Fixed seg fault

CSV.pro

@@ -24,7 +24,8 @@ SOURCES += main.cpp \
     svobject.cpp \
     svpointcloud.cpp \
     svkernel.cpp \
-    svpointcloudviewer.cpp
+    svpointcloudviewer.cpp \
+    svapplicationcontext.cpp
 
 HEADERS += \
     svimage.h \
@@ -39,7 +40,8 @@ HEADERS += \
     svpointcloud.h \
     svdefs.h \
     svkernel.h \
-    svpointcloudviewer.h
+    svpointcloudviewer.h \
+    svapplicationcontext.h
 
 RESOURCES += \
     resource.qrc

Main.qml

@@ -152,7 +152,7 @@ ApplicationWindow {
                     Item {
                         anchors.fill: parent
                         SvPointCloudViewer {
-                            //pointCloud: pointCloud
+                            pointCloud: app.getPointCloud()
                             anchors.fill: parent
                         }
                     }

main.cpp

@@ -2,18 +2,20 @@
 #include <QQmlApplicationEngine>
 #include <QQmlComponent>
 #include <QQmlContext>
-#include <QPixmap>
 
 #include "svimage.h"
 #include "svprocessor.h"
 #include "svimageprovider.h"
 #include "svpointcloudviewer.h"
+#include "svapplicationcontext.h"
 
 int main(int argc, char *argv[])
 {
     QGuiApplication a(argc, argv);
 
     qmlRegisterType<SvPointCloudViewer>("SvPCV", 1, 0, "SvPointCloudViewer");
+    qmlRegisterType<SvApplicationContext>("SvPCV", 1, 0, "SvApplicationContext");
+    qRegisterMetaType<SvPointCloud*>();
 
     QQmlApplicationEngine engine;
     SvImageProvider imageProvider;
@@ -25,6 +27,9 @@ int main(int argc, char *argv[])
     SvImage right(imgRight);
 
     SvPointCloud pointCloud(imgLeft.width(), imgLeft.height());
+    SvApplicationContext m;
+
+    m.setPointCloud(&pointCloud);
 
     SvProcessor proc(4);
 
@@ -35,7 +40,7 @@ int main(int argc, char *argv[])
 
     engine.addImageProvider("images", &imageProvider);
     engine.rootContext()->setContextProperty("processor", &proc);
-    engine.rootContext()->setContextProperty("pointCloud", &pointCloud);
+    engine.rootContext()->setContextProperty("app", &m);
     engine.load(QUrl(QStringLiteral("qrc:///Main.qml")));
 
     proc.start();

svapplicationcontext.cpp

@@ -0,0 +1,6 @@
+#include "svapplicationcontext.h"
+
+SvApplicationContext::SvApplicationContext(QObject *parent) :
+    QObject(parent)
+{
+}

svapplicationcontext.h

@@ -0,0 +1,22 @@
+#ifndef SVPOINTCLOUDVIEWMODEL_H
+#define SVPOINTCLOUDVIEWMODEL_H
+
+#include <QObject>
+
+#include "svpointcloud.h"
+
+class SvApplicationContext : public QObject
+{
+    Q_OBJECT
+
+public:
+    explicit SvApplicationContext(QObject *parent = 0);
+
+    void setPointCloud(SvPointCloud *pointCloud) { m_pointCloud = pointCloud; }
+    Q_INVOKABLE SvPointCloud* getPointCloud() { return m_pointCloud; }
+
+private:
+    SvPointCloud *m_pointCloud;
+};
+
+#endif // SVPOINTCLOUDVIEWMODEL_H

svdefs.h

@@ -2,6 +2,7 @@
 #define SVDEFS_H
 
 #include <QDebug>
+#include <QRgb>
 
 typedef unsigned int SvPointId;
 typedef unsigned int uint;

svkernel.cpp

@@ -89,11 +89,14 @@ void SvKernel::exec(SvPointCloud *pc, SvImage *image, int line)
         }
 
         if (value > 0) {
+            if (x > 0 && line > 0){
                 p.setX(x - 1);
                 p.setY(line - 1);
+                p.setColor(qRgb(value, value, value));
 
                 pc->addPoint(p);
             }
+        }
 
         __dX = _dX;
         _dX = dX;

svpoint.cpp

@@ -7,7 +7,8 @@ SvPoint::SvPoint()
 
 SvPoint::SvPoint(SvPoint &point)
 {
-
+    m_px = point.x();
+    m_py = point.y();
 }
 
 void SvPoint::addCurve(SvCurve *curve)

svpoint.h

@@ -29,6 +29,7 @@ protected:
     uint      m_curveCount;
     SvCurve  *m_curves[8];
     FlowType  m_type;
+    QRgb      m_color;
 
 public:
     SvPoint();
@@ -36,6 +37,8 @@ public:
 
     void addCurve(SvCurve *curve);
     uint curveCount() {return m_curveCount; }
+    QRgb color() { return m_color; }
+    void setColor(QRgb color) { m_color = color; }
     SvCurve *curve(uint index) {return m_curves[index]; }
 };
 

svpointcloud.cpp

@@ -1,21 +1,23 @@
 #include "svpointcloud.h"
+#include <string.h>
 
 SvPointCloud::SvPointCloud(uint width, uint height)
 {
-    m_pointFiledHeight = height;
-    m_pointFiledWidth = width;
+    m_pointFieldHeight = height;
+    m_pointFieldWidth = width;
 
-    m_pointField = new SvPoint**[height]();
+    m_pointField = new SvPoint**[height];
 
     for (uint y = 0; y < height; y++) {
-        m_pointField[y] = new SvPoint*[width]();
+        m_pointField[y] = new SvPoint*[width];
+        memset(m_pointField[y], 0, sizeof(SvPoint*) * width);
     }
 }
 
 SvPointCloud::~SvPointCloud()
 {
-    for (uint y = 0; y < m_pointFiledHeight; y++) {
-        for (uint x = 0; x < m_pointFiledWidth; x++) {
+    for (uint y = 0; y < m_pointFieldHeight; y++) {
+        for (uint x = 0; x < m_pointFieldWidth; x++) {
             if (m_pointField[y][x]) {
                 delete m_pointField[y][x];
             }
@@ -27,7 +29,7 @@ SvPointCloud::~SvPointCloud()
     delete[] m_pointField;
 }
 
-void SvPointCloud::addPoint(SvPoint point)
+void SvPointCloud::addPoint(SvPoint &point)
 {
     m_pointField[point.y()][point.x()] = new SvPoint(point);
 }

svpointcloud.h

@@ -23,8 +23,8 @@ class SvPointCloud: public QObject
     friend class SvObject;
 
 protected:
-    uint             m_pointFiledHeight;
-    uint             m_pointFiledWidth;
+    uint             m_pointFieldHeight;
+    uint             m_pointFieldWidth;
     SvPoint***       m_pointField;
     QList<SvCurve*>  m_curves;
     QList<SvFigure*> m_figures;
@@ -38,7 +38,10 @@ public:
     SvFigure *createFigure();
     SvObject *createObject();
 
-    void addPoint(SvPoint point);
+    void addPoint(SvPoint &point);
+    uint getWidth() { return m_pointFieldWidth; }
+    uint getHeight() { return m_pointFieldHeight; }
+    SvPoint *point(uint x, uint y) { return m_pointField[y][x]; }
 };
 
 #endif // SVPOINTCLOUD_H

svpointcloudviewer.cpp

@@ -11,59 +11,35 @@ SvPointCloudViewer::SvPointCloudViewer(QQuickItem *parent) :
 
 void SvPointCloudViewer::paint(QPainter *painter)
 {
-    painter->beginNativePainting();
-
-    if (!m_program) {
-        m_program = new QOpenGLShaderProgram();
-        m_program->addShaderFromSourceCode(QOpenGLShader::Vertex,
-                                           "attribute highp vec4 vertices;"
-                                           "varying highp vec2 coords;"
-                                           "void main() {"
-                                           "    gl_Position = vertices;"
-                                           "    coords = vertices.xy;"
-                                           "}");
-        m_program->addShaderFromSourceCode(QOpenGLShader::Fragment,
-                                           "uniform lowp float t;"
-                                           "varying highp vec2 coords;"
-                                           "void main() {"
-                                           "    lowp float i = 1. - (pow(abs(coords.x), 4.) + pow(abs(coords.y), 4.));"
-                                           "    i = smoothstep(t - 0.8, t + 0.8, i);"
-                                           "    i = floor(i * 20.) / 20.;"
-                                           "    gl_FragColor = vec4(coords * .5 + .5, i, i);"
-                                           "}");
-
-        m_program->bindAttributeLocation("vertices", 0);
-        m_program->link();
-
+    if (!m_pointCloud) {
+        qDebug() << "point cloud not set!";
+        return;
     }
 
-    m_program->bind();
-
-        m_program->enableAttributeArray(0);
-
-        float values[] = {
-            -1, -1,
-            1, -1,
-            -1, 1,
-            1, 1
-        };
-        m_program->setAttributeArray(0, GL_FLOAT, values, 2);
-        m_program->setUniformValue("t", (float) 1);
+    painter->beginNativePainting();
 
     glViewport(0, 0, width(), height());
 
-        glDisable(GL_DEPTH_TEST);
+    glClearColor(0, 1, 1, 1);
+    glClear(GL_COLOR_BUFFER_BIT/* | GL_DEPTH_BUFFER_BIT*/);
+    glMatrixMode(GL_MODELVIEW);
+    glLoadIdentity();
+    glTranslatef(0.0f, height(), -400.0f);
+    glScalef(0.1f, 0.1f, 0.1f);
+    glColor3f(1.0f, 0.0f, 0.0f);
+    glPointSize(3.0f);
 
-        glClearColor(0, 0, 0, 1);
-        glClear(GL_COLOR_BUFFER_BIT);
-
-        glEnable(GL_BLEND);
-        glBlendFunc(GL_SRC_ALPHA, GL_ONE);
-
-        glDrawArrays(GL_TRIANGLE_STRIP, 0, 4);
-
-        m_program->disableAttributeArray(0);
-        m_program->release();
+    glBegin(GL_POINTS);
+        for (int y = 0; y < m_pointCloud->getHeight(); y++) {
+            for (int x = 0; x < m_pointCloud->getWidth(); x++) {
+                SvPoint *p = m_pointCloud->point(x, y);
+                if (p) {
+                    glColor3ub(qRed(p->color()),qGreen(p->color()), qBlue(p->color()));
+                    glVertex3i(x, y, 0);
+                }
+            }
+        }
+    glEnd();
 
     painter->endNativePainting();
 }

svpointcloudviewer.h

@@ -8,13 +8,15 @@
 #include <QtGui/QOpenGLContext>
 
 #include "svpointcloud.h"
+#include "svapplicationcontext.h"
 
 class SvPointCloudViewer : public QQuickPaintedItem
 {
     Q_OBJECT
 
-    //Q_PROPERTY(QObject *pointCloud READ pointCloud WRITE setPointCloud NOTIFY pointCloudChanged)
+    Q_PROPERTY(SvPointCloud *pointCloud READ pointCloud WRITE setPointCloud NOTIFY pointCloudChanged)
 
+   // Q_PROPERTY(QString test123 READ pointCloud WRITE setPointCloud NOTIFY pointCloudChanged)
 //    Q_PROPERTY(qreal cameraX READ cameraX WRITE setCameraX NOTIFY cameraXChanged)
 //    Q_PROPERTY(qreal cameraY READ cameraY WRITE setCameraY NOTIFY cameraYChanged)
 //    Q_PROPERTY(qreal cameraZ READ cameraZ WRITE setCameraZ NOTIFY cameraZChanged)
@@ -25,8 +27,6 @@ protected:
     qreal m_cameraY;
     qreal m_cameraZ;
 
-    QOpenGLShaderProgram *m_program;
-
 public:
     explicit SvPointCloudViewer(QQuickItem *parent = 0);
     void paint(QPainter *painter);

svprocessor.cpp

@@ -49,12 +49,16 @@ void SvProcessor::enqueueImage(SvPointCloud *pointCloud, SvImage *image)
 SvProcessorTask SvProcessor::nextTask()
 {
     SvProcessorTask  task, *taskPtr;
+
+    m_nextTaskMutex.lock();
+
     if (!m_taskQueue.size()) {
+        m_nextTaskMutex.unlock();
         throw SvNoMoreTasks();
     }
 
-    m_nextTaskMutex.lock();
     taskPtr = m_taskQueue.dequeue();
+
     m_nextTaskMutex.unlock();
 
     task = *taskPtr;

svsimplepoint.h

@@ -1,6 +1,7 @@
 #ifndef SVSIMPLEPOINT_H
 #define SVSIMPLEPOINT_H
 
+
 class SvSimplePoint
 {
 protected:
@@ -11,11 +12,9 @@ public:
     int y() {return m_py;}
     int z() {return m_pz;}
 
-    int setX(int px) {return m_px = px;}
-    int setY(int py) {return m_py = py;}
-    int setZ(int pz) {return m_pz = pz;}
-
-
+    int setX(int px) {m_px = px;}
+    int setY(int py) {m_py = py;}
+    int setZ(int pz) {m_pz = pz;}
 
     SvSimplePoint();
 };