WebSVN – seema-scanner – Diff – /src/SMCaptureWorker.cpp/


#include "SMCaptureWorker.h"
 
#include "AlgorithmGrayCode.h"
#include "AlgorithmGrayCodeHorzVert.h"
#include "AlgorithmGrayCodeMax.h"
#include "AlgorithmPhaseShiftTwoFreq.h"
#include "AlgorithmPhaseShiftThreeFreq.h"
#include "AlgorithmLineShift.h"
 
#include <QCoreApplication>
#include <QTime>
#include <QSettings>
#include <QtTest/QTest>
 
#include "cvtools.h"
 
void SMCaptureWorker::setup(){
 
    QSettings settings;
 
    // Create cameras
    int iNum0 = settings.value("camera0/interfaceNumber", -1).toInt();
    int cNum0 = settings.value("camera0/cameraNumber", -1).toInt();
    if(iNum0 != -1)
        camera0 = CameraFactory::NewCamera(iNum0,cNum0,triggerModeSoftware);
    else
        return;
 
    int iNum1 = settings.value("camera1/interfaceNumber", -1).toInt();
    int cNum1 = settings.value("camera1/cameraNumber", -1).toInt();
    if(iNum1 != -1)
        camera1 = CameraFactory::NewCamera(iNum1,cNum1,triggerModeSoftware);
    else
        return;
 
    // Set camera settings
    CameraSettings cameraSettings;
    cameraSettings.shutter = settings.value("camera/shutter", 16.666).toFloat();
    cameraSettings.gain = 0.0;
 
    camera0->setCameraSettings(cameraSettings);
 
    camera1->setCameraSettings(cameraSettings);
 
    // Start capturing
    camera0->startCapture();
    camera1->startCapture();
 
    // Create projector
    //int screenNum = settings.value("projector/screenNumber", -1).toInt();
    int screenNum = settings.value("projector/screenNumber", 1).toInt();
    if(screenNum != -1)
        projector = new ProjectorOpenGL(screenNum);
 
    // Create rotation stage
    rotationStage = new RotationStage();
 
    // Create Algorithm
    unsigned int screenCols, screenRows;
    projector->getScreenRes(&screenCols, &screenRows);
    codec = settings.value("algorithm", "GrayCode").toString();
    if(codec == "GrayCode")
        algorithm = new AlgorithmGrayCode(screenCols, screenRows);
    else if(codec == "GrayCodeHorzVert")
        algorithm = new AlgorithmGrayCodeHorzVert(screenCols, screenRows);
    else if(codec == "GrayCodeMax")
        algorithm = new AlgorithmGrayCodeMax(screenCols, screenRows);
    else if(codec == "PhaseShiftTwoFreq")
        algorithm = new AlgorithmPhaseShiftTwoFreq(screenCols, screenRows);
    else if(codec == "PhaseShiftThreeFreq")
        algorithm = new AlgorithmPhaseShiftThreeFreq(screenCols, screenRows);
    else if(codec == "LineShift")
        algorithm = new AlgorithmLineShift(screenCols, screenRows);
    else
        std::cerr << "SMCaptureWorker: invalid codec " << codec.toStdString() << std::endl;
 
    // Upload patterns to projector/GPU
    for(unsigned int i=0; i<algorithm->getNPatterns(); i++){
        cv::Mat pattern = algorithm->getEncodingPattern(i);
        projector->setPattern(i, pattern.ptr(), pattern.cols, pattern.rows);
    }
 
    delay = settings.value("trigger/delay", 50).toInt();
    stackingCalibration = settings.value("stacking/calibration", 1).toInt();
    stackingAcquisition= settings.value("stacking/acquisition", 1).toInt();
 
    setupSuccessful = true;
}
 
 
void SMCaptureWorker::doWork(){
 
    if(!setupSuccessful)
        return;
 
    working = true;
 
    // Processing loop
//    QTime time;
//    time.start();
    while(working){
 
        projector->displayWhite();
 
        // prevent image acquisition timeout
        QTest::qSleep(10);
 
        CameraFrame frame;
 
        // trigger cameras
        camera0->trigger();
        camera1->trigger();
 
        // retrieve raw frames
        frame = camera0->getFrame();
        cv::Mat frameCV;
        frameCV  = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);
        frameCV = frameCV.clone();
//        cvtools::rshift(frameCV, 8);
//        frameCV.convertTo(frameCV, CV_8UC1);
        emit newFrame(0, frameCV);
 
        frame = camera1->getFrame();
        frameCV  = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);
        frameCV = frameCV.clone();
//        cvtools::rshift(frameCV, 8);
//        frameCV.convertTo(frameCV, CV_8UC1);
        emit newFrame(1, frameCV);
 
        //std::cout << "SMCaptureWorker idle " << time.restart() << "ms" << std::endl;
 
        // Process events e.g. perform a task
        QCoreApplication::processEvents();
    }
 
    emit finished();
}
 
void SMCaptureWorker::rotateTo(float angle){
 
    if(!setupSuccessful)
        return;
 
    rotationStage->moveAbsolute(angle);
 
    while(rotationStage->isMoving()){
 
        // prevent grab timeout in flycapture
        QTest::qSleep(10);
 
        // trigger cameras
        camera0->trigger();
        camera1->trigger();
 
        // retrieve frames
        CameraFrame frame;
        frame = camera0->getFrame();
        cv::Mat frameCV;
        frameCV  = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);
        frameCV = frameCV.clone();
        emit newFrame(0, frameCV);
        frame = camera1->getFrame();
        frameCV  = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);
        frameCV = frameCV.clone();
        emit newFrame(1, frameCV);
    }
 
    emit rotatedTo(angle);
}
 
void SMCaptureWorker::acquireCalibrationSet(float angle){
 
    if(!setupSuccessful)
        return;
 
    if(angle != -1.0)
        rotateTo(angle);
 
    // just for safe measures
    QTest::qSleep(500);
 
    CameraFrame frame;
    SMCalibrationSet calibrationSet;
    cv::Mat frameCVStacked0(camera0->getFrameHeight(), camera0->getFrameWidth(), CV_32SC1, cv::Scalar(0));
    cv::Mat frameCVStacked1(camera1->getFrameHeight(), camera1->getFrameWidth(), CV_32SC1, cv::Scalar(0));
 
    for(int i=0; i<stackingCalibration; i++){
        // trigger cameras
        camera0->trigger();
        camera1->trigger();
 
        // retrieve frames
        frame = camera0->getFrame();
        cv::Mat frameCV;
        frameCV  = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);
        frameCV = frameCV.clone();
        cv::add(frameCV, frameCVStacked0, frameCVStacked0, cv::noArray(), CV_32SC1);
//cvtools::writeMat(frameCV, "frameCV.mat", "frameCV");
//cvtools::writeMat(frameCVStacked0, "frameCVStacked0.mat", "frameCVStacked0");
        emit newFrame(0, frameCV);
 
        frame = camera1->getFrame();
        frameCV  = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);
        frameCV = frameCV.clone();
        cv::add(frameCV, frameCVStacked1, frameCVStacked1, cv::noArray(), CV_32SC1);
 
        emit newFrame(1, frameCV);
 
    }
 
    frameCVStacked0.convertTo(frameCVStacked0, CV_8UC1, 1.0/stackingCalibration);
//cvtools::writeMat(frameCVStacked0, "frameCVStacked0a.mat", "frameCVStacked0a");
    frameCVStacked1.convertTo(frameCVStacked1, CV_8UC1, 1.0/stackingCalibration);
 
    calibrationSet.frame0 = frameCVStacked0;
    calibrationSet.frame1 = frameCVStacked1;
 
    calibrationSet.rotationAngle = rotationStage->getAngle();
 
    emit newCalibrationSet(calibrationSet);
}
 
void SMCaptureWorker::acquireCalibrationSets(std::vector<float> angles){
 
    if(!setupSuccessful)
        return;
 
    for(unsigned int i=0; i<angles.size(); i++)
        acquireCalibrationSet(angles[i]);
}
 
void SMCaptureWorker::acquireFrameSequence(float angle){
 
    if(!setupSuccessful)
        return;
 
    if(angle != -1.0)
        rotateTo(angle);
 
    CameraFrame frame;
    SMFrameSequence frameSequence;
 
    for(unsigned int i=0; i<algorithm->getNPatterns(); i++){
 
        // display pattern
        projector->displayPattern(i);
 
        QTest::qSleep(delay);
 
        cv::Mat frameCVStacked0(camera0->getFrameHeight(), camera0->getFrameWidth(), CV_32SC1, cv::Scalar(0));
        cv::Mat frameCVStacked1(camera1->getFrameHeight(), camera1->getFrameWidth(), CV_32SC1, cv::Scalar(0));
        for(int i=0; i<stackingAcquisition; i++){
            // trigger cameras
            camera0->trigger();
            camera1->trigger();
 
            // retrieve frames
            frame = camera0->getFrame();
            cv::Mat frameCV;
            frameCV  = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);
            frameCV = frameCV.clone();
            cv::add(frameCV, frameCVStacked0, frameCVStacked0, cv::noArray(), CV_32SC1);
 
            emit newFrame(0, frameCV);
 
            frame = camera1->getFrame();
            frameCV  = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);
            frameCV = frameCV.clone();
            cv::add(frameCV, frameCVStacked1, frameCVStacked1, cv::noArray(), CV_32SC1);
 
            emit newFrame(1, frameCV);
 
        }
 
        frameCVStacked0.convertTo(frameCVStacked0, CV_8UC1, 1.0/stackingAcquisition);
        frameCVStacked1.convertTo(frameCVStacked1, CV_8UC1, 1.0/stackingAcquisition);
 
        frameSequence.frames0.push_back(frameCVStacked0);
        frameSequence.frames1.push_back(frameCVStacked1);
 
    }
 
    frameSequence.rotationAngle = rotationStage->getAngle();
    frameSequence.codec = codec;
 
    emit newFrameSequence(frameSequence);
 
    projector->displayWhite();
}
 
 
void SMCaptureWorker::acquireFrameSequences(std::vector<float> angles){
 
    if(!setupSuccessful)
        return;
 
    for(unsigned int i=0; i<angles.size(); i++)
        acquireFrameSequence(angles[i]);
}
 
void SMCaptureWorker::abort(){}
 
void SMCaptureWorker::stopWork(){
    working = false;
}
 
SMCaptureWorker::~SMCaptureWorker(){
    delete projector;
    delete camera0;
    delete camera1;
    delete rotationStage;
}
 

Rev 164	Rev 167
1	`#include "SMCaptureWorker.h"`	1	`#include "SMCaptureWorker.h"`
2		2
3	`#include "AlgorithmGrayCode.h"`	3	`#include "AlgorithmGrayCode.h"`
4	`#include "AlgorithmGrayCodeHorzVert.h"`	4	`#include "AlgorithmGrayCodeHorzVert.h"`
5	`#include "AlgorithmGrayCodeMax.h"`	5	`#include "AlgorithmGrayCodeMax.h"`
6	`#include "AlgorithmPhaseShiftTwoFreq.h"`	6	`#include "AlgorithmPhaseShiftTwoFreq.h"`
7	`#include "AlgorithmPhaseShiftThreeFreq.h"`	7	`#include "AlgorithmPhaseShiftThreeFreq.h"`
8	`#include "AlgorithmLineShift.h"`	8	`#include "AlgorithmLineShift.h"`
9		9
10	`#include <QCoreApplication>`	10	`#include <QCoreApplication>`
11	`#include <QTime>`	11	`#include <QTime>`
12	`#include <QSettings>`	12	`#include <QSettings>`
13	`#include <QtTest/QTest>`	13	`#include <QtTest/QTest>`
14		14
15	`#include "cvtools.h"`	15	`#include "cvtools.h"`
16		16
17	`void SMCaptureWorker::setup(){`	17	`void SMCaptureWorker::setup(){`
18		18
19	`QSettings settings;`	19	`QSettings settings;`
20		20
21	`// Create cameras`	21	`// Create cameras`
22	`int iNum0 = settings.value("camera0/interfaceNumber", 0).toInt();`	22	`int iNum0 = settings.value("camera0/interfaceNumber", -1).toInt();`
23	`int cNum0 = settings.value("camera0/cameraNumber", 0).toInt();`	23	`int cNum0 = settings.value("camera0/cameraNumber", -1).toInt();`
24	`if(iNum0 != -1)`	24	`if(iNum0 != -1)`
25	`camera0 = CameraFactory::NewCamera(iNum0,cNum0,triggerModeSoftware);`	25	`camera0 = CameraFactory::NewCamera(iNum0,cNum0,triggerModeSoftware);`
-		26	`else`
-		27	`return;`
26		28
27	`int iNum1 = settings.value("camera1/interfaceNumber", 0).toInt();`	29	`int iNum1 = settings.value("camera1/interfaceNumber", -1).toInt();`
28	`int cNum1 = settings.value("camera1/cameraNumber", 1).toInt();`	30	`int cNum1 = settings.value("camera1/cameraNumber", -1).toInt();`
29	`if(iNum1 != -1)`	31	`if(iNum1 != -1)`
30	`camera1 = CameraFactory::NewCamera(iNum1,cNum1,triggerModeSoftware);`	32	`camera1 = CameraFactory::NewCamera(iNum1,cNum1,triggerModeSoftware);`
-		33	`else`
-		34	`return;`
31		35
32	`// Set camera settings`	36	`// Set camera settings`
33	`CameraSettings cameraSettings;`	37	`CameraSettings cameraSettings;`
34	`cameraSettings.shutter = settings.value("camera/shutter", 16.666).toFloat();`	38	`cameraSettings.shutter = settings.value("camera/shutter", 16.666).toFloat();`
35	`cameraSettings.gain = 0.0;`	39	`cameraSettings.gain = 0.0;`
36		40
37	`camera0->setCameraSettings(cameraSettings);`	41	`camera0->setCameraSettings(cameraSettings);`
38		42
39	`camera1->setCameraSettings(cameraSettings);`	43	`camera1->setCameraSettings(cameraSettings);`
40		44
41	`// Start capturing`	45	`// Start capturing`
42	`camera0->startCapture();`	46	`camera0->startCapture();`
43	`camera1->startCapture();`	47	`camera1->startCapture();`
44		48
45	`// Create projector`	49	`// Create projector`
46	`//int screenNum = settings.value("projector/screenNumber", -1).toInt();`	50	`//int screenNum = settings.value("projector/screenNumber", -1).toInt();`
47	`int screenNum = settings.value("projector/screenNumber", 1).toInt();`	51	`int screenNum = settings.value("projector/screenNumber", 1).toInt();`
48	`if(screenNum != -1)`	52	`if(screenNum != -1)`
49	`projector = new ProjectorOpenGL(screenNum);`	53	`projector = new ProjectorOpenGL(screenNum);`
50		54
51	`// Create rotation stage`	55	`// Create rotation stage`
52	`rotationStage = new RotationStage();`	56	`rotationStage = new RotationStage();`
53		57
54	`// Create Algorithm`	58	`// Create Algorithm`
55	`unsigned int screenCols, screenRows;`	59	`unsigned int screenCols, screenRows;`
56	`projector->getScreenRes(&screenCols, &screenRows);`	60	`projector->getScreenRes(&screenCols, &screenRows);`
57	`codec = settings.value("algorithm", "GrayCode").toString();`	61	`codec = settings.value("algorithm", "GrayCode").toString();`
58	`if(codec == "GrayCode")`	62	`if(codec == "GrayCode")`
59	`algorithm = new AlgorithmGrayCode(screenCols, screenRows);`	63	`algorithm = new AlgorithmGrayCode(screenCols, screenRows);`
60	`else if(codec == "GrayCodeHorzVert")`	64	`else if(codec == "GrayCodeHorzVert")`
61	`algorithm = new AlgorithmGrayCodeHorzVert(screenCols, screenRows);`	65	`algorithm = new AlgorithmGrayCodeHorzVert(screenCols, screenRows);`
62	`else if(codec == "GrayCodeMax")`	66	`else if(codec == "GrayCodeMax")`
63	`algorithm = new AlgorithmGrayCodeMax(screenCols, screenRows);`	67	`algorithm = new AlgorithmGrayCodeMax(screenCols, screenRows);`
64	`else if(codec == "PhaseShiftTwoFreq")`	68	`else if(codec == "PhaseShiftTwoFreq")`
65	`algorithm = new AlgorithmPhaseShiftTwoFreq(screenCols, screenRows);`	69	`algorithm = new AlgorithmPhaseShiftTwoFreq(screenCols, screenRows);`
66	`else if(codec == "PhaseShiftThreeFreq")`	70	`else if(codec == "PhaseShiftThreeFreq")`
67	`algorithm = new AlgorithmPhaseShiftThreeFreq(screenCols, screenRows);`	71	`algorithm = new AlgorithmPhaseShiftThreeFreq(screenCols, screenRows);`
68	`else if(codec == "LineShift")`	72	`else if(codec == "LineShift")`
69	`algorithm = new AlgorithmLineShift(screenCols, screenRows);`	73	`algorithm = new AlgorithmLineShift(screenCols, screenRows);`
70	`else`	74	`else`
71	`std::cerr << "SMCaptureWorker: invalid codec " << codec.toStdString() << std::endl;`	75	`std::cerr << "SMCaptureWorker: invalid codec " << codec.toStdString() << std::endl;`
72		76
73	`// Upload patterns to projector/GPU`	77	`// Upload patterns to projector/GPU`
74	`for(unsigned int i=0; i<algorithm->getNPatterns(); i++){`	78	`for(unsigned int i=0; i<algorithm->getNPatterns(); i++){`
75	`cv::Mat pattern = algorithm->getEncodingPattern(i);`	79	`cv::Mat pattern = algorithm->getEncodingPattern(i);`
76	`projector->setPattern(i, pattern.ptr(), pattern.cols, pattern.rows);`	80	`projector->setPattern(i, pattern.ptr(), pattern.cols, pattern.rows);`
77	`}`	81	`}`
78		82
79	`delay = settings.value("trigger/delay", 50).toInt();`	83	`delay = settings.value("trigger/delay", 50).toInt();`
80	`stackingCalibration = settings.value("stacking/calibration", 1).toInt();`	84	`stackingCalibration = settings.value("stacking/calibration", 1).toInt();`
81	`stackingAcquisition= settings.value("stacking/acquisition", 1).toInt();`	85	`stackingAcquisition= settings.value("stacking/acquisition", 1).toInt();`
-		86
-		87	`setupSuccessful = true;`
82	`}`	88	`}`
83		89
84		90
85	`void SMCaptureWorker::doWork(){`	91	`void SMCaptureWorker::doWork(){`
86		92
-		93	`if(!setupSuccessful)`
-		94	`return;`
-		95
87	`working = true;`	96	`working = true;`
88		97
89	`// Processing loop`	98	`// Processing loop`
90	`// QTime time;`	99	`// QTime time;`
91	`// time.start();`	100	`// time.start();`
92	`while(working){`	101	`while(working){`
93		102
94	`projector->displayWhite();`	103	`projector->displayWhite();`
95		104
96	`// prevent image acquisition timeout`	105	`// prevent image acquisition timeout`
97	`QTest::qSleep(10);`	106	`QTest::qSleep(10);`
98		107
99	`CameraFrame frame;`	108	`CameraFrame frame;`
100		109
101	`// trigger cameras`	110	`// trigger cameras`
102	`camera0->trigger();`	111	`camera0->trigger();`
103	`camera1->trigger();`	112	`camera1->trigger();`
104		113
105	`// retrieve raw frames`	114	`// retrieve raw frames`
106	`frame = camera0->getFrame();`	115	`frame = camera0->getFrame();`
107	`cv::Mat frameCV;`	116	`cv::Mat frameCV;`
108	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);`	117	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);`
109	`frameCV = frameCV.clone();`	118	`frameCV = frameCV.clone();`
110	`// cvtools::rshift(frameCV, 8);`	119	`// cvtools::rshift(frameCV, 8);`
111	`// frameCV.convertTo(frameCV, CV_8UC1);`	120	`// frameCV.convertTo(frameCV, CV_8UC1);`
112	`emit newFrame(0, frameCV);`	121	`emit newFrame(0, frameCV);`
113		122
114	`frame = camera1->getFrame();`	123	`frame = camera1->getFrame();`
115	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);`	124	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);`
116	`frameCV = frameCV.clone();`	125	`frameCV = frameCV.clone();`
117	`// cvtools::rshift(frameCV, 8);`	126	`// cvtools::rshift(frameCV, 8);`
118	`// frameCV.convertTo(frameCV, CV_8UC1);`	127	`// frameCV.convertTo(frameCV, CV_8UC1);`
119	`emit newFrame(1, frameCV);`	128	`emit newFrame(1, frameCV);`
120		129
121	`//std::cout << "SMCaptureWorker idle " << time.restart() << "ms" << std::endl;`	130	`//std::cout << "SMCaptureWorker idle " << time.restart() << "ms" << std::endl;`
122		131
123	`// Process events e.g. perform a task`	132	`// Process events e.g. perform a task`
124	`QCoreApplication::processEvents();`	133	`QCoreApplication::processEvents();`
125	`}`	134	`}`
126		135
127	`emit finished();`	136	`emit finished();`
128	`}`	137	`}`
129		138
130	`void SMCaptureWorker::rotateTo(float angle){`	139	`void SMCaptureWorker::rotateTo(float angle){`
131		140
-		141	`if(!setupSuccessful)`
-		142	`return;`
-		143
132	`rotationStage->moveAbsolute(angle);`	144	`rotationStage->moveAbsolute(angle);`
133		145
134	`while(rotationStage->isMoving()){`	146	`while(rotationStage->isMoving()){`
135		147
136	`// prevent grab timeout in flycapture`	148	`// prevent grab timeout in flycapture`
137	`QTest::qSleep(10);`	149	`QTest::qSleep(10);`
138		150
139	`// trigger cameras`	151	`// trigger cameras`
140	`camera0->trigger();`	152	`camera0->trigger();`
141	`camera1->trigger();`	153	`camera1->trigger();`
142		154
143	`// retrieve frames`	155	`// retrieve frames`
144	`CameraFrame frame;`	156	`CameraFrame frame;`
145	`frame = camera0->getFrame();`	157	`frame = camera0->getFrame();`
146	`cv::Mat frameCV;`	158	`cv::Mat frameCV;`
147	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);`	159	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);`
148	`frameCV = frameCV.clone();`	160	`frameCV = frameCV.clone();`
149	`emit newFrame(0, frameCV);`	161	`emit newFrame(0, frameCV);`
150	`frame = camera1->getFrame();`	162	`frame = camera1->getFrame();`
151	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);`	163	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);`
152	`frameCV = frameCV.clone();`	164	`frameCV = frameCV.clone();`
153	`emit newFrame(1, frameCV);`	165	`emit newFrame(1, frameCV);`
154	`}`	166	`}`
155		167
156	`emit rotatedTo(angle);`	168	`emit rotatedTo(angle);`
157	`}`	169	`}`
158		170
159	`void SMCaptureWorker::acquireCalibrationSet(float angle){`	171	`void SMCaptureWorker::acquireCalibrationSet(float angle){`
160		172
-		173	`if(!setupSuccessful)`
-		174	`return;`
-		175
161	`if(angle != -1.0)`	176	`if(angle != -1.0)`
162	`rotateTo(angle);`	177	`rotateTo(angle);`
163		178
164	`// just for safe measures`	179	`// just for safe measures`
165	`QTest::qSleep(500);`	180	`QTest::qSleep(500);`
166		181
167	`CameraFrame frame;`	182	`CameraFrame frame;`
168	`SMCalibrationSet calibrationSet;`	183	`SMCalibrationSet calibrationSet;`
169	`cv::Mat frameCVStacked0(camera0->getFrameHeight(), camera0->getFrameWidth(), CV_32SC1, cv::Scalar(0));`	184	`cv::Mat frameCVStacked0(camera0->getFrameHeight(), camera0->getFrameWidth(), CV_32SC1, cv::Scalar(0));`
170	`cv::Mat frameCVStacked1(camera1->getFrameHeight(), camera1->getFrameWidth(), CV_32SC1, cv::Scalar(0));`	185	`cv::Mat frameCVStacked1(camera1->getFrameHeight(), camera1->getFrameWidth(), CV_32SC1, cv::Scalar(0));`
171		186
172	`for(int i=0; i<stackingCalibration; i++){`	187	`for(int i=0; i<stackingCalibration; i++){`
173	`// trigger cameras`	188	`// trigger cameras`
174	`camera0->trigger();`	189	`camera0->trigger();`
175	`camera1->trigger();`	190	`camera1->trigger();`
176		191
177	`// retrieve frames`	192	`// retrieve frames`
178	`frame = camera0->getFrame();`	193	`frame = camera0->getFrame();`
179	`cv::Mat frameCV;`	194	`cv::Mat frameCV;`
180	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);`	195	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);`
181	`frameCV = frameCV.clone();`	196	`frameCV = frameCV.clone();`
182	`cv::add(frameCV, frameCVStacked0, frameCVStacked0, cv::noArray(), CV_32SC1);`	197	`cv::add(frameCV, frameCVStacked0, frameCVStacked0, cv::noArray(), CV_32SC1);`
183	`//cvtools::writeMat(frameCV, "frameCV.mat", "frameCV");`	198	`//cvtools::writeMat(frameCV, "frameCV.mat", "frameCV");`
184	`//cvtools::writeMat(frameCVStacked0, "frameCVStacked0.mat", "frameCVStacked0");`	199	`//cvtools::writeMat(frameCVStacked0, "frameCVStacked0.mat", "frameCVStacked0");`
185	`emit newFrame(0, frameCV);`	200	`emit newFrame(0, frameCV);`
186		201
187	`frame = camera1->getFrame();`	202	`frame = camera1->getFrame();`
188	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);`	203	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);`
189	`frameCV = frameCV.clone();`	204	`frameCV = frameCV.clone();`
190	`cv::add(frameCV, frameCVStacked1, frameCVStacked1, cv::noArray(), CV_32SC1);`	205	`cv::add(frameCV, frameCVStacked1, frameCVStacked1, cv::noArray(), CV_32SC1);`
191		206
192	`emit newFrame(1, frameCV);`	207	`emit newFrame(1, frameCV);`
193		208
194	`}`	209	`}`
195		210
196	`frameCVStacked0.convertTo(frameCVStacked0, CV_8UC1, 1.0/stackingCalibration);`	211	`frameCVStacked0.convertTo(frameCVStacked0, CV_8UC1, 1.0/stackingCalibration);`
197	`//cvtools::writeMat(frameCVStacked0, "frameCVStacked0a.mat", "frameCVStacked0a");`	212	`//cvtools::writeMat(frameCVStacked0, "frameCVStacked0a.mat", "frameCVStacked0a");`
198	`frameCVStacked1.convertTo(frameCVStacked1, CV_8UC1, 1.0/stackingCalibration);`	213	`frameCVStacked1.convertTo(frameCVStacked1, CV_8UC1, 1.0/stackingCalibration);`
199		214
200	`calibrationSet.frame0 = frameCVStacked0;`	215	`calibrationSet.frame0 = frameCVStacked0;`
201	`calibrationSet.frame1 = frameCVStacked1;`	216	`calibrationSet.frame1 = frameCVStacked1;`
202		217
203	`calibrationSet.rotationAngle = rotationStage->getAngle();`	218	`calibrationSet.rotationAngle = rotationStage->getAngle();`
204		219
205	`emit newCalibrationSet(calibrationSet);`	220	`emit newCalibrationSet(calibrationSet);`
206	`}`	221	`}`
207		222
208	`void SMCaptureWorker::acquireCalibrationSets(std::vector<float> angles){`	223	`void SMCaptureWorker::acquireCalibrationSets(std::vector<float> angles){`
209		224
-		225	`if(!setupSuccessful)`
-		226	`return;`
-		227
210	`for(int i=0; i<angles.size(); i++)`	228	`for(unsigned int i=0; i<angles.size(); i++)`
211	`acquireCalibrationSet(angles[i]);`	229	`acquireCalibrationSet(angles[i]);`
212	`}`	230	`}`
213		231
214	`void SMCaptureWorker::acquireFrameSequence(float angle){`	232	`void SMCaptureWorker::acquireFrameSequence(float angle){`
215		233
-		234	`if(!setupSuccessful)`
-		235	`return;`
-		236
216	`if(angle != -1.0)`	237	`if(angle != -1.0)`
217	`rotateTo(angle);`	238	`rotateTo(angle);`
218		239
219	`CameraFrame frame;`	240	`CameraFrame frame;`
220	`SMFrameSequence frameSequence;`	241	`SMFrameSequence frameSequence;`
221		242
222	`for(unsigned int i=0; i<algorithm->getNPatterns(); i++){`	243	`for(unsigned int i=0; i<algorithm->getNPatterns(); i++){`
223		244
224	`// display pattern`	245	`// display pattern`
225	`projector->displayPattern(i);`	246	`projector->displayPattern(i);`
226		247
227	`QTest::qSleep(delay);`	248	`QTest::qSleep(delay);`
228		249
229	`cv::Mat frameCVStacked0(camera0->getFrameHeight(), camera0->getFrameWidth(), CV_32SC1, cv::Scalar(0));`	250	`cv::Mat frameCVStacked0(camera0->getFrameHeight(), camera0->getFrameWidth(), CV_32SC1, cv::Scalar(0));`
230	`cv::Mat frameCVStacked1(camera1->getFrameHeight(), camera1->getFrameWidth(), CV_32SC1, cv::Scalar(0));`	251	`cv::Mat frameCVStacked1(camera1->getFrameHeight(), camera1->getFrameWidth(), CV_32SC1, cv::Scalar(0));`
231	`for(int i=0; i<stackingAcquisition; i++){`	252	`for(int i=0; i<stackingAcquisition; i++){`
232	`// trigger cameras`	253	`// trigger cameras`
233	`camera0->trigger();`	254	`camera0->trigger();`
234	`camera1->trigger();`	255	`camera1->trigger();`
235		256
236	`// retrieve frames`	257	`// retrieve frames`
237	`frame = camera0->getFrame();`	258	`frame = camera0->getFrame();`
238	`cv::Mat frameCV;`	259	`cv::Mat frameCV;`
239	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);`	260	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);`
240	`frameCV = frameCV.clone();`	261	`frameCV = frameCV.clone();`
241	`cv::add(frameCV, frameCVStacked0, frameCVStacked0, cv::noArray(), CV_32SC1);`	262	`cv::add(frameCV, frameCVStacked0, frameCVStacked0, cv::noArray(), CV_32SC1);`
242		263
243	`emit newFrame(0, frameCV);`	264	`emit newFrame(0, frameCV);`
244		265
245	`frame = camera1->getFrame();`	266	`frame = camera1->getFrame();`
246	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);`	267	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);`
247	`frameCV = frameCV.clone();`	268	`frameCV = frameCV.clone();`
248	`cv::add(frameCV, frameCVStacked1, frameCVStacked1, cv::noArray(), CV_32SC1);`	269	`cv::add(frameCV, frameCVStacked1, frameCVStacked1, cv::noArray(), CV_32SC1);`
249		270
250	`emit newFrame(1, frameCV);`	271	`emit newFrame(1, frameCV);`
251		272
252	`}`	273	`}`
253		274
254	`frameCVStacked0.convertTo(frameCVStacked0, CV_8UC1, 1.0/stackingAcquisition);`	275	`frameCVStacked0.convertTo(frameCVStacked0, CV_8UC1, 1.0/stackingAcquisition);`
255	`frameCVStacked1.convertTo(frameCVStacked1, CV_8UC1, 1.0/stackingAcquisition);`	276	`frameCVStacked1.convertTo(frameCVStacked1, CV_8UC1, 1.0/stackingAcquisition);`
256		277
257	`frameSequence.frames0.push_back(frameCVStacked0);`	278	`frameSequence.frames0.push_back(frameCVStacked0);`
258	`frameSequence.frames1.push_back(frameCVStacked1);`	279	`frameSequence.frames1.push_back(frameCVStacked1);`
259		280
260	`}`	281	`}`
261		282
262	`frameSequence.rotationAngle = rotationStage->getAngle();`	283	`frameSequence.rotationAngle = rotationStage->getAngle();`
263	`frameSequence.codec = codec;`	284	`frameSequence.codec = codec;`
264		285
265	`emit newFrameSequence(frameSequence);`	286	`emit newFrameSequence(frameSequence);`
266		287
267	`projector->displayWhite();`	288	`projector->displayWhite();`
268	`}`	289	`}`
269		290
270		291
271	`void SMCaptureWorker::acquireFrameSequences(std::vector<float> angles){`	292	`void SMCaptureWorker::acquireFrameSequences(std::vector<float> angles){`
272		293
-		294	`if(!setupSuccessful)`
-		295	`return;`
-		296
273	`for(int i=0; i<angles.size(); i++)`	297	`for(unsigned int i=0; i<angles.size(); i++)`
274	`acquireFrameSequence(angles[i]);`	298	`acquireFrameSequence(angles[i]);`
275	`}`	299	`}`
276		300
277	`void SMCaptureWorker::abort(){}`	301	`void SMCaptureWorker::abort(){}`
278		302
279	`void SMCaptureWorker::stopWork(){`	303	`void SMCaptureWorker::stopWork(){`
280	`working = false;`	304	`working = false;`
281	`}`	305	`}`
282		306
283	`SMCaptureWorker::~SMCaptureWorker(){`	307	`SMCaptureWorker::~SMCaptureWorker(){`
284	`delete projector;`	308	`delete projector;`
285	`delete camera0;`	309	`delete camera0;`
286	`delete camera1;`	310	`delete camera1;`
287	`delete rotationStage;`	311	`delete rotationStage;`
288	`}`	312	`}`
289		313

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(root)/src/SMCaptureWorker.cpp/ – Rev 164 → 167