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);
    std::cout << "Screen res: " << screenCols << " x " << screenRows << std::endl;
    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::acquireFrameSequenceLDR(SMFrameSequence &frameSequence){
 
 
 
    CameraFrame frame;
 
    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);
 
    }
 
 
}
 
void SMCaptureWorker::acquireFrameSequenceHDR(SMFrameSequence &frameSequence){
 
    QSettings settings;
    QString shuttersString = settings.value("camera/shuttersHDR").toString();
    QStringList list = shuttersString.split("/");
    std::vector<float> shutters(list.size());
    for(int i=0; i<list.size(); i++)
        shutters[i] = list[i].toFloat();
    if(shutters.empty()){
        std::cerr << "Could not read HDR shutter times" << std::endl;
        return;
    }
 
    int nShutters = shutters.size();
 
    CameraSettings cameraSettings;
 
    for(int i=0; i<nShutters; i++){
        std::cout << "Acquiring HDR frame sequence "
                  << i + 1 << "/" << nShutters << std::endl;
        std::cout << "Shutter time [ms] "
                  << shutters[i] << std::endl;
 
        // Set camera shutter
        cameraSettings.shutter = shutters[i];
 
        // assert that shutter is given in ms
        assert(cameraSettings.shutter < 2000.0);
 
        camera0->setCameraSettings(cameraSettings);
        camera1->setCameraSettings(cameraSettings);
 
        // Project/acquire sequence
        SMFrameSequence frameSequenceLDR;
        acquireFrameSequenceLDR(frameSequenceLDR);
 
        frameSequence.frames0.insert(frameSequence.frames0.end(), frameSequenceLDR.frames0.begin(), frameSequenceLDR.frames0.end());
        frameSequence.frames1.insert(frameSequence.frames1.end(), frameSequenceLDR.frames1.begin(), frameSequenceLDR.frames1.end());
 
    }
 
    frameSequence.shutters = shutters;
 
    // Set camera shutter back to default
    cameraSettings.shutter = settings.value("shutter", 66.666).toFloat();
 
    camera0->setCameraSettings(cameraSettings);
    camera1->setCameraSettings(cameraSettings);
 
}
 
 
void SMCaptureWorker::acquireFrameSequence(float angle){
 
    if(!setupSuccessful)
        return;
 
    if(int(angle) != -1.0)
        rotateTo(angle);
 
    SMFrameSequence frameSequence;
 
    QSettings settings;
    bool HDR = settings.value("camera/shuttersHDR").toString() != QString("");
    if(HDR)
        acquireFrameSequenceHDR(frameSequence);
    else
        acquireFrameSequenceLDR(frameSequence);
 
 
    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 245	Rev 255
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	`camera1->setCameraSettings(cameraSettings);`	43	`camera1->setCameraSettings(cameraSettings);`
44		44
45	`// Start capturing`	45	`// Start capturing`
46	`camera0->startCapture();`	46	`camera0->startCapture();`
47	`camera1->startCapture();`	47	`camera1->startCapture();`
48		48
49	`// Create projector`	49	`// Create projector`
50	`//int screenNum = settings.value("projector/screenNumber", -1).toInt();`	50	`//int screenNum = settings.value("projector/screenNumber", -1).toInt();`
51	`int screenNum = settings.value("projector/screenNumber", 1).toInt();`	51	`int screenNum = settings.value("projector/screenNumber", 1).toInt();`
52	`if(screenNum != -1)`	52	`if(screenNum != -1)`
53	`projector.reset(new ProjectorOpenGL(screenNum));`	53	`projector.reset(new ProjectorOpenGL(screenNum));`
54		54
55	`// // Create rotation stage`	55	`// // Create rotation stage`
56	`// for(int i = 0; i<10; i++){`	56	`// for(int i = 0; i<10; i++){`
57	`// try{`	57	`// try{`
58	`// delete rotationStage.get();`	58	`// delete rotationStage.get();`
59	`// rotationStage = std::make_shared<RotationStage>();`	59	`// rotationStage = std::make_shared<RotationStage>();`
60	`// break;`	60	`// break;`
61	`// }`	61	`// }`
62	`// catch (...){`	62	`// catch (...){`
63	`// std::cerr << "trying to setup rotation stage" << std::endl;`	63	`// std::cerr << "trying to setup rotation stage" << std::endl;`
64	`// }`	64	`// }`
65	`// }`	65	`// }`
66	`rotationStage.reset();`	66	`rotationStage.reset();`
67	`rotationStage.reset(new RotationStage());`	67	`rotationStage.reset(new RotationStage());`
68		68
69	`// Create Algorithm`	69	`// Create Algorithm`
70	`unsigned int screenCols, screenRows;`	70	`unsigned int screenCols, screenRows;`
71	`projector->getScreenRes(&screenCols, &screenRows);`	71	`projector->getScreenRes(&screenCols, &screenRows);`
-		72	`std::cout << "Screen res: " << screenCols << " x " << screenRows << std::endl;`
72	`codec = settings.value("algorithm", "GrayCode").toString();`	73	`codec = settings.value("algorithm", "GrayCode").toString();`
73	`if(codec == "GrayCode")`	74	`if(codec == "GrayCode")`
74	`algorithm.reset(new AlgorithmGrayCode(screenCols, screenRows));`	75	`algorithm.reset(new AlgorithmGrayCode(screenCols, screenRows));`
75	`else if(codec == "GrayCodeHorzVert")`	76	`else if(codec == "GrayCodeHorzVert")`
76	`algorithm.reset(new AlgorithmGrayCodeHorzVert(screenCols, screenRows));`	77	`algorithm.reset(new AlgorithmGrayCodeHorzVert(screenCols, screenRows));`
77	`else if(codec == "PhaseShiftTwoFreq")`	78	`else if(codec == "PhaseShiftTwoFreq")`
78	`algorithm.reset(new AlgorithmPhaseShiftTwoFreq(screenCols, screenRows));`	79	`algorithm.reset(new AlgorithmPhaseShiftTwoFreq(screenCols, screenRows));`
79	`else if(codec == "PhaseShiftThreeFreq")`	80	`else if(codec == "PhaseShiftThreeFreq")`
80	`algorithm.reset(new AlgorithmPhaseShiftThreeFreq(screenCols, screenRows));`	81	`algorithm.reset(new AlgorithmPhaseShiftThreeFreq(screenCols, screenRows));`
81	`else if(codec == "PhaseShiftTwoFreqHorzVert")`	82	`else if(codec == "PhaseShiftTwoFreqHorzVert")`
82	`algorithm.reset(new AlgorithmPhaseShiftTwoFreqHorzVert(screenCols, screenRows));`	83	`algorithm.reset(new AlgorithmPhaseShiftTwoFreqHorzVert(screenCols, screenRows));`
83	`else if(codec == "PhaseShiftEmbedded")`	84	`else if(codec == "PhaseShiftEmbedded")`
84	`algorithm.reset(new AlgorithmPhaseShiftEmbedded(screenCols, screenRows));`	85	`algorithm.reset(new AlgorithmPhaseShiftEmbedded(screenCols, screenRows));`
85	`else if(codec == "LineShift")`	86	`else if(codec == "LineShift")`
86	`algorithm.reset(new AlgorithmLineShift(screenCols, screenRows));`	87	`algorithm.reset(new AlgorithmLineShift(screenCols, screenRows));`
87	`else`	88	`else`
88	`std::cerr << "SMCaptureWorker: invalid codec " << codec.toStdString() << std::endl;`	89	`std::cerr << "SMCaptureWorker: invalid codec " << codec.toStdString() << std::endl;`
89		90
90	`// Upload patterns to projector/GPU`	91	`// Upload patterns to projector/GPU`
91	`for(unsigned int i=0; i<algorithm->getNPatterns(); i++){`	92	`for(unsigned int i=0; i<algorithm->getNPatterns(); i++){`
92	`cv::Mat pattern = algorithm->getEncodingPattern(i);`	93	`cv::Mat pattern = algorithm->getEncodingPattern(i);`
93	`projector->setPattern(i, pattern.ptr(), pattern.cols, pattern.rows);`	94	`projector->setPattern(i, pattern.ptr(), pattern.cols, pattern.rows);`
94	`}`	95	`}`
95		96
96	`delay = settings.value("trigger/delay", 50).toInt();`	97	`delay = settings.value("trigger/delay", 50).toInt();`
97	`stackingCalibration = settings.value("stacking/calibration", 1).toInt();`	98	`stackingCalibration = settings.value("stacking/calibration", 1).toInt();`
98	`stackingAcquisition= settings.value("stacking/acquisition", 1).toInt();`	99	`stackingAcquisition= settings.value("stacking/acquisition", 1).toInt();`
99		100
100	`setupSuccessful = true;`	101	`setupSuccessful = true;`
101	`}`	102	`}`
102		103
103		104
104	`void SMCaptureWorker::doWork(){`	105	`void SMCaptureWorker::doWork(){`
105		106
106	`if(!setupSuccessful)`	107	`if(!setupSuccessful)`
107	`return;`	108	`return;`
108		109
109	`working = true;`	110	`working = true;`
110		111
111	`cv::Mat checkerboard(8, 8, CV_8UC3);`	112	`cv::Mat checkerboard(8, 8, CV_8UC3);`
112	`checkerboard.setTo(0);`	113	`checkerboard.setTo(0);`
113	`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));`
114	`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));`
115		116
116	`// Processing loop`	117	`// Processing loop`
117	`// QTime time;`	118	`// QTime time;`
118	`// time.start();`	119	`// time.start();`
119	`while(working){`	120	`while(working){`
120		121
121	`if(focusingPattern)`	122	`if(focusingPattern)`
122	`projector->displayTexture(checkerboard.ptr(), checkerboard.cols, checkerboard.rows);`	123	`projector->displayTexture(checkerboard.ptr(), checkerboard.cols, checkerboard.rows);`
123	`else`	124	`else`
124	`projector->displayWhite();`	125	`projector->displayWhite();`
125		126
126		127
127	`// prevent image acquisition timeout`	128	`// prevent image acquisition timeout`
128	`QTest::qSleep(100);`	129	`QTest::qSleep(100);`
129		130
130	`CameraFrame frame;`	131	`CameraFrame frame;`
131		132
132	`// trigger cameras`	133	`// trigger cameras`
133	`camera0->trigger();`	134	`camera0->trigger();`
134	`camera1->trigger();`	135	`camera1->trigger();`
135		136
136	`// retrieve raw frames`	137	`// retrieve raw frames`
137	`frame = camera0->getFrame();`	138	`frame = camera0->getFrame();`
138	`cv::Mat frameCV;`	139	`cv::Mat frameCV;`
139	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);`	140	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);`
140	`frameCV = frameCV.clone();`	141	`frameCV = frameCV.clone();`
141	`// cvtools::rshift(frameCV, 8);`	142	`// cvtools::rshift(frameCV, 8);`
142	`// frameCV.convertTo(frameCV, CV_8UC1);`	143	`// frameCV.convertTo(frameCV, CV_8UC1);`
143	`emit newFrame(0, frameCV);`	144	`emit newFrame(0, frameCV);`
144		145
145	`frame = camera1->getFrame();`	146	`frame = camera1->getFrame();`
146	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);`	147	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);`
147	`frameCV = frameCV.clone();`	148	`frameCV = frameCV.clone();`
148	`// cvtools::rshift(frameCV, 8);`	149	`// cvtools::rshift(frameCV, 8);`
149	`// frameCV.convertTo(frameCV, CV_8UC1);`	150	`// frameCV.convertTo(frameCV, CV_8UC1);`
150	`emit newFrame(1, frameCV);`	151	`emit newFrame(1, frameCV);`
151		152
152	`//std::cout << "SMCaptureWorker idle " << time.restart() << "ms" << std::endl;`	153	`//std::cout << "SMCaptureWorker idle " << time.restart() << "ms" << std::endl;`
153		154
154	`// Process events e.g. perform a task`	155	`// Process events e.g. perform a task`
155	`QCoreApplication::processEvents();`	156	`QCoreApplication::processEvents();`
156	`}`	157	`}`
157		158
158	`emit finished();`	159	`emit finished();`
159	`}`	160	`}`
160		161
161	`void SMCaptureWorker::rotateTo(float angle){`	162	`void SMCaptureWorker::rotateTo(float angle){`
162	`// TODO is this the right check`	163	`// TODO is this the right check`
163	`if(!setupSuccessful \|\| !rotationStage \|\| !rotationStage->Handle)`	164	`if(!setupSuccessful \|\| !rotationStage \|\| !rotationStage->Handle)`
164	`return;`	165	`return;`
165		166
166	`rotationStage->moveAbsolute(angle);`	167	`rotationStage->moveAbsolute(angle);`
167	`while(rotationStage->isMoving()){`	168	`while(rotationStage->isMoving()){`
168		169
169	`// prevent grab timeout in flycapture`	170	`// prevent grab timeout in flycapture`
170	`QTest::qSleep(10);`	171	`QTest::qSleep(10);`
171		172
172	`// trigger cameras`	173	`// trigger cameras`
173	`camera0->trigger();`	174	`camera0->trigger();`
174	`camera1->trigger();`	175	`camera1->trigger();`
175		176
176	`// retrieve frames`	177	`// retrieve frames`
177	`CameraFrame frame;`	178	`CameraFrame frame;`
178	`frame = camera0->getFrame();`	179	`frame = camera0->getFrame();`
179	`cv::Mat frameCV;`	180	`cv::Mat frameCV;`
180	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);`	181	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);`
181	`frameCV = frameCV.clone();`	182	`frameCV = frameCV.clone();`
182	`emit newFrame(0, frameCV);`	183	`emit newFrame(0, frameCV);`
183	`frame = camera1->getFrame();`	184	`frame = camera1->getFrame();`
184	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);`	185	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);`
185	`frameCV = frameCV.clone();`	186	`frameCV = frameCV.clone();`
186	`emit newFrame(1, frameCV);`	187	`emit newFrame(1, frameCV);`
187	`}`	188	`}`
188		189
189	`emit rotatedTo(angle);`	190	`emit rotatedTo(angle);`
190	`}`	191	`}`
191		192
192	`void SMCaptureWorker::acquireCalibrationSet(float angle){`	193	`void SMCaptureWorker::acquireCalibrationSet(float angle){`
193	`if(!setupSuccessful \|\| !rotationStage \|\| !rotationStage->Handle)`	194	`if(!setupSuccessful \|\| !rotationStage \|\| !rotationStage->Handle)`
194	`return;`	195	`return;`
195		196
196	`if(angle != -1.0)`	197	`if(angle != -1.0)`
197	`rotateTo(angle);`	198	`rotateTo(angle);`
198		199
199	`//projector->displayWhite();`	200	`//projector->displayWhite();`
200		201
201	`// just for safe measures`	202	`// just for safe measures`
202	`QTest::qSleep(500);`	203	`QTest::qSleep(500);`
203		204
204	`CameraFrame frame;`	205	`CameraFrame frame;`
205	`SMCalibrationSet calibrationSet;`	206	`SMCalibrationSet calibrationSet;`
206	`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));`
207	`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));`
208		209
209	`for(int i=0; i<stackingCalibration; i++){`	210	`for(int i=0; i<stackingCalibration; i++){`
210	`// trigger cameras`	211	`// trigger cameras`
211	`camera0->trigger();`	212	`camera0->trigger();`
212	`camera1->trigger();`	213	`camera1->trigger();`
213		214
214	`// retrieve frames`	215	`// retrieve frames`
215	`frame = camera0->getFrame();`	216	`frame = camera0->getFrame();`
216	`cv::Mat frameCV;`	217	`cv::Mat frameCV;`
217	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);`	218	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);`
218	`frameCV = frameCV.clone();`	219	`frameCV = frameCV.clone();`
219	`cv::add(frameCV, frameCVStacked0, frameCVStacked0, cv::noArray(), CV_32SC1);`	220	`cv::add(frameCV, frameCVStacked0, frameCVStacked0, cv::noArray(), CV_32SC1);`
220	`//cvtools::writeMat(frameCV, "frameCV.mat", "frameCV");`	221	`//cvtools::writeMat(frameCV, "frameCV.mat", "frameCV");`
221	`//cvtools::writeMat(frameCVStacked0, "frameCVStacked0.mat", "frameCVStacked0");`	222	`//cvtools::writeMat(frameCVStacked0, "frameCVStacked0.mat", "frameCVStacked0");`
222	`emit newFrame(0, frameCV);`	223	`emit newFrame(0, frameCV);`
223		224
224	`frame = camera1->getFrame();`	225	`frame = camera1->getFrame();`
225	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);`	226	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);`
226	`frameCV = frameCV.clone();`	227	`frameCV = frameCV.clone();`
227	`cv::add(frameCV, frameCVStacked1, frameCVStacked1, cv::noArray(), CV_32SC1);`	228	`cv::add(frameCV, frameCVStacked1, frameCVStacked1, cv::noArray(), CV_32SC1);`
228		229
229	`emit newFrame(1, frameCV);`	230	`emit newFrame(1, frameCV);`
230		231
231	`}`	232	`}`
232		233
233	`frameCVStacked0.convertTo(frameCVStacked0, CV_8UC1, 1.0/stackingCalibration);`	234	`frameCVStacked0.convertTo(frameCVStacked0, CV_8UC1, 1.0/stackingCalibration);`
234	`//cvtools::writeMat(frameCVStacked0, "frameCVStacked0a.mat", "frameCVStacked0a");`	235	`//cvtools::writeMat(frameCVStacked0, "frameCVStacked0a.mat", "frameCVStacked0a");`
235	`frameCVStacked1.convertTo(frameCVStacked1, CV_8UC1, 1.0/stackingCalibration);`	236	`frameCVStacked1.convertTo(frameCVStacked1, CV_8UC1, 1.0/stackingCalibration);`
236		237
237	`calibrationSet.frame0 = frameCVStacked0;`	238	`calibrationSet.frame0 = frameCVStacked0;`
238	`calibrationSet.frame1 = frameCVStacked1;`	239	`calibrationSet.frame1 = frameCVStacked1;`
239		240
240	`calibrationSet.rotationAngle = rotationStage->getAngle();`	241	`calibrationSet.rotationAngle = rotationStage->getAngle();`
241		242
242	`emit newCalibrationSet(calibrationSet);`	243	`emit newCalibrationSet(calibrationSet);`
243	`}`	244	`}`
244		245
245	`void SMCaptureWorker::acquireCalibrationSets(std::vector<float> angles){`	246	`void SMCaptureWorker::acquireCalibrationSets(std::vector<float> angles){`
246		247
247	`if(!setupSuccessful)`	248	`if(!setupSuccessful)`
248	`return;`	249	`return;`
249		250
250	`for(unsigned int i=0; i<angles.size(); i++)`	251	`for(unsigned int i=0; i<angles.size(); i++)`
251	`acquireCalibrationSet(angles[i]);`	252	`acquireCalibrationSet(angles[i]);`
252	`}`	253	`}`
253		254
254	`void SMCaptureWorker::acquireFrameSequenceLDR(SMFrameSequence &frameSequence){`	255	`void SMCaptureWorker::acquireFrameSequenceLDR(SMFrameSequence &frameSequence){`
255		256
256		257
257		258
258	`CameraFrame frame;`	259	`CameraFrame frame;`
259		260
260	`for(unsigned int i=0; i<algorithm->getNPatterns(); i++){`	261	`for(unsigned int i=0; i<algorithm->getNPatterns(); i++){`
261		262
262	`// display pattern`	263	`// display pattern`
263	`projector->displayPattern(i);`	264	`projector->displayPattern(i);`
264		265
265	`QTest::qSleep(delay);`	266	`QTest::qSleep(delay);`
266		267
267	`cv::Mat frameCVStacked0(camera0->getFrameHeight(), camera0->getFrameWidth(), CV_32SC1, cv::Scalar(0));`	268	`cv::Mat frameCVStacked0(camera0->getFrameHeight(), camera0->getFrameWidth(), CV_32SC1, cv::Scalar(0));`
268	`cv::Mat frameCVStacked1(camera1->getFrameHeight(), camera1->getFrameWidth(), CV_32SC1, cv::Scalar(0));`	269	`cv::Mat frameCVStacked1(camera1->getFrameHeight(), camera1->getFrameWidth(), CV_32SC1, cv::Scalar(0));`
269	`for(int i=0; i<stackingAcquisition; i++){`	270	`for(int i=0; i<stackingAcquisition; i++){`
270	`// trigger cameras`	271	`// trigger cameras`
271	`camera0->trigger();`	272	`camera0->trigger();`
272	`camera1->trigger();`	273	`camera1->trigger();`
273		274
274	`// retrieve frames`	275	`// retrieve frames`
275	`frame = camera0->getFrame();`	276	`frame = camera0->getFrame();`
276	`cv::Mat frameCV;`	277	`cv::Mat frameCV;`
277	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);`	278	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);`
278	`frameCV = frameCV.clone();`	279	`frameCV = frameCV.clone();`
279	`cv::add(frameCV, frameCVStacked0, frameCVStacked0, cv::noArray(), CV_32SC1);`	280	`cv::add(frameCV, frameCVStacked0, frameCVStacked0, cv::noArray(), CV_32SC1);`
280		281
281	`emit newFrame(0, frameCV);`	282	`emit newFrame(0, frameCV);`
282		283
283	`frame = camera1->getFrame();`	284	`frame = camera1->getFrame();`
284	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);`	285	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);`
285	`frameCV = frameCV.clone();`	286	`frameCV = frameCV.clone();`
286	`cv::add(frameCV, frameCVStacked1, frameCVStacked1, cv::noArray(), CV_32SC1);`	287	`cv::add(frameCV, frameCVStacked1, frameCVStacked1, cv::noArray(), CV_32SC1);`
287		288
288	`emit newFrame(1, frameCV);`	289	`emit newFrame(1, frameCV);`
289		290
290	`}`	291	`}`
291		292
292	`frameCVStacked0.convertTo(frameCVStacked0, CV_8UC1, 1.0/stackingAcquisition);`	293	`frameCVStacked0.convertTo(frameCVStacked0, CV_8UC1, 1.0/stackingAcquisition);`
293	`frameCVStacked1.convertTo(frameCVStacked1, CV_8UC1, 1.0/stackingAcquisition);`	294	`frameCVStacked1.convertTo(frameCVStacked1, CV_8UC1, 1.0/stackingAcquisition);`
294		295
295	`frameSequence.frames0.push_back(frameCVStacked0);`	296	`frameSequence.frames0.push_back(frameCVStacked0);`
296	`frameSequence.frames1.push_back(frameCVStacked1);`	297	`frameSequence.frames1.push_back(frameCVStacked1);`
297		298
298	`}`	299	`}`
299		300
300		301
301	`}`	302	`}`
302		303
303	`void SMCaptureWorker::acquireFrameSequenceHDR(SMFrameSequence &frameSequence){`	304	`void SMCaptureWorker::acquireFrameSequenceHDR(SMFrameSequence &frameSequence){`
304		305
305	`QSettings settings;`	306	`QSettings settings;`
306	`QString shuttersString = settings.value("camera/shuttersHDR").toString();`	307	`QString shuttersString = settings.value("camera/shuttersHDR").toString();`
307	`QStringList list = shuttersString.split("/");`	308	`QStringList list = shuttersString.split("/");`
308	`std::vector<float> shutters(list.size());`	309	`std::vector<float> shutters(list.size());`
309	`for(int i=0; i<list.size(); i++)`	310	`for(int i=0; i<list.size(); i++)`
310	`shutters[i] = list[i].toFloat();`	311	`shutters[i] = list[i].toFloat();`
311	`if(shutters.empty()){`	312	`if(shutters.empty()){`
312	`std::cerr << "Could not read HDR shutter times" << std::endl;`	313	`std::cerr << "Could not read HDR shutter times" << std::endl;`
313	`return;`	314	`return;`
314	`}`	315	`}`
315		316
316	`int nShutters = shutters.size();`	317	`int nShutters = shutters.size();`
317		318
318	`CameraSettings cameraSettings;`	319	`CameraSettings cameraSettings;`
319		320
320	`for(int i=0; i<nShutters; i++){`	321	`for(int i=0; i<nShutters; i++){`
-		322	`std::cout << "Acquiring HDR frame sequence "`
-		323	`<< i + 1 << "/" << nShutters << std::endl;`
-		324	`std::cout << "Shutter time [ms] "`
-		325	`<< shutters[i] << std::endl;`
321		326
322	`// Set camera shutter`	327	`// Set camera shutter`
323	`cameraSettings.shutter = shutters[i];`	328	`cameraSettings.shutter = shutters[i];`
324		329
325	`// assert that shutter is given in ms`	330	`// assert that shutter is given in ms`
326	`assert(cameraSettings.shutter < 2000.0);`	331	`assert(cameraSettings.shutter < 2000.0);`
327		332
328	`camera0->setCameraSettings(cameraSettings);`	333	`camera0->setCameraSettings(cameraSettings);`
329	`camera1->setCameraSettings(cameraSettings);`	334	`camera1->setCameraSettings(cameraSettings);`
330		335
331	`// Project/acquire sequence`	336	`// Project/acquire sequence`
332	`SMFrameSequence frameSequenceLDR;`	337	`SMFrameSequence frameSequenceLDR;`
333	`acquireFrameSequenceLDR(frameSequenceLDR);`	338	`acquireFrameSequenceLDR(frameSequenceLDR);`
334		339
335	`frameSequence.frames0.insert(frameSequence.frames0.end(), frameSequenceLDR.frames0.begin(), frameSequenceLDR.frames0.end());`	340	`frameSequence.frames0.insert(frameSequence.frames0.end(), frameSequenceLDR.frames0.begin(), frameSequenceLDR.frames0.end());`
336	`frameSequence.frames1.insert(frameSequence.frames1.end(), frameSequenceLDR.frames1.begin(), frameSequenceLDR.frames1.end());`	341	`frameSequence.frames1.insert(frameSequence.frames1.end(), frameSequenceLDR.frames1.begin(), frameSequenceLDR.frames1.end());`
337		342
338	`}`	343	`}`
339		344
340	`frameSequence.shutters = shutters;`	345	`frameSequence.shutters = shutters;`
341		346
342	`// Set camera shutter back to default`	347	`// Set camera shutter back to default`
343	`cameraSettings.shutter = settings.value("shutter", 66.666).toFloat();`	348	`cameraSettings.shutter = settings.value("shutter", 66.666).toFloat();`
344		349
345	`camera0->setCameraSettings(cameraSettings);`	350	`camera0->setCameraSettings(cameraSettings);`
346	`camera1->setCameraSettings(cameraSettings);`	351	`camera1->setCameraSettings(cameraSettings);`
347		352
348	`}`	353	`}`
349		354
350		355
351	`void SMCaptureWorker::acquireFrameSequence(float angle){`	356	`void SMCaptureWorker::acquireFrameSequence(float angle){`
352		357
353	`if(!setupSuccessful)`	358	`if(!setupSuccessful)`
354	`return;`	359	`return;`
355		360
356	`if(int(angle) != -1.0)`	361	`if(int(angle) != -1.0)`
357	`rotateTo(angle);`	362	`rotateTo(angle);`
358		363
359	`SMFrameSequence frameSequence;`	364	`SMFrameSequence frameSequence;`
360		365
361	`QSettings settings;`	366	`QSettings settings;`
362	`if(settings.contains("camera/shuttersHDR"))`	367	`bool HDR = settings.value("camera/shuttersHDR").toString() != QString("");`
-		368	`if(HDR)`
363	`acquireFrameSequenceHDR(frameSequence);`	369	`acquireFrameSequenceHDR(frameSequence);`
364	`else`	370	`else`
365	`acquireFrameSequenceLDR(frameSequence);`	371	`acquireFrameSequenceLDR(frameSequence);`
366		372
367		373
368	`if(rotationStage && rotationStage->Handle)// TODO is this the right check`	374	`if(rotationStage && rotationStage->Handle)// TODO is this the right check`
369	`frameSequence.rotationAngle = rotationStage->getAngle();`	375	`frameSequence.rotationAngle = rotationStage->getAngle();`
370	`else`	376	`else`
371	`frameSequence.rotationAngle = 0;`	377	`frameSequence.rotationAngle = 0;`
372		378
373	`frameSequence.codec = codec;`	379	`frameSequence.codec = codec;`
374		380
375	`emit newFrameSequence(frameSequence);`	381	`emit newFrameSequence(frameSequence);`
376		382
377	`projector->displayWhite();`	383	`projector->displayWhite();`
378	`}`	384	`}`
379		385
380		386
381	`void SMCaptureWorker::acquireFrameSequences(std::vector<float> angles){`	387	`void SMCaptureWorker::acquireFrameSequences(std::vector<float> angles){`
382		388
383	`if(!setupSuccessful)`	389	`if(!setupSuccessful)`
384	`return;`	390	`return;`
385		391
386	`for(unsigned int i=0; i<angles.size(); i++)`	392	`for(unsigned int i=0; i<angles.size(); i++)`
387	`acquireFrameSequence(angles[i]);`	393	`acquireFrameSequence(angles[i]);`
388	`}`	394	`}`
389		395
390	`void SMCaptureWorker::abort(){}`	396	`void SMCaptureWorker::abort(){}`
391		397
392	`void SMCaptureWorker::stopWork(){`	398	`void SMCaptureWorker::stopWork(){`
393	`working = false;`	399	`working = false;`
394	`}`	400	`}`
395		401
396		402

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(root)/src/SMCaptureWorker.cpp – Rev 245 → 255