Subversion Repositories seema-scanner

#include "SMCaptureWorker.h"

#include "CodecGrayCode.h"

#include "CodecPhaseShift.h"

#include <QCoreApplication>

#include <QTime>

#include <QSettings>

#include <QtTest/QTest>

void SMCaptureWorker::setup(){

    // Create rotation stage

    rotationStage = new RotationStage();

    QSettings settings;

    // Create cameras

    int iNum0 = settings.value("camera0/interfaceNumber", -1).toInt();

    int cNum0 = settings.value("camera0/cameraNumber", -1).toInt();

    if(iNum0 != -1)

        camera0 = Camera::NewCamera(iNum0,cNum0,triggerModeSoftware);

    int iNum1 = settings.value("camera1/interfaceNumber", -1).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 encoder

    CodecDir dir = (CodecDir)settings.value("pattern/direction", CodecDirHorizontal).toInt();

    if(dir == CodecDirNone)

        std::cerr << "SMCaptureWorker: invalid coding direction " << std::endl;

    codec = settings.value("codec", "GrayCode").toString();

    if(codec == "PhaseShift")

        encoder = new EncoderPhaseShift(screenCols, screenRows, dir);

    else if(codec == "GrayCode")

        encoder = new EncoderGrayCode(screenCols, screenRows, dir);

    else

        std::cerr << "SLScanWorker: invalid codec " << codec.toStdString() << std::endl;

    // Upload patterns to projector/GPU

    for(unsigned int i=0; i<encoder->getNPatterns(); i++){

        cv::Mat pattern = encoder->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<encoder->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;

}