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


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

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(root)/src/SMCaptureWorker.cpp – Rev 128 → 134