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


#include "SMCaptureWorker.h"
 
#include "AlgorithmGrayCode.h"
#include "AlgorithmGrayCodeHorzVert.h"
#include "AlgorithmPhaseShift.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", 0).toInt();
    int cNum0 = settings.value("camera0/cameraNumber", 0).toInt();
    if(iNum0 != -1)
        camera0 = Camera::NewCamera(iNum0,cNum0,triggerModeSoftware);
 
    int iNum1 = settings.value("camera1/interfaceNumber", 0).toInt();
    int cNum1 = settings.value("camera1/cameraNumber", 1).toInt();
    if(iNum1 != -1)
        camera1 = Camera::NewCamera(iNum1,cNum1,triggerModeSoftware);
 
    // 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();
    if(screenNum != -1)
        projector = new ProjectorOpenGL(screenNum);
 
    unsigned int screenCols, screenRows;
    projector->getScreenRes(&screenCols, &screenRows);
 
    // Create rotation stage
    rotationStage = new RotationStage();
 
    // Create Algorithm
    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 == "PhaseShift")
        algorithm = new AlgorithmPhaseShift(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();
    stacking = settings.value("stacking", 1).toInt();
}
 
 
void SMCaptureWorker::doWork(){
 
    working = true;
 
    // Processing loop
//    QTime time;
//    time.start();
    while(working){
 
        projector->displayWhite();
 
        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_16UC1, 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_16UC1, 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){
 
    rotationStage->moveAbsolute(angle);
 
    while(rotationStage->isMoving()){
 
        // trigger cameras
        camera0->trigger();
        camera1->trigger();
 
        // retrieve frames
        CameraFrame frame;
        frame = camera0->getFrame();
        cv::Mat frameCV;
        frameCV  = cv::Mat(frame.height, frame.width, CV_16UC1, frame.memory);
        frameCV = frameCV.clone();
        emit newFrame(0, frameCV);
        frame = camera1->getFrame();
        frameCV  = cv::Mat(frame.height, frame.width, CV_16UC1, frame.memory);
        frameCV = frameCV.clone();
        emit newFrame(1, frameCV);
    }
 
    emit rotatedTo(angle);
}
 
void SMCaptureWorker::acquireCalibrationSet(float angle){
 
    if(angle != -1.0)
        rotateTo(angle);
 
    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<stacking; i++){
        // trigger cameras
        camera0->trigger();
        camera1->trigger();
 
        // retrieve frames
        frame = camera0->getFrame();
        cv::Mat frameCV;
        frameCV  = cv::Mat(frame.height, frame.width, CV_16UC1, 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_16UC1, frame.memory);
        frameCV = frameCV.clone();
        cv::add(frameCV, frameCVStacked1, frameCVStacked1, cv::noArray(), CV_32SC1);
 
        emit newFrame(1, frameCV);
 
    }
 
    frameCVStacked0.convertTo(frameCVStacked0, CV_16UC1, 1.0/stacking);
cvtools::writeMat(frameCVStacked0, "frameCVStacked0a.mat", "frameCVStacked0a");
    frameCVStacked1.convertTo(frameCVStacked1, CV_16UC1, 1.0/stacking);
 
    calibrationSet.frame0 = frameCVStacked0;
    calibrationSet.frame1 = frameCVStacked1;
 
    calibrationSet.rotationAngle = rotationStage->getAngle();
 
    emit newCalibrationSet(calibrationSet);
}
 
void SMCaptureWorker::acquireCalibrationSets(std::vector<float> angles){
 
    for(int i=0; i<angles.size(); i++)
        acquireCalibrationSet(angles[i]);
}
 
void SMCaptureWorker::acquireFrameSequence(float angle){
 
    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<stacking; i++){
            // trigger cameras
            camera0->trigger();
            camera1->trigger();
 
            // retrieve frames
            frame = camera0->getFrame();
            cv::Mat frameCV;
            frameCV  = cv::Mat(frame.height, frame.width, CV_16UC1, 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_16UC1, frame.memory);
            frameCV = frameCV.clone();
            cv::add(frameCV, frameCVStacked1, frameCVStacked1, cv::noArray(), CV_32SC1);
 
            emit newFrame(1, frameCV);
 
        }
 
        frameCVStacked0.convertTo(frameCVStacked0, CV_16UC1, 1.0/stacking);
        frameCVStacked1.convertTo(frameCVStacked1, CV_16UC1, 1.0/stacking);
 
        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){
 
    for(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 114	Rev 120
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 "AlgorithmPhaseShift.h"`	5	`#include "AlgorithmPhaseShift.h"`
6		6
7	`#include <QCoreApplication>`	7	`#include <QCoreApplication>`
8	`#include <QTime>`	8	`#include <QTime>`
9	`#include <QSettings>`	9	`#include <QSettings>`
10	`#include <QtTest/QTest>`	10	`#include <QtTest/QTest>`
11		11
-		12	`#include "cvtools.h"`
-		13
12	`void SMCaptureWorker::setup(){`	14	`void SMCaptureWorker::setup(){`
13		15
14	`QSettings settings;`	16	`QSettings settings;`
15		17
16	`// Create cameras`	18	`// Create cameras`
17	`int iNum0 = settings.value("camera0/interfaceNumber", 0).toInt();`	19	`int iNum0 = settings.value("camera0/interfaceNumber", 0).toInt();`
18	`int cNum0 = settings.value("camera0/cameraNumber", 0).toInt();`	20	`int cNum0 = settings.value("camera0/cameraNumber", 0).toInt();`
19	`if(iNum0 != -1)`	21	`if(iNum0 != -1)`
20	`camera0 = Camera::NewCamera(iNum0,cNum0,triggerModeSoftware);`	22	`camera0 = Camera::NewCamera(iNum0,cNum0,triggerModeSoftware);`
21		23
22	`int iNum1 = settings.value("camera1/interfaceNumber", 0).toInt();`	24	`int iNum1 = settings.value("camera1/interfaceNumber", 0).toInt();`
23	`int cNum1 = settings.value("camera1/cameraNumber", 1).toInt();`	25	`int cNum1 = settings.value("camera1/cameraNumber", 1).toInt();`
24	`if(iNum1 != -1)`	26	`if(iNum1 != -1)`
25	`camera1 = Camera::NewCamera(iNum1,cNum1,triggerModeSoftware);`	27	`camera1 = Camera::NewCamera(iNum1,cNum1,triggerModeSoftware);`
26		28
27	`// Set camera settings`	29	`// Set camera settings`
28	`CameraSettings cameraSettings;`	30	`CameraSettings cameraSettings;`
29	`cameraSettings.shutter = settings.value("camera/shutter", 16.666).toFloat();`	31	`cameraSettings.shutter = settings.value("camera/shutter", 16.666).toFloat();`
30	`cameraSettings.gain = 0.0;`	32	`cameraSettings.gain = 0.0;`
31		33
32	`camera0->setCameraSettings(cameraSettings);`	34	`camera0->setCameraSettings(cameraSettings);`
33	`camera1->setCameraSettings(cameraSettings);`	35	`camera1->setCameraSettings(cameraSettings);`
34		36
35	`// Start capturing`	37	`// Start capturing`
36	`camera0->startCapture();`	38	`camera0->startCapture();`
37	`camera1->startCapture();`	39	`camera1->startCapture();`
38		40
39	`// Create projector`	41	`// Create projector`
40	`int screenNum = settings.value("projector/screenNumber", 1).toInt();`	42	`int screenNum = settings.value("projector/screenNumber", 1).toInt();`
41	`if(screenNum != -1)`	43	`if(screenNum != -1)`
42	`projector = new ProjectorOpenGL(screenNum);`	44	`projector = new ProjectorOpenGL(screenNum);`
43		45
44	`unsigned int screenCols, screenRows;`	46	`unsigned int screenCols, screenRows;`
45	`projector->getScreenRes(&screenCols, &screenRows);`	47	`projector->getScreenRes(&screenCols, &screenRows);`
46		48
47	`// Create rotation stage`	49	`// Create rotation stage`
48	`rotationStage = new RotationStage();`	50	`rotationStage = new RotationStage();`
49		51
50	`// Create Algorithm`	52	`// Create Algorithm`
51	`codec = settings.value("algorithm", "GrayCode").toString();`	53	`codec = settings.value("algorithm", "GrayCode").toString();`
52	`if(codec == "GrayCode")`	54	`if(codec == "GrayCode")`
53	`algorithm = new AlgorithmGrayCode(screenCols, screenRows);`	55	`algorithm = new AlgorithmGrayCode(screenCols, screenRows);`
54	`else if(codec == "GrayCodeHorzVert")`	56	`else if(codec == "GrayCodeHorzVert")`
55	`algorithm = new AlgorithmGrayCodeHorzVert(screenCols, screenRows);`	57	`algorithm = new AlgorithmGrayCodeHorzVert(screenCols, screenRows);`
56	`else if(codec == "PhaseShift")`	58	`else if(codec == "PhaseShift")`
57	`algorithm = new AlgorithmPhaseShift(screenCols, screenRows);`	59	`algorithm = new AlgorithmPhaseShift(screenCols, screenRows);`
58	`else`	60	`else`
59	`std::cerr << "SMCaptureWorker: invalid codec " << codec.toStdString() << std::endl;`	61	`std::cerr << "SMCaptureWorker: invalid codec " << codec.toStdString() << std::endl;`
60		62
61		63
62	`// Upload patterns to projector/GPU`	64	`// Upload patterns to projector/GPU`
63	`for(unsigned int i=0; i<algorithm->getNPatterns(); i++){`	65	`for(unsigned int i=0; i<algorithm->getNPatterns(); i++){`
64	`cv::Mat pattern = algorithm->getEncodingPattern(i);`	66	`cv::Mat pattern = algorithm->getEncodingPattern(i);`
65	`projector->setPattern(i, pattern.ptr(), pattern.cols, pattern.rows);`	67	`projector->setPattern(i, pattern.ptr(), pattern.cols, pattern.rows);`
66	`}`	68	`}`
67		69
68	`delay = settings.value("trigger/delay", 50).toInt();`	70	`delay = settings.value("trigger/delay", 50).toInt();`
69	`stacking = settings.value("stacking", 1).toInt();`	71	`stacking = settings.value("stacking", 1).toInt();`
70	`}`	72	`}`
71		73
72		74
73	`void SMCaptureWorker::doWork(){`	75	`void SMCaptureWorker::doWork(){`
74		76
75	`working = true;`	77	`working = true;`
76		78
77	`// Processing loop`	79	`// Processing loop`
78	`// QTime time;`	80	`// QTime time;`
79	`// time.start();`	81	`// time.start();`
80	`while(working){`	82	`while(working){`
81		83
82	`projector->displayWhite();`	84	`projector->displayWhite();`
83		85
84	`CameraFrame frame;`	86	`CameraFrame frame;`
85		87
86	`// trigger cameras`	88	`// trigger cameras`
87	`camera0->trigger();`	89	`camera0->trigger();`
88	`camera1->trigger();`	90	`camera1->trigger();`
89		91
90	`// retrieve raw frames`	92	`// retrieve raw frames`
91	`frame = camera0->getFrame();`	93	`frame = camera0->getFrame();`
92	`cv::Mat frameCV;`	94	`cv::Mat frameCV;`
93	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);`	95	`frameCV = cv::Mat(frame.height, frame.width, CV_16UC1, frame.memory);`
94	`frameCV = frameCV.clone();`	96	`frameCV = frameCV.clone();`
-		97	`cvtools::rshift(frameCV, 8);`
-		98	`frameCV.convertTo(frameCV, CV_8UC1);`
95	`emit newFrame(0, frameCV);`	99	`emit newFrame(0, frameCV);`
96		100
97	`frame = camera1->getFrame();`	101	`frame = camera1->getFrame();`
98	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);`	102	`frameCV = cv::Mat(frame.height, frame.width, CV_16UC1, frame.memory);`
99	`frameCV = frameCV.clone();`	103	`frameCV = frameCV.clone();`
-		104	`cvtools::rshift(frameCV, 8);`
-		105	`frameCV.convertTo(frameCV, CV_8UC1);`
100	`emit newFrame(1, frameCV);`	106	`emit newFrame(1, frameCV);`
101		107
102	`//std::cout << "SMCaptureWorker idle " << time.restart() << "ms" << std::endl;`	108	`//std::cout << "SMCaptureWorker idle " << time.restart() << "ms" << std::endl;`
103		109
104	`// Process events e.g. perform a task`	110	`// Process events e.g. perform a task`
105	`QCoreApplication::processEvents();`	111	`QCoreApplication::processEvents();`
106	`}`	112	`}`
107		113
108	`emit finished();`	114	`emit finished();`
109	`}`	115	`}`
110		116
111	`void SMCaptureWorker::rotateTo(float angle){`	117	`void SMCaptureWorker::rotateTo(float angle){`
112		118
113	`rotationStage->moveAbsolute(angle);`	119	`rotationStage->moveAbsolute(angle);`
114		120
115	`while(rotationStage->isMoving()){`	121	`while(rotationStage->isMoving()){`
116		122
117	`// trigger cameras`	123	`// trigger cameras`
118	`camera0->trigger();`	124	`camera0->trigger();`
119	`camera1->trigger();`	125	`camera1->trigger();`
120		126
121	`// retrieve frames`	127	`// retrieve frames`
122	`CameraFrame frame;`	128	`CameraFrame frame;`
123	`frame = camera0->getFrame();`	129	`frame = camera0->getFrame();`
124	`cv::Mat frameCV;`	130	`cv::Mat frameCV;`
125	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);`	131	`frameCV = cv::Mat(frame.height, frame.width, CV_16UC1, frame.memory);`
126	`frameCV = frameCV.clone();`	132	`frameCV = frameCV.clone();`
127	`emit newFrame(0, frameCV);`	133	`emit newFrame(0, frameCV);`
128	`frame = camera1->getFrame();`	134	`frame = camera1->getFrame();`
129	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);`	135	`frameCV = cv::Mat(frame.height, frame.width, CV_16UC1, frame.memory);`
130	`frameCV = frameCV.clone();`	136	`frameCV = frameCV.clone();`
131	`emit newFrame(1, frameCV);`	137	`emit newFrame(1, frameCV);`
132	`}`	138	`}`
133		139
134	`emit rotatedTo(angle);`	140	`emit rotatedTo(angle);`
135	`}`	141	`}`
136		142
137	`void SMCaptureWorker::acquireCalibrationSet(float angle){`	143	`void SMCaptureWorker::acquireCalibrationSet(float angle){`
138		144
139	`if(angle != -1.0)`	145	`if(angle != -1.0)`
140	`rotateTo(angle);`	146	`rotateTo(angle);`
141		147
142	`CameraFrame frame;`	148	`CameraFrame frame;`
143	`SMCalibrationSet calibrationSet;`	149	`SMCalibrationSet calibrationSet;`
144	`cv::Mat frameCVStacked0(camera0->getFrameHeight(), camera0->getFrameWidth(), CV_16UC1, cv::Scalar(0));`	150	`cv::Mat frameCVStacked0(camera0->getFrameHeight(), camera0->getFrameWidth(), CV_32SC1, cv::Scalar(0));`
145	`cv::Mat frameCVStacked1(camera1->getFrameHeight(), camera1->getFrameWidth(), CV_16UC1, cv::Scalar(0));`	151	`cv::Mat frameCVStacked1(camera1->getFrameHeight(), camera1->getFrameWidth(), CV_32SC1, cv::Scalar(0));`
146		152
147	`for(int i=0; i<stacking; i++){`	153	`for(int i=0; i<stacking; i++){`
148	`// trigger cameras`	154	`// trigger cameras`
149	`camera0->trigger();`	155	`camera0->trigger();`
150	`camera1->trigger();`	156	`camera1->trigger();`
151		157
152	`// retrieve frames`	158	`// retrieve frames`
153	`frame = camera0->getFrame();`	159	`frame = camera0->getFrame();`
154	`cv::Mat frameCV;`	160	`cv::Mat frameCV;`
155	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);`	161	`frameCV = cv::Mat(frame.height, frame.width, CV_16UC1, frame.memory);`
156	`frameCV = frameCV.clone();`	162	`frameCV = frameCV.clone();`
157	`cv::add(frameCV, frameCVStacked0, frameCVStacked0, cv::noArray(), CV_16UC1);`	163	`cv::add(frameCV, frameCVStacked0, frameCVStacked0, cv::noArray(), CV_32SC1);`
158		-
-		164	`cvtools::writeMat(frameCV, "frameCV.mat", "frameCV");`
-		165	`cvtools::writeMat(frameCVStacked0, "frameCVStacked0.mat", "frameCVStacked0");`
159	`emit newFrame(0, frameCV);`	166	`emit newFrame(0, frameCV);`
160		167
161	`frame = camera1->getFrame();`	168	`frame = camera1->getFrame();`
162	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);`	169	`frameCV = cv::Mat(frame.height, frame.width, CV_16UC1, frame.memory);`
163	`frameCV = frameCV.clone();`	170	`frameCV = frameCV.clone();`
164	`cv::add(frameCV, frameCVStacked1, frameCVStacked1, cv::noArray(), CV_16UC1);`	171	`cv::add(frameCV, frameCVStacked1, frameCVStacked1, cv::noArray(), CV_32SC1);`
165		172
166	`emit newFrame(1, frameCV);`	173	`emit newFrame(1, frameCV);`
167		174
168	`}`	175	`}`
169		176
170	`frameCVStacked0.convertTo(frameCVStacked0, CV_8UC1, 1.0/stacking);`	177	`frameCVStacked0.convertTo(frameCVStacked0, CV_16UC1, 1.0/stacking);`
-		178	`cvtools::writeMat(frameCVStacked0, "frameCVStacked0a.mat", "frameCVStacked0a");`
171	`frameCVStacked1.convertTo(frameCVStacked1, CV_8UC1, 1.0/stacking);`	179	`frameCVStacked1.convertTo(frameCVStacked1, CV_16UC1, 1.0/stacking);`
172		180
173	`calibrationSet.frame0 = frameCVStacked0;`	181	`calibrationSet.frame0 = frameCVStacked0;`
174	`calibrationSet.frame1 = frameCVStacked1;`	182	`calibrationSet.frame1 = frameCVStacked1;`
175		183
176	`calibrationSet.rotationAngle = rotationStage->getAngle();`	184	`calibrationSet.rotationAngle = rotationStage->getAngle();`
177		185
178	`emit newCalibrationSet(calibrationSet);`	186	`emit newCalibrationSet(calibrationSet);`
179	`}`	187	`}`
180		188
181	`void SMCaptureWorker::acquireCalibrationSets(std::vector<float> angles){`	189	`void SMCaptureWorker::acquireCalibrationSets(std::vector<float> angles){`
182		190
183	`for(int i=0; i<angles.size(); i++)`	191	`for(int i=0; i<angles.size(); i++)`
184	`acquireCalibrationSet(angles[i]);`	192	`acquireCalibrationSet(angles[i]);`
185	`}`	193	`}`
186		194
187	`void SMCaptureWorker::acquireFrameSequence(float angle){`	195	`void SMCaptureWorker::acquireFrameSequence(float angle){`
188		196
189	`if(angle != -1.0)`	197	`if(angle != -1.0)`
190	`rotateTo(angle);`	198	`rotateTo(angle);`
191		199
192	`CameraFrame frame;`	200	`CameraFrame frame;`
193	`SMFrameSequence frameSequence;`	201	`SMFrameSequence frameSequence;`
194		202
195	`for(unsigned int i=0; i<algorithm->getNPatterns(); i++){`	203	`for(unsigned int i=0; i<algorithm->getNPatterns(); i++){`
196		204
197	`// display pattern`	205	`// display pattern`
198	`projector->displayPattern(i);`	206	`projector->displayPattern(i);`
199		207
200	`QTest::qSleep(delay);`	208	`QTest::qSleep(delay);`
201		209
202	`cv::Mat frameCVStacked0(camera0->getFrameHeight(), camera0->getFrameWidth(), CV_16UC1, cv::Scalar(0));`	210	`cv::Mat frameCVStacked0(camera0->getFrameHeight(), camera0->getFrameWidth(), CV_32SC1, cv::Scalar(0));`
203	`cv::Mat frameCVStacked1(camera1->getFrameHeight(), camera1->getFrameWidth(), CV_16UC1, cv::Scalar(0));`	211	`cv::Mat frameCVStacked1(camera1->getFrameHeight(), camera1->getFrameWidth(), CV_32SC1, cv::Scalar(0));`
204	`for(int i=0; i<stacking; i++){`	212	`for(int i=0; i<stacking; i++){`
205	`// trigger cameras`	213	`// trigger cameras`
206	`camera0->trigger();`	214	`camera0->trigger();`
207	`camera1->trigger();`	215	`camera1->trigger();`
208		216
209	`// retrieve frames`	217	`// retrieve frames`
210	`frame = camera0->getFrame();`	218	`frame = camera0->getFrame();`
211	`cv::Mat frameCV;`	219	`cv::Mat frameCV;`
212	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);`	220	`frameCV = cv::Mat(frame.height, frame.width, CV_16UC1, frame.memory);`
213	`frameCV = frameCV.clone();`	221	`frameCV = frameCV.clone();`
214	`cv::add(frameCV, frameCVStacked0, frameCVStacked0, cv::noArray(), CV_16UC1);`	222	`cv::add(frameCV, frameCVStacked0, frameCVStacked0, cv::noArray(), CV_32SC1);`
215		223
216	`emit newFrame(0, frameCV);`	224	`emit newFrame(0, frameCV);`
217		225
218	`frame = camera1->getFrame();`	226	`frame = camera1->getFrame();`
219	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);`	227	`frameCV = cv::Mat(frame.height, frame.width, CV_16UC1, frame.memory);`
220	`frameCV = frameCV.clone();`	228	`frameCV = frameCV.clone();`
221	`cv::add(frameCV, frameCVStacked1, frameCVStacked1, cv::noArray(), CV_16UC1);`	229	`cv::add(frameCV, frameCVStacked1, frameCVStacked1, cv::noArray(), CV_32SC1);`
222		230
223	`emit newFrame(1, frameCV);`	231	`emit newFrame(1, frameCV);`
224		232
225	`}`	233	`}`
226		234
227	`frameCVStacked0.convertTo(frameCVStacked0, CV_8UC1, 1.0/stacking);`	235	`frameCVStacked0.convertTo(frameCVStacked0, CV_16UC1, 1.0/stacking);`
228	`frameCVStacked1.convertTo(frameCVStacked1, CV_8UC1, 1.0/stacking);`	236	`frameCVStacked1.convertTo(frameCVStacked1, CV_16UC1, 1.0/stacking);`
229		237
230	`frameSequence.frames0.push_back(frameCVStacked0);`	238	`frameSequence.frames0.push_back(frameCVStacked0);`
231	`frameSequence.frames1.push_back(frameCVStacked1);`	239	`frameSequence.frames1.push_back(frameCVStacked1);`
232		240
233	`}`	241	`}`
234		242
235	`frameSequence.rotationAngle = rotationStage->getAngle();`	243	`frameSequence.rotationAngle = rotationStage->getAngle();`
236	`frameSequence.codec = codec;`	244	`frameSequence.codec = codec;`
237		245
238	`emit newFrameSequence(frameSequence);`	246	`emit newFrameSequence(frameSequence);`
239		247
240	`projector->displayWhite();`	248	`projector->displayWhite();`
241	`}`	249	`}`
242		250
243		251
244	`void SMCaptureWorker::acquireFrameSequences(std::vector<float> angles){`	252	`void SMCaptureWorker::acquireFrameSequences(std::vector<float> angles){`
245		253
246	`for(int i=0; i<angles.size(); i++)`	254	`for(int i=0; i<angles.size(); i++)`
247	`acquireFrameSequence(angles[i]);`	255	`acquireFrameSequence(angles[i]);`
248	`}`	256	`}`
249		257
250	`void SMCaptureWorker::abort(){}`	258	`void SMCaptureWorker::abort(){}`
251		259
252	`void SMCaptureWorker::stopWork(){`	260	`void SMCaptureWorker::stopWork(){`
253	`working = false;`	261	`working = false;`
254	`}`	262	`}`
255		263
256	`SMCaptureWorker::~SMCaptureWorker(){`	264	`SMCaptureWorker::~SMCaptureWorker(){`
257	`delete projector;`	265	`delete projector;`
258	`// delete camera0;`	266	`// delete camera0;`
259	`// delete camera1;`	267	`// delete camera1;`
260	`delete rotationStage;`	268	`delete rotationStage;`
261	`}`	269	`}`
262		270

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(root)/src/SMCaptureWorker.cpp – Rev 114 → 120