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);
 
    if(!camera0)
        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);
 
    if(!camera1)
        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 167	Rev 169
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", -1).toInt();`	22	`int iNum0 = settings.value("camera0/interfaceNumber", -1).toInt();`
23	`int cNum0 = settings.value("camera0/cameraNumber", -1).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
26	`else`	27	`if(!camera0)`
27	`return;`	28	`return;`
28		29
29	`int iNum1 = settings.value("camera1/interfaceNumber", -1).toInt();`	30	`int iNum1 = settings.value("camera1/interfaceNumber", -1).toInt();`
30	`int cNum1 = settings.value("camera1/cameraNumber", -1).toInt();`	31	`int cNum1 = settings.value("camera1/cameraNumber", -1).toInt();`
31	`if(iNum1 != -1)`	32	`if(iNum1 != -1)`
32	`camera1 = CameraFactory::NewCamera(iNum1,cNum1,triggerModeSoftware);`	33	`camera1 = CameraFactory::NewCamera(iNum1,cNum1,triggerModeSoftware);`
-		34
33	`else`	35	`if(!camera1)`
34	`return;`	36	`return;`
35		37
36	`// Set camera settings`	38	`// Set camera settings`
37	`CameraSettings cameraSettings;`	39	`CameraSettings cameraSettings;`
38	`cameraSettings.shutter = settings.value("camera/shutter", 16.666).toFloat();`	40	`cameraSettings.shutter = settings.value("camera/shutter", 16.666).toFloat();`
39	`cameraSettings.gain = 0.0;`	41	`cameraSettings.gain = 0.0;`
40		42
41	`camera0->setCameraSettings(cameraSettings);`	43	`camera0->setCameraSettings(cameraSettings);`
42		44
43	`camera1->setCameraSettings(cameraSettings);`	45	`camera1->setCameraSettings(cameraSettings);`
44		46
45	`// Start capturing`	47	`// Start capturing`
46	`camera0->startCapture();`	48	`camera0->startCapture();`
47	`camera1->startCapture();`	49	`camera1->startCapture();`
48		50
49	`// Create projector`	51	`// Create projector`
50	`//int screenNum = settings.value("projector/screenNumber", -1).toInt();`	52	`//int screenNum = settings.value("projector/screenNumber", -1).toInt();`
51	`int screenNum = settings.value("projector/screenNumber", 1).toInt();`	53	`int screenNum = settings.value("projector/screenNumber", 1).toInt();`
52	`if(screenNum != -1)`	54	`if(screenNum != -1)`
53	`projector = new ProjectorOpenGL(screenNum);`	55	`projector = new ProjectorOpenGL(screenNum);`
54		56
55	`// Create rotation stage`	57	`// Create rotation stage`
56	`rotationStage = new RotationStage();`	58	`rotationStage = new RotationStage();`
57		59
58	`// Create Algorithm`	60	`// Create Algorithm`
59	`unsigned int screenCols, screenRows;`	61	`unsigned int screenCols, screenRows;`
60	`projector->getScreenRes(&screenCols, &screenRows);`	62	`projector->getScreenRes(&screenCols, &screenRows);`
61	`codec = settings.value("algorithm", "GrayCode").toString();`	63	`codec = settings.value("algorithm", "GrayCode").toString();`
62	`if(codec == "GrayCode")`	64	`if(codec == "GrayCode")`
63	`algorithm = new AlgorithmGrayCode(screenCols, screenRows);`	65	`algorithm = new AlgorithmGrayCode(screenCols, screenRows);`
64	`else if(codec == "GrayCodeHorzVert")`	66	`else if(codec == "GrayCodeHorzVert")`
65	`algorithm = new AlgorithmGrayCodeHorzVert(screenCols, screenRows);`	67	`algorithm = new AlgorithmGrayCodeHorzVert(screenCols, screenRows);`
66	`else if(codec == "GrayCodeMax")`	68	`else if(codec == "GrayCodeMax")`
67	`algorithm = new AlgorithmGrayCodeMax(screenCols, screenRows);`	69	`algorithm = new AlgorithmGrayCodeMax(screenCols, screenRows);`
68	`else if(codec == "PhaseShiftTwoFreq")`	70	`else if(codec == "PhaseShiftTwoFreq")`
69	`algorithm = new AlgorithmPhaseShiftTwoFreq(screenCols, screenRows);`	71	`algorithm = new AlgorithmPhaseShiftTwoFreq(screenCols, screenRows);`
70	`else if(codec == "PhaseShiftThreeFreq")`	72	`else if(codec == "PhaseShiftThreeFreq")`
71	`algorithm = new AlgorithmPhaseShiftThreeFreq(screenCols, screenRows);`	73	`algorithm = new AlgorithmPhaseShiftThreeFreq(screenCols, screenRows);`
72	`else if(codec == "LineShift")`	74	`else if(codec == "LineShift")`
73	`algorithm = new AlgorithmLineShift(screenCols, screenRows);`	75	`algorithm = new AlgorithmLineShift(screenCols, screenRows);`
74	`else`	76	`else`
75	`std::cerr << "SMCaptureWorker: invalid codec " << codec.toStdString() << std::endl;`	77	`std::cerr << "SMCaptureWorker: invalid codec " << codec.toStdString() << std::endl;`
76		78
77	`// Upload patterns to projector/GPU`	79	`// Upload patterns to projector/GPU`
78	`for(unsigned int i=0; i<algorithm->getNPatterns(); i++){`	80	`for(unsigned int i=0; i<algorithm->getNPatterns(); i++){`
79	`cv::Mat pattern = algorithm->getEncodingPattern(i);`	81	`cv::Mat pattern = algorithm->getEncodingPattern(i);`
80	`projector->setPattern(i, pattern.ptr(), pattern.cols, pattern.rows);`	82	`projector->setPattern(i, pattern.ptr(), pattern.cols, pattern.rows);`
81	`}`	83	`}`
82		84
83	`delay = settings.value("trigger/delay", 50).toInt();`	85	`delay = settings.value("trigger/delay", 50).toInt();`
84	`stackingCalibration = settings.value("stacking/calibration", 1).toInt();`	86	`stackingCalibration = settings.value("stacking/calibration", 1).toInt();`
85	`stackingAcquisition= settings.value("stacking/acquisition", 1).toInt();`	87	`stackingAcquisition= settings.value("stacking/acquisition", 1).toInt();`
86		88
87	`setupSuccessful = true;`	89	`setupSuccessful = true;`
88	`}`	90	`}`
89		91
90		92
91	`void SMCaptureWorker::doWork(){`	93	`void SMCaptureWorker::doWork(){`
92		94
93	`if(!setupSuccessful)`	95	`if(!setupSuccessful)`
94	`return;`	96	`return;`
95		97
96	`working = true;`	98	`working = true;`
97		99
98	`// Processing loop`	100	`// Processing loop`
99	`// QTime time;`	101	`// QTime time;`
100	`// time.start();`	102	`// time.start();`
101	`while(working){`	103	`while(working){`
102		104
103	`projector->displayWhite();`	105	`projector->displayWhite();`
104		106
105	`// prevent image acquisition timeout`	107	`// prevent image acquisition timeout`
106	`QTest::qSleep(10);`	108	`QTest::qSleep(10);`
107		109
108	`CameraFrame frame;`	110	`CameraFrame frame;`
109		111
110	`// trigger cameras`	112	`// trigger cameras`
111	`camera0->trigger();`	113	`camera0->trigger();`
112	`camera1->trigger();`	114	`camera1->trigger();`
113		115
114	`// retrieve raw frames`	116	`// retrieve raw frames`
115	`frame = camera0->getFrame();`	117	`frame = camera0->getFrame();`
116	`cv::Mat frameCV;`	118	`cv::Mat frameCV;`
117	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);`	119	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);`
118	`frameCV = frameCV.clone();`	120	`frameCV = frameCV.clone();`
119	`// cvtools::rshift(frameCV, 8);`	121	`// cvtools::rshift(frameCV, 8);`
120	`// frameCV.convertTo(frameCV, CV_8UC1);`	122	`// frameCV.convertTo(frameCV, CV_8UC1);`
121	`emit newFrame(0, frameCV);`	123	`emit newFrame(0, frameCV);`
122		124
123	`frame = camera1->getFrame();`	125	`frame = camera1->getFrame();`
124	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);`	126	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);`
125	`frameCV = frameCV.clone();`	127	`frameCV = frameCV.clone();`
126	`// cvtools::rshift(frameCV, 8);`	128	`// cvtools::rshift(frameCV, 8);`
127	`// frameCV.convertTo(frameCV, CV_8UC1);`	129	`// frameCV.convertTo(frameCV, CV_8UC1);`
128	`emit newFrame(1, frameCV);`	130	`emit newFrame(1, frameCV);`
129		131
130	`//std::cout << "SMCaptureWorker idle " << time.restart() << "ms" << std::endl;`	132	`//std::cout << "SMCaptureWorker idle " << time.restart() << "ms" << std::endl;`
131		133
132	`// Process events e.g. perform a task`	134	`// Process events e.g. perform a task`
133	`QCoreApplication::processEvents();`	135	`QCoreApplication::processEvents();`
134	`}`	136	`}`
135		137
136	`emit finished();`	138	`emit finished();`
137	`}`	139	`}`
138		140
139	`void SMCaptureWorker::rotateTo(float angle){`	141	`void SMCaptureWorker::rotateTo(float angle){`
140		142
141	`if(!setupSuccessful)`	143	`if(!setupSuccessful)`
142	`return;`	144	`return;`
143		145
144	`rotationStage->moveAbsolute(angle);`	146	`rotationStage->moveAbsolute(angle);`
145		147
146	`while(rotationStage->isMoving()){`	148	`while(rotationStage->isMoving()){`
147		149
148	`// prevent grab timeout in flycapture`	150	`// prevent grab timeout in flycapture`
149	`QTest::qSleep(10);`	151	`QTest::qSleep(10);`
150		152
151	`// trigger cameras`	153	`// trigger cameras`
152	`camera0->trigger();`	154	`camera0->trigger();`
153	`camera1->trigger();`	155	`camera1->trigger();`
154		156
155	`// retrieve frames`	157	`// retrieve frames`
156	`CameraFrame frame;`	158	`CameraFrame frame;`
157	`frame = camera0->getFrame();`	159	`frame = camera0->getFrame();`
158	`cv::Mat frameCV;`	160	`cv::Mat frameCV;`
159	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);`	161	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);`
160	`frameCV = frameCV.clone();`	162	`frameCV = frameCV.clone();`
161	`emit newFrame(0, frameCV);`	163	`emit newFrame(0, frameCV);`
162	`frame = camera1->getFrame();`	164	`frame = camera1->getFrame();`
163	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);`	165	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);`
164	`frameCV = frameCV.clone();`	166	`frameCV = frameCV.clone();`
165	`emit newFrame(1, frameCV);`	167	`emit newFrame(1, frameCV);`
166	`}`	168	`}`
167		169
168	`emit rotatedTo(angle);`	170	`emit rotatedTo(angle);`
169	`}`	171	`}`
170		172
171	`void SMCaptureWorker::acquireCalibrationSet(float angle){`	173	`void SMCaptureWorker::acquireCalibrationSet(float angle){`
172		174
173	`if(!setupSuccessful)`	175	`if(!setupSuccessful)`
174	`return;`	176	`return;`
175		177
176	`if(angle != -1.0)`	178	`if(angle != -1.0)`
177	`rotateTo(angle);`	179	`rotateTo(angle);`
178		180
179	`// just for safe measures`	181	`// just for safe measures`
180	`QTest::qSleep(500);`	182	`QTest::qSleep(500);`
181		183
182	`CameraFrame frame;`	184	`CameraFrame frame;`
183	`SMCalibrationSet calibrationSet;`	185	`SMCalibrationSet calibrationSet;`
184	`cv::Mat frameCVStacked0(camera0->getFrameHeight(), camera0->getFrameWidth(), CV_32SC1, cv::Scalar(0));`	186	`cv::Mat frameCVStacked0(camera0->getFrameHeight(), camera0->getFrameWidth(), CV_32SC1, cv::Scalar(0));`
185	`cv::Mat frameCVStacked1(camera1->getFrameHeight(), camera1->getFrameWidth(), CV_32SC1, cv::Scalar(0));`	187	`cv::Mat frameCVStacked1(camera1->getFrameHeight(), camera1->getFrameWidth(), CV_32SC1, cv::Scalar(0));`
186		188
187	`for(int i=0; i<stackingCalibration; i++){`	189	`for(int i=0; i<stackingCalibration; i++){`
188	`// trigger cameras`	190	`// trigger cameras`
189	`camera0->trigger();`	191	`camera0->trigger();`
190	`camera1->trigger();`	192	`camera1->trigger();`
191		193
192	`// retrieve frames`	194	`// retrieve frames`
193	`frame = camera0->getFrame();`	195	`frame = camera0->getFrame();`
194	`cv::Mat frameCV;`	196	`cv::Mat frameCV;`
195	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);`	197	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);`
196	`frameCV = frameCV.clone();`	198	`frameCV = frameCV.clone();`
197	`cv::add(frameCV, frameCVStacked0, frameCVStacked0, cv::noArray(), CV_32SC1);`	199	`cv::add(frameCV, frameCVStacked0, frameCVStacked0, cv::noArray(), CV_32SC1);`
198	`//cvtools::writeMat(frameCV, "frameCV.mat", "frameCV");`	200	`//cvtools::writeMat(frameCV, "frameCV.mat", "frameCV");`
199	`//cvtools::writeMat(frameCVStacked0, "frameCVStacked0.mat", "frameCVStacked0");`	201	`//cvtools::writeMat(frameCVStacked0, "frameCVStacked0.mat", "frameCVStacked0");`
200	`emit newFrame(0, frameCV);`	202	`emit newFrame(0, frameCV);`
201		203
202	`frame = camera1->getFrame();`	204	`frame = camera1->getFrame();`
203	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);`	205	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);`
204	`frameCV = frameCV.clone();`	206	`frameCV = frameCV.clone();`
205	`cv::add(frameCV, frameCVStacked1, frameCVStacked1, cv::noArray(), CV_32SC1);`	207	`cv::add(frameCV, frameCVStacked1, frameCVStacked1, cv::noArray(), CV_32SC1);`
206		208
207	`emit newFrame(1, frameCV);`	209	`emit newFrame(1, frameCV);`
208		210
209	`}`	211	`}`
210		212
211	`frameCVStacked0.convertTo(frameCVStacked0, CV_8UC1, 1.0/stackingCalibration);`	213	`frameCVStacked0.convertTo(frameCVStacked0, CV_8UC1, 1.0/stackingCalibration);`
212	`//cvtools::writeMat(frameCVStacked0, "frameCVStacked0a.mat", "frameCVStacked0a");`	214	`//cvtools::writeMat(frameCVStacked0, "frameCVStacked0a.mat", "frameCVStacked0a");`
213	`frameCVStacked1.convertTo(frameCVStacked1, CV_8UC1, 1.0/stackingCalibration);`	215	`frameCVStacked1.convertTo(frameCVStacked1, CV_8UC1, 1.0/stackingCalibration);`
214		216
215	`calibrationSet.frame0 = frameCVStacked0;`	217	`calibrationSet.frame0 = frameCVStacked0;`
216	`calibrationSet.frame1 = frameCVStacked1;`	218	`calibrationSet.frame1 = frameCVStacked1;`
217		219
218	`calibrationSet.rotationAngle = rotationStage->getAngle();`	220	`calibrationSet.rotationAngle = rotationStage->getAngle();`
219		221
220	`emit newCalibrationSet(calibrationSet);`	222	`emit newCalibrationSet(calibrationSet);`
221	`}`	223	`}`
222		224
223	`void SMCaptureWorker::acquireCalibrationSets(std::vector<float> angles){`	225	`void SMCaptureWorker::acquireCalibrationSets(std::vector<float> angles){`
224		226
225	`if(!setupSuccessful)`	227	`if(!setupSuccessful)`
226	`return;`	228	`return;`
227		229
228	`for(unsigned int i=0; i<angles.size(); i++)`	230	`for(unsigned int i=0; i<angles.size(); i++)`
229	`acquireCalibrationSet(angles[i]);`	231	`acquireCalibrationSet(angles[i]);`
230	`}`	232	`}`
231		233
232	`void SMCaptureWorker::acquireFrameSequence(float angle){`	234	`void SMCaptureWorker::acquireFrameSequence(float angle){`
233		235
234	`if(!setupSuccessful)`	236	`if(!setupSuccessful)`
235	`return;`	237	`return;`
236		238
237	`if(angle != -1.0)`	239	`if(angle != -1.0)`
238	`rotateTo(angle);`	240	`rotateTo(angle);`
239		241
240	`CameraFrame frame;`	242	`CameraFrame frame;`
241	`SMFrameSequence frameSequence;`	243	`SMFrameSequence frameSequence;`
242		244
243	`for(unsigned int i=0; i<algorithm->getNPatterns(); i++){`	245	`for(unsigned int i=0; i<algorithm->getNPatterns(); i++){`
244		246
245	`// display pattern`	247	`// display pattern`
246	`projector->displayPattern(i);`	248	`projector->displayPattern(i);`
247		249
248	`QTest::qSleep(delay);`	250	`QTest::qSleep(delay);`
249		251
250	`cv::Mat frameCVStacked0(camera0->getFrameHeight(), camera0->getFrameWidth(), CV_32SC1, cv::Scalar(0));`	252	`cv::Mat frameCVStacked0(camera0->getFrameHeight(), camera0->getFrameWidth(), CV_32SC1, cv::Scalar(0));`
251	`cv::Mat frameCVStacked1(camera1->getFrameHeight(), camera1->getFrameWidth(), CV_32SC1, cv::Scalar(0));`	253	`cv::Mat frameCVStacked1(camera1->getFrameHeight(), camera1->getFrameWidth(), CV_32SC1, cv::Scalar(0));`
252	`for(int i=0; i<stackingAcquisition; i++){`	254	`for(int i=0; i<stackingAcquisition; i++){`
253	`// trigger cameras`	255	`// trigger cameras`
254	`camera0->trigger();`	256	`camera0->trigger();`
255	`camera1->trigger();`	257	`camera1->trigger();`
256		258
257	`// retrieve frames`	259	`// retrieve frames`
258	`frame = camera0->getFrame();`	260	`frame = camera0->getFrame();`
259	`cv::Mat frameCV;`	261	`cv::Mat frameCV;`
260	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);`	262	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);`
261	`frameCV = frameCV.clone();`	263	`frameCV = frameCV.clone();`
262	`cv::add(frameCV, frameCVStacked0, frameCVStacked0, cv::noArray(), CV_32SC1);`	264	`cv::add(frameCV, frameCVStacked0, frameCVStacked0, cv::noArray(), CV_32SC1);`
263		265
264	`emit newFrame(0, frameCV);`	266	`emit newFrame(0, frameCV);`
265		267
266	`frame = camera1->getFrame();`	268	`frame = camera1->getFrame();`
267	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);`	269	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);`
268	`frameCV = frameCV.clone();`	270	`frameCV = frameCV.clone();`
269	`cv::add(frameCV, frameCVStacked1, frameCVStacked1, cv::noArray(), CV_32SC1);`	271	`cv::add(frameCV, frameCVStacked1, frameCVStacked1, cv::noArray(), CV_32SC1);`
270		272
271	`emit newFrame(1, frameCV);`	273	`emit newFrame(1, frameCV);`
272		274
273	`}`	275	`}`
274		276
275	`frameCVStacked0.convertTo(frameCVStacked0, CV_8UC1, 1.0/stackingAcquisition);`	277	`frameCVStacked0.convertTo(frameCVStacked0, CV_8UC1, 1.0/stackingAcquisition);`
276	`frameCVStacked1.convertTo(frameCVStacked1, CV_8UC1, 1.0/stackingAcquisition);`	278	`frameCVStacked1.convertTo(frameCVStacked1, CV_8UC1, 1.0/stackingAcquisition);`
277		279
278	`frameSequence.frames0.push_back(frameCVStacked0);`	280	`frameSequence.frames0.push_back(frameCVStacked0);`
279	`frameSequence.frames1.push_back(frameCVStacked1);`	281	`frameSequence.frames1.push_back(frameCVStacked1);`
280		282
281	`}`	283	`}`
282		284
283	`frameSequence.rotationAngle = rotationStage->getAngle();`	285	`frameSequence.rotationAngle = rotationStage->getAngle();`
284	`frameSequence.codec = codec;`	286	`frameSequence.codec = codec;`
285		287
286	`emit newFrameSequence(frameSequence);`	288	`emit newFrameSequence(frameSequence);`
287		289
288	`projector->displayWhite();`	290	`projector->displayWhite();`
289	`}`	291	`}`
290		292
291		293
292	`void SMCaptureWorker::acquireFrameSequences(std::vector<float> angles){`	294	`void SMCaptureWorker::acquireFrameSequences(std::vector<float> angles){`
293		295
294	`if(!setupSuccessful)`	296	`if(!setupSuccessful)`
295	`return;`	297	`return;`
296		298
297	`for(unsigned int i=0; i<angles.size(); i++)`	299	`for(unsigned int i=0; i<angles.size(); i++)`
298	`acquireFrameSequence(angles[i]);`	300	`acquireFrameSequence(angles[i]);`
299	`}`	301	`}`
300		302
301	`void SMCaptureWorker::abort(){}`	303	`void SMCaptureWorker::abort(){}`
302		304
303	`void SMCaptureWorker::stopWork(){`	305	`void SMCaptureWorker::stopWork(){`
304	`working = false;`	306	`working = false;`
305	`}`	307	`}`
306		308
307	`SMCaptureWorker::~SMCaptureWorker(){`	309	`SMCaptureWorker::~SMCaptureWorker(){`
308	`delete projector;`	310	`delete projector;`
309	`delete camera0;`	311	`delete camera0;`
310	`delete camera1;`	312	`delete camera1;`
311	`delete rotationStage;`	313	`delete rotationStage;`
312	`}`	314	`}`
313		315

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(root)/src/SMCaptureWorker.cpp – Rev 167 → 169