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

 #include <pcl/io/png_io.h>
 #include <pcl/io/vtk_io.h>
 #include <vtkPolyDataWriter.h>
 #include <pcl/conversions.h>
+#include "cvtools.h"
 SMScanner::SMScanner(QWidget *parent) :QMainWindow(parent), ui(new Ui::SMScanner),
                                         calibrationReviewMode(false), captureReviewMode(false), lastCaptureId(-1){
     // Register metatypes
     qRegisterMetaType<cv::Mat>("cv::Mat");
     captureData.push_back(frameSequence);
     // Add identifier to list
     QTreeWidgetItem* item = new QTreeWidgetItem(ui->captureTreeWidget);
     item->setText(0, QString("Frame Sequence %1 -- %2 deg").arg(id).arg(frameSequence.rotationAngle));
-    item->setFlags(item->flags() | Qt::ItemIsUserCheckable);
+    //item->setFlags(item->flags() | Qt::ItemIsUserCheckable);
     item->setData(0, Qt::UserRole, QPoint(captureData.size()-1, -1));
-    item->setCheckState(0, Qt::Checked);
+    //item->setCheckState(0, Qt::Checked);
     //ui->captureTreeWidget->addItem(item);
     for(unsigned int i=0; i<frameSequence.frames0.size(); i++){
         QTreeWidgetItem* subItem = new QTreeWidgetItem(item);
         subItem->setText(0, QString("frames %1").arg(i));
     // Start reconstructing
     QMetaObject::invokeMethod(reconstructionWorker, "setup");
     for(unsigned int i=0; i<captureData.size(); i++){
-        if(!captureData[i].reconstructed & (ui->captureTreeWidget->topLevelItem(i)->checkState(0) == Qt::Checked))
+        if(!captureData[i].reconstructed){ // & (ui->captureTreeWidget->topLevelItem(i)->checkState(0) == Qt::Checked))
+            captureData[i].reconstructed = true;
             QMetaObject::invokeMethod(reconstructionWorker, "reconstructPointCloud", Q_ARG(SMFrameSequence, captureData[i]));
+        }
+    }
+}
 void SMScanner::onNewPointCloud(SMPointCloud smCloud){
     int id = smCloud.id;
-    for(int i=0; i<captureData.size(); i++){
+//    for(int i=0; i<captureData.size(); i++){
-        if(captureData[i].id == id)
+//        if(captureData[i].id == id)
-            captureData[i].reconstructed = true;
+//            captureData[i].reconstructed = true;
-    }
+//    }
     pointCloudData.push_back(smCloud);
     // Add identifier to list
     QListWidgetItem* item = new QListWidgetItem(QString("Point Cloud %1 -- %2 deg").arg(id).arg(smCloud.rotationAngle), ui->pointCloudsListWidget);
     SMCalibrationParameters cal;
     cal.importFromXML(fileName);
     settings.setValue("calibration/parameters",  QVariant::fromValue(cal));
     ui->pointCloudWidget->updateCalibrationParameters();
+    std::cout << "Imported calibration parameters " << fileName.toStdString() << std::endl;
+}
 void SMScanner::on_actionImport_Sets_triggered(){
     QString dirName = QFileDialog::getExistingDirectory(this, "Import calibration sets", QString());
     for(unsigned int i=0; i<nSets; i++){
         SMCalibrationSet calibrationSet;
-        QString fileName0 = QString("%1/%2").arg(dirName).arg(fileNames0.at(i));
+        QString fileName0 = QString("%1/%2/frame0_%3.png").arg(dirName).arg(i);
-        calibrationSet.frame0 = cv::imread(fileName0.toStdString());
+        cv::Mat frame0BGR = cv::imread(fileName0.toStdString());
-        cv::cvtColor(calibrationSet.frame0, calibrationSet.frame0, CV_BGR2RGB);
+        cvtools::cvtColorBGRToBayerBG(frame0BGR, calibrationSet.frame0);
-        QString fileName1 = QString("%1/%2").arg(dirName).arg(fileNames1.at(i));
+        QString fileName1 = QString("%1/%2/frame1_%3.png").arg(dirName).arg(i);
-        calibrationSet.frame1 = cv::imread(fileName1.toStdString());
+        cv::Mat frame1BGR = cv::imread(fileName1.toStdString());
-        cv::cvtColor(calibrationSet.frame1, calibrationSet.frame1, CV_BGR2RGB);
+        cvtools::cvtColorBGRToBayerBG(frame1BGR, calibrationSet.frame1);
         int id = ui->calibrationListWidget->count();
         calibrationSet.id = id;
         calibrationData.push_back(calibrationSet);
     // Set enabled checkmark
     if(calibrationData.size() >= 2)
         ui->calibrateButton->setEnabled(true);
+}
+void SMScanner::on_actionImport_Sequences_triggered(){
+    // NOTE: we do not know which algorithm was used!!!
+    QString dirName = QFileDialog::getExistingDirectory(this, "Import captured sequences", QString());
+    QDir dir(dirName);
+    QStringList sequenceDirNames = dir.entryList(QStringList("sequence_*"));
+    if(sequenceDirNames.empty()){
+        std::cerr << "Error: could not find sequences." << std::endl;
+        return;
+    }
+    captureData.clear();
+    ui->captureTreeWidget->clear();
+    for(int s=0; s<sequenceDirNames.count(); s++){
+        QDir sequenceDir(QString("%1/%2").arg(dirName).arg(sequenceDirNames.at(s)));
+        QStringList fileNames0 = sequenceDir.entryList(QStringList("frames0_*.png"));
+        QStringList fileNames1 = sequenceDir.entryList(QStringList("frames1_*.png"));
+        if(fileNames0.empty() || fileNames1.empty() || fileNames0.count() != fileNames1.count()){
+            std::cerr << "Error: could not load sequence. Directory must contain .png files for both cameras." << std::endl;
+            return;
+        }
+        int nFrames = fileNames0.size();
+        SMFrameSequence sequence;
+        for(int f=0; f<nFrames; f++){
+            cv::Mat frame0BGR, frame0BayerBG, frame1BGR, frame1BayerBG;
+            QString fileName0 = QString("%1/%2/frames0_%3.png").arg(dirName).arg(sequenceDirNames.at(s)).arg(f);
+            frame0BGR = cv::imread(fileName0.toStdString());
+            cvtools::cvtColorBGRToBayerBG(frame0BGR, frame0BayerBG);
+            QString fileName1 = QString("%1/%2/frames1_%3.png").arg(dirName).arg(sequenceDirNames.at(s)).arg(f);
+            frame1BGR = cv::imread(fileName1.toStdString());
+            cvtools::cvtColorBGRToBayerBG(frame1BGR, frame1BayerBG);
+            sequence.frames0.push_back(frame0BayerBG);
+            sequence.frames1.push_back(frame1BayerBG);
+            QCoreApplication::processEvents();
+        }
+        sequence.codec = settings.value("algorithm").toString();
+        sequence.rotationAngle = 0;
+        sequence.reconstructed = false;
+        onReceiveFrameSequence(sequence);
+    }
+}
+void SMScanner::on_actionClear_Point_Clouds_triggered(){
+    int res = QMessageBox::question(this, "Clear Reconstructed Point Clouds", "Clear all reconstructed point clouds?", QMessageBox::Ok, QMessageBox::Cancel);
+    if(res == QMessageBox::Ok){
+        pointCloudData.clear();
+        ui->pointCloudsListWidget->clear();
+        ui->pointCloudWidget->removeAllPointClouds();
+        for(int i=0; i<captureData.size(); i++)
+            captureData[i].reconstructed = false;
+    }
+}

Subversion Repositories seema-scanner

(root)/src/SMScanner.cpp – Rev 137 → 139