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


#include "SMCaptureWorker.h"
 
#include "AlgorithmGrayCode.h"
#include "AlgorithmGrayCodeHorzVert.h"
#include "AlgorithmPhaseShiftTwoFreq.h"
#include "AlgorithmPhaseShiftTwoFreqHorzVert.h"
#include "AlgorithmPhaseShiftThreeFreq.h"
#include "AlgorithmPhaseShiftEmbedded.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.reset(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.reset(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.reset(new ProjectorOpenGL(screenNum));
 
//    // Create rotation stage
//    for(int i = 0; i<10; i++){
//        try{
//            delete rotationStage.get();
//            rotationStage = std::make_shared<RotationStage>();
//            break;
//        }
//        catch (...){
//            std::cerr << "trying to setup rotation stage" << std::endl;
//        }
//    }
    rotationStage.reset();
    rotationStage.reset(new RotationStage());
 
    // Create Algorithm
    unsigned int screenCols, screenRows;
    projector->getScreenRes(&screenCols, &screenRows);
    codec = settings.value("algorithm", "GrayCode").toString();
    if(codec == "GrayCode")
        algorithm.reset(new AlgorithmGrayCode(screenCols, screenRows));
    else if(codec == "GrayCodeHorzVert")
        algorithm.reset(new AlgorithmGrayCodeHorzVert(screenCols, screenRows));
    else if(codec == "PhaseShiftTwoFreq")
        algorithm.reset(new AlgorithmPhaseShiftTwoFreq(screenCols, screenRows));
    else if(codec == "PhaseShiftThreeFreq")
        algorithm.reset(new AlgorithmPhaseShiftThreeFreq(screenCols, screenRows));
    else if(codec == "PhaseShiftTwoFreqHorzVert")
        algorithm.reset(new AlgorithmPhaseShiftTwoFreqHorzVert(screenCols, screenRows));
    else if(codec == "PhaseShiftEmbedded")
        algorithm.reset(new AlgorithmPhaseShiftEmbedded(screenCols, screenRows));
    else if(codec == "LineShift")
        algorithm.reset(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;
 
    cv::Mat checkerboard(8, 8, CV_8UC3);
    checkerboard.setTo(0);
    checkerboard.rowRange(0, 4).colRange(0, 4).setTo(cv::Vec3b(255,255,255));
    checkerboard.rowRange(4, 8).colRange(4, 8).setTo(cv::Vec3b(255,255,255));
 
    // Processing loop
//    QTime time;
//    time.start();
    while(working){
 
        if(focusingPattern)
            projector->displayTexture(checkerboard.ptr(), checkerboard.cols, checkerboard.rows);
        else
            projector->displayWhite();
 
 
        // prevent image acquisition timeout
        QTest::qSleep(100);
 
        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){
    // TODO is this the right check
    if(!setupSuccessful || !rotationStage || !rotationStage->Handle)
        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 || !rotationStage || !rotationStage->Handle)
        return;
 
    if(angle != -1.0)
        rotateTo(angle);
 
    projector->displayWhite();
 
    // 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);
 
    }
 
    if(rotationStage && rotationStage->Handle)// TODO is this the right check
        frameSequence.rotationAngle = rotationStage->getAngle();
    else
        frameSequence.rotationAngle = 0;
 
    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;
}
 
 

Rev 223	Rev 226
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 "AlgorithmPhaseShiftTwoFreqHorzVert.h"`	6	`#include "AlgorithmPhaseShiftTwoFreqHorzVert.h"`
7	`#include "AlgorithmPhaseShiftThreeFreq.h"`	7	`#include "AlgorithmPhaseShiftThreeFreq.h"`
8	`#include "AlgorithmPhaseShiftEmbedded.h"`	8	`#include "AlgorithmPhaseShiftEmbedded.h"`
9	`#include "AlgorithmLineShift.h"`	9	`#include "AlgorithmLineShift.h"`
10		10
11	`#include <QCoreApplication>`	11	`#include <QCoreApplication>`
12	`#include <QTime>`	12	`#include <QTime>`
13	`#include <QSettings>`	13	`#include <QSettings>`
14	`#include <QtTest/QTest>`	14	`#include <QtTest/QTest>`
15		15
16	`#include "cvtools.h"`	16	`#include "cvtools.h"`
17		17
18	`void SMCaptureWorker::setup(){`	18	`void SMCaptureWorker::setup(){`
19		19
20	`QSettings settings;`	20	`QSettings settings;`
21		21
22	`// Create cameras`	22	`// Create cameras`
23	`int iNum0 = settings.value("camera0/interfaceNumber", -1).toInt();`	23	`int iNum0 = settings.value("camera0/interfaceNumber", -1).toInt();`
24	`int cNum0 = settings.value("camera0/cameraNumber", -1).toInt();`	24	`int cNum0 = settings.value("camera0/cameraNumber", -1).toInt();`
25	`camera0.reset(CameraFactory::NewCamera(iNum0,cNum0,triggerModeSoftware));`	25	`camera0.reset(CameraFactory::NewCamera(iNum0,cNum0,triggerModeSoftware));`
26		26
27	`if(!camera0)`	27	`if(!camera0)`
28	`return;`	28	`return;`
29		29
30	`int iNum1 = settings.value("camera1/interfaceNumber", -1).toInt();`	30	`int iNum1 = settings.value("camera1/interfaceNumber", -1).toInt();`
31	`int cNum1 = settings.value("camera1/cameraNumber", -1).toInt();`	31	`int cNum1 = settings.value("camera1/cameraNumber", -1).toInt();`
32	`camera1.reset(CameraFactory::NewCamera(iNum1,cNum1,triggerModeSoftware));`	32	`camera1.reset(CameraFactory::NewCamera(iNum1,cNum1,triggerModeSoftware));`
33		33
34	`if(!camera1)`	34	`if(!camera1)`
35	`return;`	35	`return;`
36		36
37	`// Set camera settings`	37	`// Set camera settings`
38	`CameraSettings cameraSettings;`	38	`CameraSettings cameraSettings;`
39	`cameraSettings.shutter = settings.value("camera/shutter", 16.666).toFloat();`	39	`cameraSettings.shutter = settings.value("camera/shutter", 16.666).toFloat();`
40	`cameraSettings.gain = 0.0;`	40	`cameraSettings.gain = 0.0;`
41		41
42	`camera0->setCameraSettings(cameraSettings);`	42	`camera0->setCameraSettings(cameraSettings);`
43		43
44	`camera1->setCameraSettings(cameraSettings);`	44	`camera1->setCameraSettings(cameraSettings);`
45		45
46	`// Start capturing`	46	`// Start capturing`
47	`camera0->startCapture();`	47	`camera0->startCapture();`
48	`camera1->startCapture();`	48	`camera1->startCapture();`
49		49
50	`// Create projector`	50	`// Create projector`
51	`//int screenNum = settings.value("projector/screenNumber", -1).toInt();`	51	`//int screenNum = settings.value("projector/screenNumber", -1).toInt();`
52	`int screenNum = settings.value("projector/screenNumber", 1).toInt();`	52	`int screenNum = settings.value("projector/screenNumber", 1).toInt();`
53	`if(screenNum != -1)`	53	`if(screenNum != -1)`
54	`projector.reset(new ProjectorOpenGL(screenNum));`	54	`projector.reset(new ProjectorOpenGL(screenNum));`
55		55
56	`// Create rotation stage`	56	`// // Create rotation stage`
57	`for(int i = 0; i<10; i++){`	57	`// for(int i = 0; i<10; i++){`
58	`try{`	58	`// try{`
59	`delete rotationStage.get();`	59	`// delete rotationStage.get();`
60	`rotationStage = std::make_shared<RotationStage>();`	60	`// rotationStage = std::make_shared<RotationStage>();`
61	`break;`	61	`// break;`
62	`}`	62	`// }`
63	`catch (...){`	63	`// catch (...){`
64	`std::cerr << "trying to setup rotation stage" << std::endl;`	64	`// std::cerr << "trying to setup rotation stage" << std::endl;`
65	`}`	65	`// }`
66	`}`	66	`// }`
-		67	`rotationStage.reset();`
-		68	`rotationStage.reset(new RotationStage());`
67		69
68	`// Create Algorithm`	70	`// Create Algorithm`
69	`unsigned int screenCols, screenRows;`	71	`unsigned int screenCols, screenRows;`
70	`projector->getScreenRes(&screenCols, &screenRows);`	72	`projector->getScreenRes(&screenCols, &screenRows);`
71	`codec = settings.value("algorithm", "GrayCode").toString();`	73	`codec = settings.value("algorithm", "GrayCode").toString();`
72	`if(codec == "GrayCode")`	74	`if(codec == "GrayCode")`
73	`algorithm.reset(new AlgorithmGrayCode(screenCols, screenRows));`	75	`algorithm.reset(new AlgorithmGrayCode(screenCols, screenRows));`
74	`else if(codec == "GrayCodeHorzVert")`	76	`else if(codec == "GrayCodeHorzVert")`
75	`algorithm.reset(new AlgorithmGrayCodeHorzVert(screenCols, screenRows));`	77	`algorithm.reset(new AlgorithmGrayCodeHorzVert(screenCols, screenRows));`
76	`else if(codec == "PhaseShiftTwoFreq")`	78	`else if(codec == "PhaseShiftTwoFreq")`
77	`algorithm.reset(new AlgorithmPhaseShiftTwoFreq(screenCols, screenRows));`	79	`algorithm.reset(new AlgorithmPhaseShiftTwoFreq(screenCols, screenRows));`
78	`else if(codec == "PhaseShiftThreeFreq")`	80	`else if(codec == "PhaseShiftThreeFreq")`
79	`algorithm.reset(new AlgorithmPhaseShiftThreeFreq(screenCols, screenRows));`	81	`algorithm.reset(new AlgorithmPhaseShiftThreeFreq(screenCols, screenRows));`
80	`else if(codec == "PhaseShiftTwoFreqHorzVert")`	82	`else if(codec == "PhaseShiftTwoFreqHorzVert")`
81	`algorithm.reset(new AlgorithmPhaseShiftTwoFreqHorzVert(screenCols, screenRows));`	83	`algorithm.reset(new AlgorithmPhaseShiftTwoFreqHorzVert(screenCols, screenRows));`
82	`else if(codec == "PhaseShiftEmbedded")`	84	`else if(codec == "PhaseShiftEmbedded")`
83	`algorithm.reset(new AlgorithmPhaseShiftEmbedded(screenCols, screenRows));`	85	`algorithm.reset(new AlgorithmPhaseShiftEmbedded(screenCols, screenRows));`
84	`else if(codec == "LineShift")`	86	`else if(codec == "LineShift")`
85	`algorithm.reset(new AlgorithmLineShift(screenCols, screenRows));`	87	`algorithm.reset(new AlgorithmLineShift(screenCols, screenRows));`
86	`else`	88	`else`
87	`std::cerr << "SMCaptureWorker: invalid codec " << codec.toStdString() << std::endl;`	89	`std::cerr << "SMCaptureWorker: invalid codec " << codec.toStdString() << std::endl;`
88		90
89	`// Upload patterns to projector/GPU`	91	`// Upload patterns to projector/GPU`
90	`for(unsigned int i=0; i<algorithm->getNPatterns(); i++){`	92	`for(unsigned int i=0; i<algorithm->getNPatterns(); i++){`
91	`cv::Mat pattern = algorithm->getEncodingPattern(i);`	93	`cv::Mat pattern = algorithm->getEncodingPattern(i);`
92	`projector->setPattern(i, pattern.ptr(), pattern.cols, pattern.rows);`	94	`projector->setPattern(i, pattern.ptr(), pattern.cols, pattern.rows);`
93	`}`	95	`}`
94		96
95	`delay = settings.value("trigger/delay", 50).toInt();`	97	`delay = settings.value("trigger/delay", 50).toInt();`
96	`stackingCalibration = settings.value("stacking/calibration", 1).toInt();`	98	`stackingCalibration = settings.value("stacking/calibration", 1).toInt();`
97	`stackingAcquisition= settings.value("stacking/acquisition", 1).toInt();`	99	`stackingAcquisition= settings.value("stacking/acquisition", 1).toInt();`
98		100
99	`setupSuccessful = true;`	101	`setupSuccessful = true;`
100	`}`	102	`}`
101		103
102		104
103	`void SMCaptureWorker::doWork(){`	105	`void SMCaptureWorker::doWork(){`
104		106
105	`if(!setupSuccessful)`	107	`if(!setupSuccessful)`
106	`return;`	108	`return;`
107		109
108	`working = true;`	110	`working = true;`
109		111
110	`cv::Mat checkerboard(8, 8, CV_8UC3);`	112	`cv::Mat checkerboard(8, 8, CV_8UC3);`
111	`checkerboard.setTo(0);`	113	`checkerboard.setTo(0);`
112	`checkerboard.rowRange(0, 4).colRange(0, 4).setTo(cv::Vec3b(255,255,255));`	114	`checkerboard.rowRange(0, 4).colRange(0, 4).setTo(cv::Vec3b(255,255,255));`
113	`checkerboard.rowRange(4, 8).colRange(4, 8).setTo(cv::Vec3b(255,255,255));`	115	`checkerboard.rowRange(4, 8).colRange(4, 8).setTo(cv::Vec3b(255,255,255));`
114		116
115	`// Processing loop`	117	`// Processing loop`
116	`// QTime time;`	118	`// QTime time;`
117	`// time.start();`	119	`// time.start();`
118	`while(working){`	120	`while(working){`
119		121
120	`if(focusingPattern)`	122	`if(focusingPattern)`
121	`projector->displayTexture(checkerboard.ptr(), checkerboard.cols, checkerboard.rows);`	123	`projector->displayTexture(checkerboard.ptr(), checkerboard.cols, checkerboard.rows);`
122	`else`	124	`else`
123	`projector->displayWhite();`	125	`projector->displayWhite();`
124		126
125		127
126	`// prevent image acquisition timeout`	128	`// prevent image acquisition timeout`
127	`QTest::qSleep(100);`	129	`QTest::qSleep(100);`
128		130
129	`CameraFrame frame;`	131	`CameraFrame frame;`
130		132
131	`// trigger cameras`	133	`// trigger cameras`
132	`camera0->trigger();`	134	`camera0->trigger();`
133	`camera1->trigger();`	135	`camera1->trigger();`
134		136
135	`// retrieve raw frames`	137	`// retrieve raw frames`
136	`frame = camera0->getFrame();`	138	`frame = camera0->getFrame();`
137	`cv::Mat frameCV;`	139	`cv::Mat frameCV;`
138	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);`	140	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);`
139	`frameCV = frameCV.clone();`	141	`frameCV = frameCV.clone();`
140	`// cvtools::rshift(frameCV, 8);`	142	`// cvtools::rshift(frameCV, 8);`
141	`// frameCV.convertTo(frameCV, CV_8UC1);`	143	`// frameCV.convertTo(frameCV, CV_8UC1);`
142	`emit newFrame(0, frameCV);`	144	`emit newFrame(0, frameCV);`
143		145
144	`frame = camera1->getFrame();`	146	`frame = camera1->getFrame();`
145	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);`	147	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);`
146	`frameCV = frameCV.clone();`	148	`frameCV = frameCV.clone();`
147	`// cvtools::rshift(frameCV, 8);`	149	`// cvtools::rshift(frameCV, 8);`
148	`// frameCV.convertTo(frameCV, CV_8UC1);`	150	`// frameCV.convertTo(frameCV, CV_8UC1);`
149	`emit newFrame(1, frameCV);`	151	`emit newFrame(1, frameCV);`
150		152
151	`//std::cout << "SMCaptureWorker idle " << time.restart() << "ms" << std::endl;`	153	`//std::cout << "SMCaptureWorker idle " << time.restart() << "ms" << std::endl;`
152		154
153	`// Process events e.g. perform a task`	155	`// Process events e.g. perform a task`
154	`QCoreApplication::processEvents();`	156	`QCoreApplication::processEvents();`
155	`}`	157	`}`
156		158
157	`emit finished();`	159	`emit finished();`
158	`}`	160	`}`
159		161
160	`void SMCaptureWorker::rotateTo(float angle){`	162	`void SMCaptureWorker::rotateTo(float angle){`
161	`// TODO is this the right check`	163	`// TODO is this the right check`
162	`if(!setupSuccessful \|\| !rotationStage \|\| !rotationStage->Handle)`	164	`if(!setupSuccessful \|\| !rotationStage \|\| !rotationStage->Handle)`
163	`return;`	165	`return;`
164		166
165	`rotationStage->moveAbsolute(angle);`	167	`rotationStage->moveAbsolute(angle);`
166	`while(rotationStage->isMoving()){`	168	`while(rotationStage->isMoving()){`
167		169
168	`// prevent grab timeout in flycapture`	170	`// prevent grab timeout in flycapture`
169	`QTest::qSleep(10);`	171	`QTest::qSleep(10);`
170		172
171	`// trigger cameras`	173	`// trigger cameras`
172	`camera0->trigger();`	174	`camera0->trigger();`
173	`camera1->trigger();`	175	`camera1->trigger();`
174		176
175	`// retrieve frames`	177	`// retrieve frames`
176	`CameraFrame frame;`	178	`CameraFrame frame;`
177	`frame = camera0->getFrame();`	179	`frame = camera0->getFrame();`
178	`cv::Mat frameCV;`	180	`cv::Mat frameCV;`
179	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);`	181	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);`
180	`frameCV = frameCV.clone();`	182	`frameCV = frameCV.clone();`
181	`emit newFrame(0, frameCV);`	183	`emit newFrame(0, frameCV);`
182	`frame = camera1->getFrame();`	184	`frame = camera1->getFrame();`
183	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);`	185	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);`
184	`frameCV = frameCV.clone();`	186	`frameCV = frameCV.clone();`
185	`emit newFrame(1, frameCV);`	187	`emit newFrame(1, frameCV);`
186	`}`	188	`}`
187		189
188	`emit rotatedTo(angle);`	190	`emit rotatedTo(angle);`
189	`}`	191	`}`
190		192
191	`void SMCaptureWorker::acquireCalibrationSet(float angle){`	193	`void SMCaptureWorker::acquireCalibrationSet(float angle){`
192	`if(!setupSuccessful \|\| !rotationStage \|\| !rotationStage->Handle)`	194	`if(!setupSuccessful \|\| !rotationStage \|\| !rotationStage->Handle)`
193	`return;`	195	`return;`
194		196
195	`if(angle != -1.0)`	197	`if(angle != -1.0)`
196	`rotateTo(angle);`	198	`rotateTo(angle);`
197		199
198	`projector->displayWhite();`	200	`projector->displayWhite();`
199		201
200	`// just for safe measures`	202	`// just for safe measures`
201	`QTest::qSleep(500);`	203	`QTest::qSleep(500);`
202		204
203	`CameraFrame frame;`	205	`CameraFrame frame;`
204	`SMCalibrationSet calibrationSet;`	206	`SMCalibrationSet calibrationSet;`
205	`cv::Mat frameCVStacked0(camera0->getFrameHeight(), camera0->getFrameWidth(), CV_32SC1, cv::Scalar(0));`	207	`cv::Mat frameCVStacked0(camera0->getFrameHeight(), camera0->getFrameWidth(), CV_32SC1, cv::Scalar(0));`
206	`cv::Mat frameCVStacked1(camera1->getFrameHeight(), camera1->getFrameWidth(), CV_32SC1, cv::Scalar(0));`	208	`cv::Mat frameCVStacked1(camera1->getFrameHeight(), camera1->getFrameWidth(), CV_32SC1, cv::Scalar(0));`
207		209
208	`for(int i=0; i<stackingCalibration; i++){`	210	`for(int i=0; i<stackingCalibration; i++){`
209	`// trigger cameras`	211	`// trigger cameras`
210	`camera0->trigger();`	212	`camera0->trigger();`
211	`camera1->trigger();`	213	`camera1->trigger();`
212		214
213	`// retrieve frames`	215	`// retrieve frames`
214	`frame = camera0->getFrame();`	216	`frame = camera0->getFrame();`
215	`cv::Mat frameCV;`	217	`cv::Mat frameCV;`
216	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);`	218	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);`
217	`frameCV = frameCV.clone();`	219	`frameCV = frameCV.clone();`
218	`cv::add(frameCV, frameCVStacked0, frameCVStacked0, cv::noArray(), CV_32SC1);`	220	`cv::add(frameCV, frameCVStacked0, frameCVStacked0, cv::noArray(), CV_32SC1);`
219	`//cvtools::writeMat(frameCV, "frameCV.mat", "frameCV");`	221	`//cvtools::writeMat(frameCV, "frameCV.mat", "frameCV");`
220	`//cvtools::writeMat(frameCVStacked0, "frameCVStacked0.mat", "frameCVStacked0");`	222	`//cvtools::writeMat(frameCVStacked0, "frameCVStacked0.mat", "frameCVStacked0");`
221	`emit newFrame(0, frameCV);`	223	`emit newFrame(0, frameCV);`
222		224
223	`frame = camera1->getFrame();`	225	`frame = camera1->getFrame();`
224	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);`	226	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);`
225	`frameCV = frameCV.clone();`	227	`frameCV = frameCV.clone();`
226	`cv::add(frameCV, frameCVStacked1, frameCVStacked1, cv::noArray(), CV_32SC1);`	228	`cv::add(frameCV, frameCVStacked1, frameCVStacked1, cv::noArray(), CV_32SC1);`
227		229
228	`emit newFrame(1, frameCV);`	230	`emit newFrame(1, frameCV);`
229		231
230	`}`	232	`}`
231		233
232	`frameCVStacked0.convertTo(frameCVStacked0, CV_8UC1, 1.0/stackingCalibration);`	234	`frameCVStacked0.convertTo(frameCVStacked0, CV_8UC1, 1.0/stackingCalibration);`
233	`//cvtools::writeMat(frameCVStacked0, "frameCVStacked0a.mat", "frameCVStacked0a");`	235	`//cvtools::writeMat(frameCVStacked0, "frameCVStacked0a.mat", "frameCVStacked0a");`
234	`frameCVStacked1.convertTo(frameCVStacked1, CV_8UC1, 1.0/stackingCalibration);`	236	`frameCVStacked1.convertTo(frameCVStacked1, CV_8UC1, 1.0/stackingCalibration);`
235		237
236	`calibrationSet.frame0 = frameCVStacked0;`	238	`calibrationSet.frame0 = frameCVStacked0;`
237	`calibrationSet.frame1 = frameCVStacked1;`	239	`calibrationSet.frame1 = frameCVStacked1;`
238		240
239	`calibrationSet.rotationAngle = rotationStage->getAngle();`	241	`calibrationSet.rotationAngle = rotationStage->getAngle();`
240		242
241	`emit newCalibrationSet(calibrationSet);`	243	`emit newCalibrationSet(calibrationSet);`
242	`}`	244	`}`
243		245
244	`void SMCaptureWorker::acquireCalibrationSets(std::vector<float> angles){`	246	`void SMCaptureWorker::acquireCalibrationSets(std::vector<float> angles){`
245		247
246	`if(!setupSuccessful)`	248	`if(!setupSuccessful)`
247	`return;`	249	`return;`
248		250
249	`for(unsigned int i=0; i<angles.size(); i++)`	251	`for(unsigned int i=0; i<angles.size(); i++)`
250	`acquireCalibrationSet(angles[i]);`	252	`acquireCalibrationSet(angles[i]);`
251	`}`	253	`}`
252		254
253	`void SMCaptureWorker::acquireFrameSequence(float angle){`	255	`void SMCaptureWorker::acquireFrameSequence(float angle){`
254		256
255	`if(!setupSuccessful)`	257	`if(!setupSuccessful)`
256	`return;`	258	`return;`
257		259
258	`if(angle != -1.0)`	260	`if(angle != -1.0)`
259	`rotateTo(angle);`	261	`rotateTo(angle);`
260		262
261	`CameraFrame frame;`	263	`CameraFrame frame;`
262	`SMFrameSequence frameSequence;`	264	`SMFrameSequence frameSequence;`
263		265
264	`for(unsigned int i=0; i<algorithm->getNPatterns(); i++){`	266	`for(unsigned int i=0; i<algorithm->getNPatterns(); i++){`
265		267
266	`// display pattern`	268	`// display pattern`
267	`projector->displayPattern(i);`	269	`projector->displayPattern(i);`
268		270
269	`QTest::qSleep(delay);`	271	`QTest::qSleep(delay);`
270		272
271	`cv::Mat frameCVStacked0(camera0->getFrameHeight(), camera0->getFrameWidth(), CV_32SC1, cv::Scalar(0));`	273	`cv::Mat frameCVStacked0(camera0->getFrameHeight(), camera0->getFrameWidth(), CV_32SC1, cv::Scalar(0));`
272	`cv::Mat frameCVStacked1(camera1->getFrameHeight(), camera1->getFrameWidth(), CV_32SC1, cv::Scalar(0));`	274	`cv::Mat frameCVStacked1(camera1->getFrameHeight(), camera1->getFrameWidth(), CV_32SC1, cv::Scalar(0));`
273	`for(int i=0; i<stackingAcquisition; i++){`	275	`for(int i=0; i<stackingAcquisition; i++){`
274	`// trigger cameras`	276	`// trigger cameras`
275	`camera0->trigger();`	277	`camera0->trigger();`
276	`camera1->trigger();`	278	`camera1->trigger();`
277		279
278	`// retrieve frames`	280	`// retrieve frames`
279	`frame = camera0->getFrame();`	281	`frame = camera0->getFrame();`
280	`cv::Mat frameCV;`	282	`cv::Mat frameCV;`
281	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);`	283	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);`
282	`frameCV = frameCV.clone();`	284	`frameCV = frameCV.clone();`
283	`cv::add(frameCV, frameCVStacked0, frameCVStacked0, cv::noArray(), CV_32SC1);`	285	`cv::add(frameCV, frameCVStacked0, frameCVStacked0, cv::noArray(), CV_32SC1);`
284		286
285	`emit newFrame(0, frameCV);`	287	`emit newFrame(0, frameCV);`
286		288
287	`frame = camera1->getFrame();`	289	`frame = camera1->getFrame();`
288	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);`	290	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);`
289	`frameCV = frameCV.clone();`	291	`frameCV = frameCV.clone();`
290	`cv::add(frameCV, frameCVStacked1, frameCVStacked1, cv::noArray(), CV_32SC1);`	292	`cv::add(frameCV, frameCVStacked1, frameCVStacked1, cv::noArray(), CV_32SC1);`
291		293
292	`emit newFrame(1, frameCV);`	294	`emit newFrame(1, frameCV);`
293		295
294	`}`	296	`}`
295		297
296	`frameCVStacked0.convertTo(frameCVStacked0, CV_8UC1, 1.0/stackingAcquisition);`	298	`frameCVStacked0.convertTo(frameCVStacked0, CV_8UC1, 1.0/stackingAcquisition);`
297	`frameCVStacked1.convertTo(frameCVStacked1, CV_8UC1, 1.0/stackingAcquisition);`	299	`frameCVStacked1.convertTo(frameCVStacked1, CV_8UC1, 1.0/stackingAcquisition);`
298		300
299	`frameSequence.frames0.push_back(frameCVStacked0);`	301	`frameSequence.frames0.push_back(frameCVStacked0);`
300	`frameSequence.frames1.push_back(frameCVStacked1);`	302	`frameSequence.frames1.push_back(frameCVStacked1);`
301		303
302	`}`	304	`}`
303		305
304	`if(rotationStage && rotationStage->Handle)// TODO is this the right check`	306	`if(rotationStage && rotationStage->Handle)// TODO is this the right check`
305	`frameSequence.rotationAngle = rotationStage->getAngle();`	307	`frameSequence.rotationAngle = rotationStage->getAngle();`
306	`else`	308	`else`
307	`frameSequence.rotationAngle = 0;`	309	`frameSequence.rotationAngle = 0;`
308		310
309	`frameSequence.codec = codec;`	311	`frameSequence.codec = codec;`
310		312
311	`emit newFrameSequence(frameSequence);`	313	`emit newFrameSequence(frameSequence);`
312		314
313	`projector->displayWhite();`	315	`projector->displayWhite();`
314	`}`	316	`}`
315		317
316		318
317	`void SMCaptureWorker::acquireFrameSequences(std::vector<float> angles){`	319	`void SMCaptureWorker::acquireFrameSequences(std::vector<float> angles){`
318		320
319	`if(!setupSuccessful)`	321	`if(!setupSuccessful)`
320	`return;`	322	`return;`
321		323
322	`for(unsigned int i=0; i<angles.size(); i++)`	324	`for(unsigned int i=0; i<angles.size(); i++)`
323	`acquireFrameSequence(angles[i]);`	325	`acquireFrameSequence(angles[i]);`
324	`}`	326	`}`
325		327
326	`void SMCaptureWorker::abort(){}`	328	`void SMCaptureWorker::abort(){}`
327		329
328	`void SMCaptureWorker::stopWork(){`	330	`void SMCaptureWorker::stopWork(){`
329	`working = false;`	331	`working = false;`
330	`}`	332	`}`
331		333
332		334

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(root)/src/SMCaptureWorker.cpp – Rev 223 → 226