;
+
+  public Q_SLOTS:
+    void changeFilterColor();
+
+  private:
+    std::shared_ptr<QFrame> _paramsFrame;
+    std::shared_ptr<QFrame> _toolsFrame;
+
+    QPointF _selectorRecStart;
+    QPointF _selectorRecEnd;
+
+    bool _showSelectorRec;
+    bool _showOriginal;
+
+    // values for filtering a color (HSV format)
+    int _lowH;
+    int _highH;
+    int _lowS;
+    int _highS;
+    int _lowV;
+    int _highV;
+
+    cv::Mat _imgTracked;
+
+    // gui elements to set those values
+    QLineEdit *_lowHEdit;
+    QLineEdit *_highHEdit;
+    QLineEdit *_lowSEdit;
+    QLineEdit *_highSEdit;
+    QLineEdit *_lowVEdit;
+    QLineEdit *_highVEdit;
+
+    QPushButton *_colorBut;
+    std::string _currentView;
+    bool _imageChanged;
+
+    std::vector<TrackedObject> _trackedObjects;
+
+    void drawRectangle(QPainter *painter);
+    void initParamsFrame();
+    void initToolsFrame();
+
+  private:
+    //mouse click and move events
+    void mouseMoveEvent(QMouseEvent *e) override;
+    void mousePressEvent(QMouseEvent *e) override;
+    void mouseReleaseEvent(QMouseEvent *e) override;
+    void mouseWheelEvent(QWheelEvent *e) override;
+};
+
+#endif