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

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(root)/src/SMCaptureWorker.cpp – Rev 137 → 139