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


#include "SMCaptureWorker.h"
 
#include "AlgorithmGrayCode.h"
#include "AlgorithmPhaseShift.h"
 
#include <QCoreApplication>
#include <QTime>
#include <QSettings>
#include <QtTest/QTest>
 
void SMCaptureWorker::setup(){
 
    QSettings settings;
 
    // Create cameras
    int iNum0 = settings.value("camera0/interfaceNumber", 0).toInt();
    int cNum0 = settings.value("camera0/cameraNumber", 0).toInt();
    if(iNum0 != -1)
        camera0 = Camera::NewCamera(iNum0,cNum0,triggerModeSoftware);
 
    int iNum1 = settings.value("camera1/interfaceNumber", 0).toInt();
    int cNum1 = settings.value("camera1/cameraNumber", 1).toInt();
    if(iNum1 != -1)
        camera1 = Camera::NewCamera(iNum1,cNum1,triggerModeSoftware);
 
    // Set camera settings
    CameraSettings cameraSettings;
    cameraSettings.shutter = settings.value("camera/shutter", 16.666).toFloat();
    cameraSettings.gain = 0.0;
 
    camera0->setCameraSettings(cameraSettings);
    camera1->setCameraSettings(cameraSettings);
 
    // Start capturing
    camera0->startCapture();
    camera1->startCapture();
 
    // Create projector
    int screenNum = settings.value("projector/screenNumber", 1).toInt();
    if(screenNum != -1)
        projector = new ProjectorOpenGL(screenNum);
 
    unsigned int screenCols, screenRows;
    projector->getScreenRes(&screenCols, &screenRows);
 
    // Create rotation stage
    rotationStage = new RotationStage();
 
    // Create Algorithm
    codec = settings.value("algorithm", "GrayCode").toString();
 
 
    if(codec == "GrayCode")
        algorithm = new AlgorithmGrayCode(screenCols, screenRows);
    else if(codec == "PhaseShift")
        algorithm = new AlgorithmPhaseShift(screenCols, screenRows);
    else
        std::cerr << "SLScanWorker: 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();
}
 
 
void SMCaptureWorker::doWork(){
 
    working = true;
 
    // Processing loop
    QTime time;
    time.start();
    while(working){
 
        projector->displayWhite();
 
        std::vector<cv::Mat> frameSet;
 
        CameraFrame frame;
 
        // trigger cameras
        camera0->trigger();
        camera1->trigger();
 
        // retrieve frames
        frame = camera0->getFrame();
        cv::Mat frameCV;
        frameCV  = cv::Mat(frame.height, frame.width, CV_8UC3, frame.memory);
        frameCV = frameCV.clone();
        frameSet.push_back(frameCV);
 
        emit newFrame(0, frameCV);
 
        frame = camera1->getFrame();
        frameCV  = cv::Mat(frame.height, frame.width, CV_8UC3, frame.memory);
        frameCV = frameCV.clone();
        frameSet.push_back(frameCV);
 
        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){
 
    //std::cout << "Moving to: " << angle << std::endl;
    rotationStage->moveAbsolute(angle);
    rotationStage->wait();
 
    emit rotatedTo(angle);
}
 
void SMCaptureWorker::acquireCalibrationSet(float angle){
 
    if(angle != -1.0)
        rotateTo(angle);
 
    CameraFrame frame;
    SMCalibrationSet calibrationSet;
 
    // trigger cameras
    camera0->trigger();
    camera1->trigger();
 
    // retrieve frames
    frame = camera0->getFrame();
    cv::Mat frameCV;
    frameCV  = cv::Mat(frame.height, frame.width, CV_8UC3, frame.memory);
    frameCV = frameCV.clone();
 
    emit newFrame(0, frameCV);
    calibrationSet.frame0 = frameCV;
 
    frame = camera1->getFrame();
    frameCV  = cv::Mat(frame.height, frame.width, CV_8UC3, frame.memory);
    frameCV = frameCV.clone();
 
    emit newFrame(1, frameCV);
    calibrationSet.frame1 = frameCV;
 
    calibrationSet.rotationAngle = rotationStage->getAngle();
 
    emit newCalibrationSet(calibrationSet);
}
 
void SMCaptureWorker::acquireCalibrationSets(std::vector<float> angles){
 
    for(int i=0; i<angles.size(); i++)
        acquireCalibrationSet(angles[i]);
}
 
void SMCaptureWorker::acquireFrameSequence(float angle){
 
    if(angle != -1.0)
        rotateTo(angle);
 
    CameraFrame frame;
 
    SMFrameSequence frameSequence;
 
    for(unsigned int i=0; i<algorithm->getNPatterns(); i++){
 
        // display pattern
        projector->displayPattern(i);
 
        QTest::qSleep(delay);
 
        // trigger cameras
        camera0->trigger();
        camera1->trigger();
 
        // retrieve frames
        frame = camera0->getFrame();
        cv::Mat frameCV;
        frameCV  = cv::Mat(frame.height, frame.width, CV_8UC3, frame.memory);
        frameCV = frameCV.clone();
 
        emit newFrame(0, frameCV);
        frameSequence.frames0.push_back(frameCV);
 
        frame = camera1->getFrame();
        frameCV  = cv::Mat(frame.height, frame.width, CV_8UC3, frame.memory);
        frameCV = frameCV.clone();
 
        emit newFrame(1, frameCV);
        frameSequence.frames1.push_back(frameCV);
 
    }
 
    frameSequence.rotationAngle = rotationStage->getAngle();
    frameSequence.codec = codec;
 
    emit newFrameSequence(frameSequence);
 
}
 
 
void SMCaptureWorker::acquireFrameSequences(std::vector<float> angles){
 
    for(int i=0; i<angles.size(); i++)
        acquireFrameSequence(angles[i]);
}
 
void SMCaptureWorker::abort(){}
 
void SMCaptureWorker::stopWork(){
    working = false;
}
 
SMCaptureWorker::~SMCaptureWorker(){
    delete projector;
//    delete camera0;
//    delete camera1;
    delete rotationStage;
}
 

Rev 70	Rev 71
1	`#include "SMCaptureWorker.h"`	1	`#include "SMCaptureWorker.h"`
2		2
3	`#include "AlgorithmGrayCode.h"`	3	`#include "AlgorithmGrayCode.h"`
4	`#include "AlgorithmPhaseShift.h"`	4	`#include "AlgorithmPhaseShift.h"`
5		5
6	`#include <QCoreApplication>`	6	`#include <QCoreApplication>`
7	`#include <QTime>`	7	`#include <QTime>`
8	`#include <QSettings>`	8	`#include <QSettings>`
9	`#include <QtTest/QTest>`	9	`#include <QtTest/QTest>`
10		10
11	`void SMCaptureWorker::setup(){`	11	`void SMCaptureWorker::setup(){`
12		12
13	`QSettings settings;`	13	`QSettings settings;`
14		14
15	`// Create cameras`	15	`// Create cameras`
16	`int iNum0 = settings.value("camera0/interfaceNumber", 0).toInt();`	16	`int iNum0 = settings.value("camera0/interfaceNumber", 0).toInt();`
17	`int cNum0 = settings.value("camera0/cameraNumber", 0).toInt();`	17	`int cNum0 = settings.value("camera0/cameraNumber", 0).toInt();`
18	`if(iNum0 != -1)`	18	`if(iNum0 != -1)`
19	`camera0 = Camera::NewCamera(iNum0,cNum0,triggerModeSoftware);`	19	`camera0 = Camera::NewCamera(iNum0,cNum0,triggerModeSoftware);`
20		20
21	`int iNum1 = settings.value("camera1/interfaceNumber", 0).toInt();`	21	`int iNum1 = settings.value("camera1/interfaceNumber", 0).toInt();`
22	`int cNum1 = settings.value("camera1/cameraNumber", 1).toInt();`	22	`int cNum1 = settings.value("camera1/cameraNumber", 1).toInt();`
23	`if(iNum1 != -1)`	23	`if(iNum1 != -1)`
24	`camera1 = Camera::NewCamera(iNum1,cNum1,triggerModeSoftware);`	24	`camera1 = Camera::NewCamera(iNum1,cNum1,triggerModeSoftware);`
25		25
26	`// Set camera settings`	26	`// Set camera settings`
27	`CameraSettings cameraSettings;`	27	`CameraSettings cameraSettings;`
28	`cameraSettings.shutter = settings.value("camera/shutter", 16.666).toFloat();`	28	`cameraSettings.shutter = settings.value("camera/shutter", 16.666).toFloat();`
29	`cameraSettings.gain = 0.0;`	29	`cameraSettings.gain = 0.0;`
30		30
31	`camera0->setCameraSettings(cameraSettings);`	31	`camera0->setCameraSettings(cameraSettings);`
32	`camera1->setCameraSettings(cameraSettings);`	32	`camera1->setCameraSettings(cameraSettings);`
33		33
34	`// Start capturing`	34	`// Start capturing`
35	`camera0->startCapture();`	35	`camera0->startCapture();`
36	`camera1->startCapture();`	36	`camera1->startCapture();`
37		37
38	`// Create projector`	38	`// Create projector`
39	`int screenNum = settings.value("projector/screenNumber", 1).toInt();`	39	`int screenNum = settings.value("projector/screenNumber", 1).toInt();`
40	`if(screenNum != -1)`	40	`if(screenNum != -1)`
41	`projector = new ProjectorOpenGL(screenNum);`	41	`projector = new ProjectorOpenGL(screenNum);`
42		42
43	`unsigned int screenCols, screenRows;`	43	`unsigned int screenCols, screenRows;`
44	`projector->getScreenRes(&screenCols, &screenRows);`	44	`projector->getScreenRes(&screenCols, &screenRows);`
45		45
46	`// Create rotation stage`	46	`// Create rotation stage`
47	`rotationStage = new RotationStage();`	47	`rotationStage = new RotationStage();`
48		48
49	`// Create Algorithm`	49	`// Create Algorithm`
50	`codec = settings.value("codec", "GrayCode").toString();`	50	`codec = settings.value("algorithm", "GrayCode").toString();`
51	`if(codec == "PhaseShift")`	-
52	`algorithm = new AlgorithmPhaseShift(screenCols, screenRows);`	-
53	`else if(codec == "GrayCode")`	51	`if(codec == "GrayCode")`
54	`algorithm = new AlgorithmGrayCode(screenCols, screenRows);`	52	`algorithm = new AlgorithmGrayCode(screenCols, screenRows);`
-		53	`else if(codec == "PhaseShift")`
-		54	`algorithm = new AlgorithmPhaseShift(screenCols, screenRows);`
55	`else`	55	`else`
56	`std::cerr << "SLScanWorker: invalid codec " << codec.toStdString() << std::endl;`	56	`std::cerr << "SLScanWorker: invalid codec " << codec.toStdString() << std::endl;`
57		57
58		58
59	`// Upload patterns to projector/GPU`	59	`// Upload patterns to projector/GPU`
60	`for(unsigned int i=0; i<algorithm->getNPatterns(); i++){`	60	`for(unsigned int i=0; i<algorithm->getNPatterns(); i++){`
61	`cv::Mat pattern = algorithm->getEncodingPattern(i);`	61	`cv::Mat pattern = algorithm->getEncodingPattern(i);`
62	`projector->setPattern(i, pattern.ptr(), pattern.cols, pattern.rows);`	62	`projector->setPattern(i, pattern.ptr(), pattern.cols, pattern.rows);`
63	`}`	63	`}`
64		64
65	`delay = settings.value("trigger/delay", 50).toInt();`	65	`delay = settings.value("trigger/delay", 50).toInt();`
66	`}`	66	`}`
67		67
68		68
69	`void SMCaptureWorker::doWork(){`	69	`void SMCaptureWorker::doWork(){`
70		70
71	`working = true;`	71	`working = true;`
72		72
73	`// Processing loop`	73	`// Processing loop`
74	`QTime time;`	74	`QTime time;`
75	`time.start();`	75	`time.start();`
76	`while(working){`	76	`while(working){`
77		77
78	`projector->displayWhite();`	78	`projector->displayWhite();`
79		79
80	`std::vector<cv::Mat> frameSet;`	80	`std::vector<cv::Mat> frameSet;`
81		81
82	`CameraFrame frame;`	82	`CameraFrame frame;`
83		83
84	`// trigger cameras`	84	`// trigger cameras`
85	`camera0->trigger();`	85	`camera0->trigger();`
86	`camera1->trigger();`	86	`camera1->trigger();`
87		87
88	`// retrieve frames`	88	`// retrieve frames`
89	`frame = camera0->getFrame();`	89	`frame = camera0->getFrame();`
90	`cv::Mat frameCV;`	90	`cv::Mat frameCV;`
91	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC3, frame.memory);`	91	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC3, frame.memory);`
92	`frameCV = frameCV.clone();`	92	`frameCV = frameCV.clone();`
93	`frameSet.push_back(frameCV);`	93	`frameSet.push_back(frameCV);`
94		94
95	`emit newFrame(0, frameCV);`	95	`emit newFrame(0, frameCV);`
96		96
97	`frame = camera1->getFrame();`	97	`frame = camera1->getFrame();`
98	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC3, frame.memory);`	98	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC3, frame.memory);`
99	`frameCV = frameCV.clone();`	99	`frameCV = frameCV.clone();`
100	`frameSet.push_back(frameCV);`	100	`frameSet.push_back(frameCV);`
101		101
102	`emit newFrame(1, frameCV);`	102	`emit newFrame(1, frameCV);`
103		103
104	`//std::cout << "SMCaptureWorker idle " << time.restart() << "ms" << std::endl;`	104	`//std::cout << "SMCaptureWorker idle " << time.restart() << "ms" << std::endl;`
105		105
106	`// Process events e.g. perform a task`	106	`// Process events e.g. perform a task`
107	`QCoreApplication::processEvents();`	107	`QCoreApplication::processEvents();`
108	`}`	108	`}`
109		109
110	`emit finished();`	110	`emit finished();`
111	`}`	111	`}`
112		112
113	`void SMCaptureWorker::rotateTo(float angle){`	113	`void SMCaptureWorker::rotateTo(float angle){`
114		114
115	`//std::cout << "Moving to: " << angle << std::endl;`	115	`//std::cout << "Moving to: " << angle << std::endl;`
116	`rotationStage->moveAbsolute(angle);`	116	`rotationStage->moveAbsolute(angle);`
117	`rotationStage->wait();`	117	`rotationStage->wait();`
118		118
119	`emit rotatedTo(angle);`	119	`emit rotatedTo(angle);`
120	`}`	120	`}`
121		121
122	`void SMCaptureWorker::acquireCalibrationSet(float angle){`	122	`void SMCaptureWorker::acquireCalibrationSet(float angle){`
123		123
124	`if(angle != -1.0)`	124	`if(angle != -1.0)`
125	`rotateTo(angle);`	125	`rotateTo(angle);`
126		126
127	`CameraFrame frame;`	127	`CameraFrame frame;`
128	`SMCalibrationSet calibrationSet;`	128	`SMCalibrationSet calibrationSet;`
129		129
130	`// trigger cameras`	130	`// trigger cameras`
131	`camera0->trigger();`	131	`camera0->trigger();`
132	`camera1->trigger();`	132	`camera1->trigger();`
133		133
134	`// retrieve frames`	134	`// retrieve frames`
135	`frame = camera0->getFrame();`	135	`frame = camera0->getFrame();`
136	`cv::Mat frameCV;`	136	`cv::Mat frameCV;`
137	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC3, frame.memory);`	137	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC3, frame.memory);`
138	`frameCV = frameCV.clone();`	138	`frameCV = frameCV.clone();`
139		139
140	`emit newFrame(0, frameCV);`	140	`emit newFrame(0, frameCV);`
141	`calibrationSet.frame0 = frameCV;`	141	`calibrationSet.frame0 = frameCV;`
142		142
143	`frame = camera1->getFrame();`	143	`frame = camera1->getFrame();`
144	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC3, frame.memory);`	144	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC3, frame.memory);`
145	`frameCV = frameCV.clone();`	145	`frameCV = frameCV.clone();`
146		146
147	`emit newFrame(1, frameCV);`	147	`emit newFrame(1, frameCV);`
148	`calibrationSet.frame1 = frameCV;`	148	`calibrationSet.frame1 = frameCV;`
149		149
150	`calibrationSet.rotationAngle = rotationStage->getAngle();`	150	`calibrationSet.rotationAngle = rotationStage->getAngle();`
151		151
152	`emit newCalibrationSet(calibrationSet);`	152	`emit newCalibrationSet(calibrationSet);`
153	`}`	153	`}`
154		154
155	`void SMCaptureWorker::acquireCalibrationSets(std::vector<float> angles){`	155	`void SMCaptureWorker::acquireCalibrationSets(std::vector<float> angles){`
156		156
157	`for(int i=0; i<angles.size(); i++)`	157	`for(int i=0; i<angles.size(); i++)`
158	`acquireCalibrationSet(angles[i]);`	158	`acquireCalibrationSet(angles[i]);`
159	`}`	159	`}`
160		160
161	`void SMCaptureWorker::acquireFrameSequence(float angle){`	161	`void SMCaptureWorker::acquireFrameSequence(float angle){`
162		162
163	`if(angle != -1.0)`	163	`if(angle != -1.0)`
164	`rotateTo(angle);`	164	`rotateTo(angle);`
165		165
166	`CameraFrame frame;`	166	`CameraFrame frame;`
167		167
168	`SMFrameSequence frameSequence;`	168	`SMFrameSequence frameSequence;`
169		169
170	`for(unsigned int i=0; i<algorithm->getNPatterns(); i++){`	170	`for(unsigned int i=0; i<algorithm->getNPatterns(); i++){`
171		171
172	`// display pattern`	172	`// display pattern`
173	`projector->displayPattern(i);`	173	`projector->displayPattern(i);`
174		174
175	`QTest::qSleep(delay);`	175	`QTest::qSleep(delay);`
176		176
177	`// trigger cameras`	177	`// trigger cameras`
178	`camera0->trigger();`	178	`camera0->trigger();`
179	`camera1->trigger();`	179	`camera1->trigger();`
180		180
181	`// retrieve frames`	181	`// retrieve frames`
182	`frame = camera0->getFrame();`	182	`frame = camera0->getFrame();`
183	`cv::Mat frameCV;`	183	`cv::Mat frameCV;`
184	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC3, frame.memory);`	184	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC3, frame.memory);`
185	`frameCV = frameCV.clone();`	185	`frameCV = frameCV.clone();`
186		186
187	`emit newFrame(0, frameCV);`	187	`emit newFrame(0, frameCV);`
188	`frameSequence.frames0.push_back(frameCV);`	188	`frameSequence.frames0.push_back(frameCV);`
189		189
190	`frame = camera1->getFrame();`	190	`frame = camera1->getFrame();`
191	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC3, frame.memory);`	191	`frameCV = cv::Mat(frame.height, frame.width, CV_8UC3, frame.memory);`
192	`frameCV = frameCV.clone();`	192	`frameCV = frameCV.clone();`
193		193
194	`emit newFrame(1, frameCV);`	194	`emit newFrame(1, frameCV);`
195	`frameSequence.frames1.push_back(frameCV);`	195	`frameSequence.frames1.push_back(frameCV);`
196		196
197	`}`	197	`}`
198		198
199	`frameSequence.rotationAngle = rotationStage->getAngle();`	199	`frameSequence.rotationAngle = rotationStage->getAngle();`
200	`frameSequence.codec = codec;`	200	`frameSequence.codec = codec;`
201		201
202	`emit newFrameSequence(frameSequence);`	202	`emit newFrameSequence(frameSequence);`
203		203
204	`}`	204	`}`
205		205
206		206
207	`void SMCaptureWorker::acquireFrameSequences(std::vector<float> angles){`	207	`void SMCaptureWorker::acquireFrameSequences(std::vector<float> angles){`
208		208
209	`for(int i=0; i<angles.size(); i++)`	209	`for(int i=0; i<angles.size(); i++)`
210	`acquireFrameSequence(angles[i]);`	210	`acquireFrameSequence(angles[i]);`
211	`}`	211	`}`
212		212
213	`void SMCaptureWorker::abort(){}`	213	`void SMCaptureWorker::abort(){}`
214		214
215	`void SMCaptureWorker::stopWork(){`	215	`void SMCaptureWorker::stopWork(){`
216	`working = false;`	216	`working = false;`
217	`}`	217	`}`
218		218
219	`SMCaptureWorker::~SMCaptureWorker(){`	219	`SMCaptureWorker::~SMCaptureWorker(){`
220	`delete projector;`	220	`delete projector;`
221	`// delete camera0;`	221	`// delete camera0;`
222	`// delete camera1;`	222	`// delete camera1;`
223	`delete rotationStage;`	223	`delete rotationStage;`
224	`}`	224	`}`
225		225

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