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#include "SMCaptureWorker.h"
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#include "SMCaptureWorker.h"
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#include "CodecGrayCode.h"
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#include "CodecPhaseShift.h"
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#include <QCoreApplication>
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#include <QCoreApplication>
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#include <QTime>
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#include <QTime>
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#include <QSettings>
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#include <QSettings>
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#include <QtTest/QTest>
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void SMCaptureWorker::setup(){
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void SMCaptureWorker::setup(){
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    // Create projector
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    // Create rotation stage
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    rotationStage = new RotationStage();
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    QSettings settings;
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    QSettings settings;
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    int screenNum = settings.value("projector/screenNumber", -1).toInt();
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    if(screenNum != -1)
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        projector = new ProjectorOpenGL(screenNum);
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    // Create cameras
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    // Create cameras
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    int iNum0 = settings.value("camera0/interfaceNumber", -1).toInt();
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    int iNum0 = settings.value("camera0/interfaceNumber", -1).toInt();
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    int cNum0 = settings.value("camera0/cameraNumber", -1).toInt();
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    int cNum0 = settings.value("camera0/cameraNumber", -1).toInt();
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    if(iNum0 != -1)
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    if(iNum0 != -1)
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    // Start capturing
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    // Start capturing
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    camera0->startCapture();
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    camera0->startCapture();
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    camera1->startCapture();
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    camera1->startCapture();
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    // Create rotation stage
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    // Create projector
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    int screenNum = settings.value("projector/screenNumber", -1).toInt();
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    if(screenNum != -1)
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    rotationStage = new RotationStage();
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        projector = new ProjectorOpenGL(screenNum);
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    unsigned int screenCols, screenRows;
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    projector->getScreenRes(&screenCols, &screenRows);
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    // Create encoder
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    CodecDir dir = (CodecDir)settings.value("pattern/direction", CodecDirHorizontal).toInt();
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    if(dir == CodecDirNone)
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        std::cerr << "SMCaptureWorker: invalid coding direction " << std::endl;
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    codec = settings.value("codec", "GrayCode").toString();
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    if(codec == "PhaseShift")
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        encoder = new EncoderPhaseShift(screenCols, screenRows, dir);
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    else if(codec == "GrayCode")
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        encoder = new EncoderGrayCode(screenCols, screenRows, dir);
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    else
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        std::cerr << "SLScanWorker: invalid codec " << codec.toStdString() << std::endl;
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    // Upload patterns to projector/GPU
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    for(unsigned int i=0; i<encoder->getNPatterns(); i++){
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        cv::Mat pattern = encoder->getEncodingPattern(i);
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        projector->setPattern(i, pattern.ptr(), pattern.cols, pattern.rows);
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}
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    }
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    delay = settings.value("trigger/delay", 50).toInt();
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}
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void SMCaptureWorker::doWork(){
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    projector->displayWhite();
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void SMCaptureWorker::doWork(){
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    working = true;
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    working = true;
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    // Processing loop
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    // Processing loop
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    QTime time;
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    QTime time;
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    time.start();
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    time.start();
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    while(working){
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    while(working){
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        projector->displayWhite();
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        std::vector<cv::Mat> frameSet;
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        std::vector<cv::Mat> frameSet;
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        CameraFrame frame;
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        CameraFrame frame;
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        // trigger cameras
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        // trigger cameras
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    rotationStage->moveAbsolute(angle);
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    rotationStage->moveAbsolute(angle);
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    rotationStage->wait();
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    rotationStage->wait();
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}
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}
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void SMCaptureWorker::acquireCalibrationSet(float angle){
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void SMCaptureWorker::acquireCalibrationSet(float angle){
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    if(angle != -1.0)
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    rotateTo(angle);
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        rotateTo(angle);
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    CameraFrame frame;
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    CameraFrame frame;
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    CalibrationSet calibrationSet;
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    SMCalibrationSet calibrationSet;
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    // trigger cameras
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    // trigger cameras
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    camera0->trigger();
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    camera0->trigger();
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    camera1->trigger();
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    camera1->trigger();
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    frame = camera0->getFrame();
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    frame = camera0->getFrame();
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    cv::Mat frameCV;
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    cv::Mat frameCV;
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    frameCV  = cv::Mat(frame.height, frame.width, CV_8UC3, frame.memory);
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    frameCV  = cv::Mat(frame.height, frame.width, CV_8UC3, frame.memory);
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    frameCV = frameCV.clone();
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    frameCV = frameCV.clone();
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    emit newFrame(0, frameCV);
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    calibrationSet.frame0 = frameCV;
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    calibrationSet.frame0 = frameCV;
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    frame = camera1->getFrame();
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    frame = camera1->getFrame();
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    frameCV  = cv::Mat(frame.height, frame.width, CV_8UC3, frame.memory);
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    frameCV  = cv::Mat(frame.height, frame.width, CV_8UC3, frame.memory);
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    frameCV = frameCV.clone();
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    frameCV = frameCV.clone();
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    emit newFrame(1, frameCV);
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    calibrationSet.frame1 = frameCV;
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    calibrationSet.frame1 = frameCV;
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    calibrationSet.rotationAngle = angle;
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    calibrationSet.rotationAngle = rotationStage->getAngle();
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    emit newCalibrationSet(calibrationSet);
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    emit newCalibrationSet(calibrationSet);
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}
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}
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void SMCaptureWorker::acquireCalibrationSets(std::vector<float> angles){}
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void SMCaptureWorker::acquireCalibrationSets(std::vector<float> angles){}
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void SMCaptureWorker::acquireFrameSequence(float angle){}
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void SMCaptureWorker::acquireFrameSequence(float angle){
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    if(angle != -1.0)
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        rotateTo(angle);
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    CameraFrame frame;
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    SMFrameSequence frameSequence;
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    for(unsigned int i=0; i<encoder->getNPatterns(); i++){
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        // display pattern
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        projector->displayPattern(i);
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        QTest::qSleep(delay);
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        // trigger cameras
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        camera0->trigger();
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        camera1->trigger();
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        // retrieve frames
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        frame = camera0->getFrame();
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        cv::Mat frameCV;
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        frameCV  = cv::Mat(frame.height, frame.width, CV_8UC3, frame.memory);
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        frameCV = frameCV.clone();
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        emit newFrame(0, frameCV);
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        frameSequence.frames0.push_back(frameCV);
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        frame = camera1->getFrame();
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        frameCV  = cv::Mat(frame.height, frame.width, CV_8UC3, frame.memory);
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        frameCV = frameCV.clone();
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        emit newFrame(1, frameCV);
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        frameSequence.frames1.push_back(frameCV);
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    }
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    frameSequence.rotationAngle = rotationStage->getAngle();
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    frameSequence.codec = codec;
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    emit newFrameSequence(frameSequence);
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}
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void SMCaptureWorker::acquireFrameSequences(std::vector<float> angles){}
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void SMCaptureWorker::acquireFrameSequences(std::vector<float> angles){}
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void SMCaptureWorker::abort(){}
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void SMCaptureWorker::abort(){}
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void SMCaptureWorker::stopWork(){
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void SMCaptureWorker::stopWork(){