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Line 64... Line 64...
64 
        cv::Mat pattern = algorithm->getEncodingPattern(i);
 64 
        cv::Mat pattern = algorithm->getEncodingPattern(i);
65 
        projector->setPattern(i, pattern.ptr(), pattern.cols, pattern.rows);
 65 
        projector->setPattern(i, pattern.ptr(), pattern.cols, pattern.rows);
66 
    }
 66 
    }
67 
 
 67 
 
68 
    delay = settings.value("trigger/delay", 50).toInt();
 68 
    delay = settings.value("trigger/delay", 50).toInt();
- 
 
 69 
    stacking = settings.value("stacking", 1).toInt();
69 
}
 70 
}
70 
 
 71 
 
71 
 
 72 
 
72 
void SMCaptureWorker::doWork(){
 73 
void SMCaptureWorker::doWork(){
73 
 
 74 
 
74 
    working = true;
 75 
    working = true;
75 
 
 76 
 
76 
    // Processing loop
 77 
    // Processing loop
77 
    QTime time;
 78 
//    QTime time;
78 
    time.start();
 79 
//    time.start();
79 
    while(working){
 80 
    while(working){
80 
 
 81 
 
81 
        projector->displayWhite();
 82 
        projector->displayWhite();
82 
 
 83 
 
83 
        std::vector<cv::Mat> frameSet;
 - 
 
84 
 
 - 
 
85 
        CameraFrame frame;
 84 
        CameraFrame frame;
86 
 
 85 
 
87 
        // trigger cameras
 86 
        // trigger cameras
88 
        camera0->trigger();
 87 
        camera0->trigger();
89 
        camera1->trigger();
 88 
        camera1->trigger();
90 
 
 89 
 
91 
        // retrieve frames
 90 
        // retrieve raw frames
92 
        frame = camera0->getFrame();
 91 
        frame = camera0->getFrame();
93 
        cv::Mat frameCV;
 92 
        cv::Mat frameCV;
94 
        frameCV  = cv::Mat(frame.height, frame.width, CV_8UC3, frame.memory);
 93 
        frameCV  = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);
95 
        frameCV = frameCV.clone();
 94 
        frameCV = frameCV.clone();
96 
        frameSet.push_back(frameCV);
 - 
 
97 
 
 - 
 
98 
        emit newFrame(0, frameCV);
 95 
        emit newFrame(0, frameCV);
99 
 
 96 
 
100 
        frame = camera1->getFrame();
 97 
        frame = camera1->getFrame();
101 
        frameCV  = cv::Mat(frame.height, frame.width, CV_8UC3, frame.memory);
 98 
        frameCV  = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);
102 
        frameCV = frameCV.clone();
 99 
        frameCV = frameCV.clone();
103 
        frameSet.push_back(frameCV);
 - 
 
104 
 
 - 
 
105 
        emit newFrame(1, frameCV);
 100 
        emit newFrame(1, frameCV);
106 
 
 101 
 
107 
        //std::cout << "SMCaptureWorker idle " << time.restart() << "ms" << std::endl;
 102 
        //std::cout << "SMCaptureWorker idle " << time.restart() << "ms" << std::endl;
108 
 
 103 
 
109 
        // Process events e.g. perform a task
 104 
        // Process events e.g. perform a task
Line 125... Line 120...
125 
 
 120 
 
126 
        // retrieve frames
 121 
        // retrieve frames
127 
        CameraFrame frame;
 122 
        CameraFrame frame;
128 
        frame = camera0->getFrame();
 123 
        frame = camera0->getFrame();
129 
        cv::Mat frameCV;
 124 
        cv::Mat frameCV;
130 
        frameCV  = cv::Mat(frame.height, frame.width, CV_8UC3, frame.memory);
 125 
        frameCV  = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);
131 
        frameCV = frameCV.clone();
 126 
        frameCV = frameCV.clone();
132 
        emit newFrame(0, frameCV);
 127 
        emit newFrame(0, frameCV);
133 
        frame = camera1->getFrame();
 128 
        frame = camera1->getFrame();
134 
        frameCV  = cv::Mat(frame.height, frame.width, CV_8UC3, frame.memory);
 129 
        frameCV  = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);
135 
        frameCV = frameCV.clone();
 130 
        frameCV = frameCV.clone();
136 
        emit newFrame(1, frameCV);
 131 
        emit newFrame(1, frameCV);
137 
    }
 132 
    }
138 
 
 133 
 
139 
    emit rotatedTo(angle);
 134 
    emit rotatedTo(angle);
Line 144... Line 139...
144 
    if(angle != -1.0)
 139 
    if(angle != -1.0)
145 
        rotateTo(angle);
 140 
        rotateTo(angle);
146 
 
 141 
 
147 
    CameraFrame frame;
 142 
    CameraFrame frame;
148 
    SMCalibrationSet calibrationSet;
 143 
    SMCalibrationSet calibrationSet;
- 
 
 144 
    cv::Mat frameCVStacked0, frameCVStacked1;
- 
 
 145 
 
- 
 
 146 
    for(int i=0; i<stacking; i++){
- 
 
 147 
        // trigger cameras
- 
 
 148 
        camera0->trigger();
- 
 
 149 
        camera1->trigger();
- 
 
 150 
 
- 
 
 151 
        // retrieve frames
- 
 
 152 
        frame = camera0->getFrame();
- 
 
 153 
        cv::Mat frameCV;
- 
 
 154 
        frameCV  = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);
- 
 
 155 
        frameCV = frameCV.clone();
- 
 
 156 
        cv::add(frameCV, frameCVStacked0, frameCVStacked0, cv::noArray(), CV_16UC1);
149 
 
 157 
 
150 
    // trigger cameras
 - 
 
151 
    camera0->trigger();
 - 
 
152 
    camera1->trigger();
 - 
 
153 
 
 - 
 
154 
    // retrieve frames
 - 
 
155 
    frame = camera0->getFrame();
 - 
 
156 
    cv::Mat frameCV;
 - 
 
157 
    frameCV  = cv::Mat(frame.height, frame.width, CV_8UC3, frame.memory);
 - 
 
158 
    frameCV = frameCV.clone();
 - 
 
159 
 
 - 
 
160 
    emit newFrame(0, frameCV);
 158 
        emit newFrame(0, frameCV);
161 
    calibrationSet.frame0 = frameCV;
 - 
 
162 
 
 - 
 
163 
    frame = camera1->getFrame();
 - 
 
164 
    frameCV  = cv::Mat(frame.height, frame.width, CV_8UC3, frame.memory);
 - 
 
165 
    frameCV = frameCV.clone();
 - 
 
166 
 
 159 
 
- 
 
 160 
        frame = camera1->getFrame();
- 
 
 161 
        frameCV  = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);
- 
 
 162 
        frameCV = frameCV.clone();
- 
 
 163 
        cv::add(frameCV, frameCVStacked1, frameCVStacked1, cv::noArray(), CV_16UC1);
- 
 
 164 
 
167 
    emit newFrame(1, frameCV);
 165 
        emit newFrame(1, frameCV);
- 
 
 166 
 
- 
 
 167 
    }
- 
 
 168 
 
- 
 
 169 
    frameCVStacked0.convertTo(frameCVStacked0, CV_8UC1, 1.0/stacking);
- 
 
 170 
    frameCVStacked1.convertTo(frameCVStacked1, CV_8UC1, 1.0/stacking);
- 
 
 171 
 
- 
 
 172 
    calibrationSet.frame0 = frameCVStacked0;
168 
    calibrationSet.frame1 = frameCV;
 173 
    calibrationSet.frame1 = frameCVStacked1;
169 
 
 174 
 
170 
    calibrationSet.rotationAngle = rotationStage->getAngle();
 175 
    calibrationSet.rotationAngle = rotationStage->getAngle();
171 
 
 176 
 
172 
    emit newCalibrationSet(calibrationSet);
 177 
    emit newCalibrationSet(calibrationSet);
173 
}
 178 
}
Line 182... Line 187...
182 
 
 187 
 
183 
    if(angle != -1.0)
 188 
    if(angle != -1.0)
184 
        rotateTo(angle);
 189 
        rotateTo(angle);
185 
 
 190 
 
186 
    CameraFrame frame;
 191 
    CameraFrame frame;
187 
 
 - 
 
188 
    SMFrameSequence frameSequence;
 192 
    SMFrameSequence frameSequence;
189 
 
 193 
 
190 
    for(unsigned int i=0; i<algorithm->getNPatterns(); i++){
 194 
    for(unsigned int i=0; i<algorithm->getNPatterns(); i++){
191 
 
 195 
 
192 
        // display pattern
 196 
        // display pattern
193 
        projector->displayPattern(i);
 197 
        projector->displayPattern(i);
194 
 
 198 
 
195 
        QTest::qSleep(delay);
 199 
        QTest::qSleep(delay);
196 
 
 200 
 
- 
 
 201 
        cv::Mat frameCVStacked0, frameCVStacked1;
- 
 
 202 
        for(int i=0; i<stacking; i++){
197 
        // trigger cameras
 203 
            // trigger cameras
198 
        camera0->trigger();
 204 
            camera0->trigger();
199 
        camera1->trigger();
 205 
            camera1->trigger();
- 
 
 206 
 
- 
 
 207 
            // retrieve frames
- 
 
 208 
            frame = camera0->getFrame();
- 
 
 209 
            cv::Mat frameCV;
- 
 
 210 
            frameCV  = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);
- 
 
 211 
            frameCV = frameCV.clone();
- 
 
 212 
            cv::add(frameCV, frameCVStacked0, frameCVStacked0, cv::noArray(), CV_16UC1);
- 
 
 213 
 
- 
 
 214 
            emit newFrame(0, frameCV);
- 
 
 215 
 
- 
 
 216 
            frame = camera1->getFrame();
- 
 
 217 
            frameCV  = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);
- 
 
 218 
            frameCV = frameCV.clone();
- 
 
 219 
            cv::add(frameCV, frameCVStacked1, frameCVStacked1, cv::noArray(), CV_16UC1);
- 
 
 220 
 
- 
 
 221 
            emit newFrame(1, frameCV);
200 
 
 222 
 
201 
        // retrieve frames
 - 
 
202 
        frame = camera0->getFrame();
 - 
 
203 
        cv::Mat frameCV;
 223 
        }
204 
        frameCV  = cv::Mat(frame.height, frame.width, CV_8UC3, frame.memory);
 - 
 
205 
        frameCV = frameCV.clone();
 - 
 
206 
 
 - 
 
207 
        emit newFrame(0, frameCV);
 - 
 
208 
        frameSequence.frames0.push_back(frameCV);
 - 
 
209 
 
 224 
 
210 
        frame = camera1->getFrame();
 - 
 
211 
        frameCV  = cv::Mat(frame.height, frame.width, CV_8UC3, frame.memory);
 225 
        frameCVStacked0.convertTo(frameCVStacked0, CV_8UC1, 1.0/stacking);
212 
        frameCV = frameCV.clone();
 226 
        frameCVStacked1.convertTo(frameCVStacked1, CV_8UC1, 1.0/stacking);
213 
 
 227 
 
214 
        emit newFrame(1, frameCV);
 228 
        frameSequence.frames0.push_back(frameCVStacked0);
215 
        frameSequence.frames1.push_back(frameCV);
 229 
        frameSequence.frames1.push_back(frameCVStacked1);
216 
 
 230 
 
217 
    }
 231 
    }
218 
 
 232 
 
219 
    frameSequence.rotationAngle = rotationStage->getAngle();
 233 
    frameSequence.rotationAngle = rotationStage->getAngle();
220 
    frameSequence.codec = codec;
 234 
    frameSequence.codec = codec;