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();
 
    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();
 
    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 169	Rev 170
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)`	-
25	`camera0 = CameraFactory::NewCamera(iNum0,cNum0,triggerModeSoftware);`	24	`camera0 = CameraFactory::NewCamera(iNum0,cNum0,triggerModeSoftware);`
26		25
27	`if(!camera0)`	26	`if(!camera0)`
28	`return;`	27	`return;`
29		28
30	`int iNum1 = settings.value("camera1/interfaceNumber", -1).toInt();`	29	`int iNum1 = settings.value("camera1/interfaceNumber", -1).toInt();`
31	`int cNum1 = settings.value("camera1/cameraNumber", -1).toInt();`	30	`int cNum1 = settings.value("camera1/cameraNumber", -1).toInt();`
32	`if(iNum1 != -1)`	-
33	`camera1 = CameraFactory::NewCamera(iNum1,cNum1,triggerModeSoftware);`	31	`camera1 = CameraFactory::NewCamera(iNum1,cNum1,triggerModeSoftware);`
34		32
35	`if(!camera1)`	33	`if(!camera1)`
36	`return;`	34	`return;`
37		35
38	`// Set camera settings`	36	`// Set camera settings`
39	`CameraSettings cameraSettings;`	37	`CameraSettings cameraSettings;`
40	`cameraSettings.shutter = settings.value("camera/shutter", 16.666).toFloat();`	38	`cameraSettings.shutter = settings.value("camera/shutter", 16.666).toFloat();`
41	`cameraSettings.gain = 0.0;`	39	`cameraSettings.gain = 0.0;`
42		40
43	`camera0->setCameraSettings(cameraSettings);`	41	`camera0->setCameraSettings(cameraSettings);`
44		42
45	`camera1->setCameraSettings(cameraSettings);`	43	`camera1->setCameraSettings(cameraSettings);`
46		44
47	`// Start capturing`	45	`// Start capturing`
48	`camera0->startCapture();`	46	`camera0->startCapture();`
49	`camera1->startCapture();`	47	`camera1->startCapture();`
50		48
51	`// Create projector`	49	`// Create projector`
52	`//int screenNum = settings.value("projector/screenNumber", -1).toInt();`	50	`//int screenNum = settings.value("projector/screenNumber", -1).toInt();`
53	`int screenNum = settings.value("projector/screenNumber", 1).toInt();`	51	`int screenNum = settings.value("projector/screenNumber", 1).toInt();`
54	`if(screenNum != -1)`	52	`if(screenNum != -1)`
55	`projector = new ProjectorOpenGL(screenNum);`	53	`projector = new ProjectorOpenGL(screenNum);`
56		54
57	`// Create rotation stage`	55	`// Create rotation stage`
58	`rotationStage = new RotationStage();`	56	`rotationStage = new RotationStage();`
59		57
60	`// Create Algorithm`	58	`// Create Algorithm`
61	`unsigned int screenCols, screenRows;`	59	`unsigned int screenCols, screenRows;`
62	`projector->getScreenRes(&screenCols, &screenRows);`	60	`projector->getScreenRes(&screenCols, &screenRows);`
63	`codec = settings.value("algorithm", "GrayCode").toString();`	61	`codec = settings.value("algorithm", "GrayCode").toString();`
64	`if(codec == "GrayCode")`	62	`if(codec == "GrayCode")`
65	`algorithm = new AlgorithmGrayCode(screenCols, screenRows);`	63	`algorithm = new AlgorithmGrayCode(screenCols, screenRows);`
66	`else if(codec == "GrayCodeHorzVert")`	64	`else if(codec == "GrayCodeHorzVert")`
67	`algorithm = new AlgorithmGrayCodeHorzVert(screenCols, screenRows);`	65	`algorithm = new AlgorithmGrayCodeHorzVert(screenCols, screenRows);`
68	`else if(codec == "GrayCodeMax")`	66	`else if(codec == "GrayCodeMax")`
69	`algorithm = new AlgorithmGrayCodeMax(screenCols, screenRows);`	67	`algorithm = new AlgorithmGrayCodeMax(screenCols, screenRows);`
70	`else if(codec == "PhaseShiftTwoFreq")`	68	`else if(codec == "PhaseShiftTwoFreq")`
71	`algorithm = new AlgorithmPhaseShiftTwoFreq(screenCols, screenRows);`	69	`algorithm = new AlgorithmPhaseShiftTwoFreq(screenCols, screenRows);`
72	`else if(codec == "PhaseShiftThreeFreq")`	70	`else if(codec == "PhaseShiftThreeFreq")`
73	`algorithm = new AlgorithmPhaseShiftThreeFreq(screenCols, screenRows);`	71	`algorithm = new AlgorithmPhaseShiftThreeFreq(screenCols, screenRows);`
74	`else if(codec == "LineShift")`	72	`else if(codec == "LineShift")`
75	`algorithm = new AlgorithmLineShift(screenCols, screenRows);`	73	`algorithm = new AlgorithmLineShift(screenCols, screenRows);`
76	`else`	74	`else`
77	`std::cerr << "SMCaptureWorker: invalid codec " << codec.toStdString() << std::endl;`	75	`std::cerr << "SMCaptureWorker: invalid codec " << codec.toStdString() << std::endl;`
78		76
79	`// Upload patterns to projector/GPU`	77	`// Upload patterns to projector/GPU`
80	`for(unsigned int i=0; i<algorithm->getNPatterns(); i++){`	78	`for(unsigned int i=0; i<algorithm->getNPatterns(); i++){`
81	`cv::Mat pattern = algorithm->getEncodingPattern(i);`	79	`cv::Mat pattern = algorithm->getEncodingPattern(i);`
82	`projector->setPattern(i, pattern.ptr(), pattern.cols, pattern.rows);`	80	`projector->setPattern(i, pattern.ptr(), pattern.cols, pattern.rows);`
83	`}`	81	`}`
84		82
85	`delay = settings.value("trigger/delay", 50).toInt();`	83	`delay = settings.value("trigger/delay", 50).toInt();`
86	`stackingCalibration = settings.value("stacking/calibration", 1).toInt();`	84	`stackingCalibration = settings.value("stacking/calibration", 1).toInt();`
87	`stackingAcquisition= settings.value("stacking/acquisition", 1).toInt();`	85	`stackingAcquisition= settings.value("stacking/acquisition", 1).toInt();`
88		86
89	`setupSuccessful = true;`	87	`setupSuccessful = true;`
90	`}`	88	`}`
91		89
92		90
93	`void SMCaptureWorker::doWork(){`	91	`void SMCaptureWorker::doWork(){`
94		92
95	`if(!setupSuccessful)`	93	`if(!setupSuccessful)`
96	`return;`	94	`return;`
97		95
98	`working = true;`	96	`working = true;`
99		97
100	`// Processing loop`	98	`// Processing loop`
101	`// QTime time;`	99	`// QTime time;`
102	`// time.start();`	100	`// time.start();`
103	`while(working){`	101	`while(working){`
104		102
105	`projector->displayWhite();`	103	`projector->displayWhite();`
106		104
107	`// prevent image acquisition timeout`	105	`// prevent image acquisition timeout`
108	`QTest::qSleep(10);`	106	`QTest::qSleep(10);`
109		107
110	`CameraFrame frame;`	108	`CameraFrame frame;`
111		109
112	`// trigger cameras`	110	`// trigger cameras`
113	`camera0->trigger();`	111	`camera0->trigger();`
114	`camera1->trigger();`	112	`camera1->trigger();`
115		113
116	`// retrieve raw frames`	114	`// retrieve raw frames`
117	`frame = camera0->getFrame();`	115	`frame = camera0->getFrame();`
118	`cv::Mat frameCV;`	116	`cv::Mat frameCV;`
119	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);`	117	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);`
120	`frameCV = frameCV.clone();`	118	`frameCV = frameCV.clone();`
121	`// cvtools::rshift(frameCV, 8);`	119	`// cvtools::rshift(frameCV, 8);`
122	`// frameCV.convertTo(frameCV, CV_8UC1);`	120	`// frameCV.convertTo(frameCV, CV_8UC1);`
123	`emit newFrame(0, frameCV);`	121	`emit newFrame(0, frameCV);`
124		122
125	`frame = camera1->getFrame();`	123	`frame = camera1->getFrame();`
126	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);`	124	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);`
127	`frameCV = frameCV.clone();`	125	`frameCV = frameCV.clone();`
128	`// cvtools::rshift(frameCV, 8);`	126	`// cvtools::rshift(frameCV, 8);`
129	`// frameCV.convertTo(frameCV, CV_8UC1);`	127	`// frameCV.convertTo(frameCV, CV_8UC1);`
130	`emit newFrame(1, frameCV);`	128	`emit newFrame(1, frameCV);`
131		129
132	`//std::cout << "SMCaptureWorker idle " << time.restart() << "ms" << std::endl;`	130	`//std::cout << "SMCaptureWorker idle " << time.restart() << "ms" << std::endl;`
133		131
134	`// Process events e.g. perform a task`	132	`// Process events e.g. perform a task`
135	`QCoreApplication::processEvents();`	133	`QCoreApplication::processEvents();`
136	`}`	134	`}`
137		135
138	`emit finished();`	136	`emit finished();`
139	`}`	137	`}`
140		138
141	`void SMCaptureWorker::rotateTo(float angle){`	139	`void SMCaptureWorker::rotateTo(float angle){`
142		140
143	`if(!setupSuccessful)`	141	`if(!setupSuccessful)`
144	`return;`	142	`return;`
145		143
146	`rotationStage->moveAbsolute(angle);`	144	`rotationStage->moveAbsolute(angle);`
147		145
148	`while(rotationStage->isMoving()){`	146	`while(rotationStage->isMoving()){`
149		147
150	`// prevent grab timeout in flycapture`	148	`// prevent grab timeout in flycapture`
151	`QTest::qSleep(10);`	149	`QTest::qSleep(10);`
152		150
153	`// trigger cameras`	151	`// trigger cameras`
154	`camera0->trigger();`	152	`camera0->trigger();`
155	`camera1->trigger();`	153	`camera1->trigger();`
156		154
157	`// retrieve frames`	155	`// retrieve frames`
158	`CameraFrame frame;`	156	`CameraFrame frame;`
159	`frame = camera0->getFrame();`	157	`frame = camera0->getFrame();`
160	`cv::Mat frameCV;`	158	`cv::Mat frameCV;`
161	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);`	159	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);`
162	`frameCV = frameCV.clone();`	160	`frameCV = frameCV.clone();`
163	`emit newFrame(0, frameCV);`	161	`emit newFrame(0, frameCV);`
164	`frame = camera1->getFrame();`	162	`frame = camera1->getFrame();`
165	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);`	163	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);`
166	`frameCV = frameCV.clone();`	164	`frameCV = frameCV.clone();`
167	`emit newFrame(1, frameCV);`	165	`emit newFrame(1, frameCV);`
168	`}`	166	`}`
169		167
170	`emit rotatedTo(angle);`	168	`emit rotatedTo(angle);`
171	`}`	169	`}`
172		170
173	`void SMCaptureWorker::acquireCalibrationSet(float angle){`	171	`void SMCaptureWorker::acquireCalibrationSet(float angle){`
174		172
175	`if(!setupSuccessful)`	173	`if(!setupSuccessful)`
176	`return;`	174	`return;`
177		175
178	`if(angle != -1.0)`	176	`if(angle != -1.0)`
179	`rotateTo(angle);`	177	`rotateTo(angle);`
180		178
181	`// just for safe measures`	179	`// just for safe measures`
182	`QTest::qSleep(500);`	180	`QTest::qSleep(500);`
183		181
184	`CameraFrame frame;`	182	`CameraFrame frame;`
185	`SMCalibrationSet calibrationSet;`	183	`SMCalibrationSet calibrationSet;`
186	`cv::Mat frameCVStacked0(camera0->getFrameHeight(), camera0->getFrameWidth(), CV_32SC1, cv::Scalar(0));`	184	`cv::Mat frameCVStacked0(camera0->getFrameHeight(), camera0->getFrameWidth(), CV_32SC1, cv::Scalar(0));`
187	`cv::Mat frameCVStacked1(camera1->getFrameHeight(), camera1->getFrameWidth(), CV_32SC1, cv::Scalar(0));`	185	`cv::Mat frameCVStacked1(camera1->getFrameHeight(), camera1->getFrameWidth(), CV_32SC1, cv::Scalar(0));`
188		186
189	`for(int i=0; i<stackingCalibration; i++){`	187	`for(int i=0; i<stackingCalibration; i++){`
190	`// trigger cameras`	188	`// trigger cameras`
191	`camera0->trigger();`	189	`camera0->trigger();`
192	`camera1->trigger();`	190	`camera1->trigger();`
193		191
194	`// retrieve frames`	192	`// retrieve frames`
195	`frame = camera0->getFrame();`	193	`frame = camera0->getFrame();`
196	`cv::Mat frameCV;`	194	`cv::Mat frameCV;`
197	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);`	195	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);`
198	`frameCV = frameCV.clone();`	196	`frameCV = frameCV.clone();`
199	`cv::add(frameCV, frameCVStacked0, frameCVStacked0, cv::noArray(), CV_32SC1);`	197	`cv::add(frameCV, frameCVStacked0, frameCVStacked0, cv::noArray(), CV_32SC1);`
200	`//cvtools::writeMat(frameCV, "frameCV.mat", "frameCV");`	198	`//cvtools::writeMat(frameCV, "frameCV.mat", "frameCV");`
201	`//cvtools::writeMat(frameCVStacked0, "frameCVStacked0.mat", "frameCVStacked0");`	199	`//cvtools::writeMat(frameCVStacked0, "frameCVStacked0.mat", "frameCVStacked0");`
202	`emit newFrame(0, frameCV);`	200	`emit newFrame(0, frameCV);`
203		201
204	`frame = camera1->getFrame();`	202	`frame = camera1->getFrame();`
205	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);`	203	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);`
206	`frameCV = frameCV.clone();`	204	`frameCV = frameCV.clone();`
207	`cv::add(frameCV, frameCVStacked1, frameCVStacked1, cv::noArray(), CV_32SC1);`	205	`cv::add(frameCV, frameCVStacked1, frameCVStacked1, cv::noArray(), CV_32SC1);`
208		206
209	`emit newFrame(1, frameCV);`	207	`emit newFrame(1, frameCV);`
210		208
211	`}`	209	`}`
212		210
213	`frameCVStacked0.convertTo(frameCVStacked0, CV_8UC1, 1.0/stackingCalibration);`	211	`frameCVStacked0.convertTo(frameCVStacked0, CV_8UC1, 1.0/stackingCalibration);`
214	`//cvtools::writeMat(frameCVStacked0, "frameCVStacked0a.mat", "frameCVStacked0a");`	212	`//cvtools::writeMat(frameCVStacked0, "frameCVStacked0a.mat", "frameCVStacked0a");`
215	`frameCVStacked1.convertTo(frameCVStacked1, CV_8UC1, 1.0/stackingCalibration);`	213	`frameCVStacked1.convertTo(frameCVStacked1, CV_8UC1, 1.0/stackingCalibration);`
216		214
217	`calibrationSet.frame0 = frameCVStacked0;`	215	`calibrationSet.frame0 = frameCVStacked0;`
218	`calibrationSet.frame1 = frameCVStacked1;`	216	`calibrationSet.frame1 = frameCVStacked1;`
219		217
220	`calibrationSet.rotationAngle = rotationStage->getAngle();`	218	`calibrationSet.rotationAngle = rotationStage->getAngle();`
221		219
222	`emit newCalibrationSet(calibrationSet);`	220	`emit newCalibrationSet(calibrationSet);`
223	`}`	221	`}`
224		222
225	`void SMCaptureWorker::acquireCalibrationSets(std::vector<float> angles){`	223	`void SMCaptureWorker::acquireCalibrationSets(std::vector<float> angles){`
226		224
227	`if(!setupSuccessful)`	225	`if(!setupSuccessful)`
228	`return;`	226	`return;`
229		227
230	`for(unsigned int i=0; i<angles.size(); i++)`	228	`for(unsigned int i=0; i<angles.size(); i++)`
231	`acquireCalibrationSet(angles[i]);`	229	`acquireCalibrationSet(angles[i]);`
232	`}`	230	`}`
233		231
234	`void SMCaptureWorker::acquireFrameSequence(float angle){`	232	`void SMCaptureWorker::acquireFrameSequence(float angle){`
235		233
236	`if(!setupSuccessful)`	234	`if(!setupSuccessful)`
237	`return;`	235	`return;`
238		236
239	`if(angle != -1.0)`	237	`if(angle != -1.0)`
240	`rotateTo(angle);`	238	`rotateTo(angle);`
241		239
242	`CameraFrame frame;`	240	`CameraFrame frame;`
243	`SMFrameSequence frameSequence;`	241	`SMFrameSequence frameSequence;`
244		242
245	`for(unsigned int i=0; i<algorithm->getNPatterns(); i++){`	243	`for(unsigned int i=0; i<algorithm->getNPatterns(); i++){`
246		244
247	`// display pattern`	245	`// display pattern`
248	`projector->displayPattern(i);`	246	`projector->displayPattern(i);`
249		247
250	`QTest::qSleep(delay);`	248	`QTest::qSleep(delay);`
251		249
252	`cv::Mat frameCVStacked0(camera0->getFrameHeight(), camera0->getFrameWidth(), CV_32SC1, cv::Scalar(0));`	250	`cv::Mat frameCVStacked0(camera0->getFrameHeight(), camera0->getFrameWidth(), CV_32SC1, cv::Scalar(0));`
253	`cv::Mat frameCVStacked1(camera1->getFrameHeight(), camera1->getFrameWidth(), CV_32SC1, cv::Scalar(0));`	251	`cv::Mat frameCVStacked1(camera1->getFrameHeight(), camera1->getFrameWidth(), CV_32SC1, cv::Scalar(0));`
254	`for(int i=0; i<stackingAcquisition; i++){`	252	`for(int i=0; i<stackingAcquisition; i++){`
255	`// trigger cameras`	253	`// trigger cameras`
256	`camera0->trigger();`	254	`camera0->trigger();`
257	`camera1->trigger();`	255	`camera1->trigger();`
258		256
259	`// retrieve frames`	257	`// retrieve frames`
260	`frame = camera0->getFrame();`	258	`frame = camera0->getFrame();`
261	`cv::Mat frameCV;`	259	`cv::Mat frameCV;`
262	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);`	260	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);`
263	`frameCV = frameCV.clone();`	261	`frameCV = frameCV.clone();`
264	`cv::add(frameCV, frameCVStacked0, frameCVStacked0, cv::noArray(), CV_32SC1);`	262	`cv::add(frameCV, frameCVStacked0, frameCVStacked0, cv::noArray(), CV_32SC1);`
265		263
266	`emit newFrame(0, frameCV);`	264	`emit newFrame(0, frameCV);`
267		265
268	`frame = camera1->getFrame();`	266	`frame = camera1->getFrame();`
269	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);`	267	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);`
270	`frameCV = frameCV.clone();`	268	`frameCV = frameCV.clone();`
271	`cv::add(frameCV, frameCVStacked1, frameCVStacked1, cv::noArray(), CV_32SC1);`	269	`cv::add(frameCV, frameCVStacked1, frameCVStacked1, cv::noArray(), CV_32SC1);`
272		270
273	`emit newFrame(1, frameCV);`	271	`emit newFrame(1, frameCV);`
274		272
275	`}`	273	`}`
276		274
277	`frameCVStacked0.convertTo(frameCVStacked0, CV_8UC1, 1.0/stackingAcquisition);`	275	`frameCVStacked0.convertTo(frameCVStacked0, CV_8UC1, 1.0/stackingAcquisition);`
278	`frameCVStacked1.convertTo(frameCVStacked1, CV_8UC1, 1.0/stackingAcquisition);`	276	`frameCVStacked1.convertTo(frameCVStacked1, CV_8UC1, 1.0/stackingAcquisition);`
279		277
280	`frameSequence.frames0.push_back(frameCVStacked0);`	278	`frameSequence.frames0.push_back(frameCVStacked0);`
281	`frameSequence.frames1.push_back(frameCVStacked1);`	279	`frameSequence.frames1.push_back(frameCVStacked1);`
282		280
283	`}`	281	`}`
284		282
285	`frameSequence.rotationAngle = rotationStage->getAngle();`	283	`frameSequence.rotationAngle = rotationStage->getAngle();`
286	`frameSequence.codec = codec;`	284	`frameSequence.codec = codec;`
287		285
288	`emit newFrameSequence(frameSequence);`	286	`emit newFrameSequence(frameSequence);`
289		287
290	`projector->displayWhite();`	288	`projector->displayWhite();`
291	`}`	289	`}`
292		290
293		291
294	`void SMCaptureWorker::acquireFrameSequences(std::vector<float> angles){`	292	`void SMCaptureWorker::acquireFrameSequences(std::vector<float> angles){`
295		293
296	`if(!setupSuccessful)`	294	`if(!setupSuccessful)`
297	`return;`	295	`return;`
298		296
299	`for(unsigned int i=0; i<angles.size(); i++)`	297	`for(unsigned int i=0; i<angles.size(); i++)`
300	`acquireFrameSequence(angles[i]);`	298	`acquireFrameSequence(angles[i]);`
301	`}`	299	`}`
302		300
303	`void SMCaptureWorker::abort(){}`	301	`void SMCaptureWorker::abort(){}`
304		302
305	`void SMCaptureWorker::stopWork(){`	303	`void SMCaptureWorker::stopWork(){`
306	`working = false;`	304	`working = false;`
307	`}`	305	`}`
308		306
309	`SMCaptureWorker::~SMCaptureWorker(){`	307	`SMCaptureWorker::~SMCaptureWorker(){`
310	`delete projector;`	308	`delete projector;`
311	`delete camera0;`	309	`delete camera0;`
312	`delete camera1;`	310	`delete camera1;`
313	`delete rotationStage;`	311	`delete rotationStage;`
314	`}`	312	`}`
315		313

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(root)/src/SMCaptureWorker.cpp – Rev 169 → 170