Subversion Repositories seema-scanner

Rev

Rev 74 | Rev 78 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed

Rev 74 Rev 75
Line 166... Line 166...
166 
        angles.push_back(i % 360);
 166 
        angles.push_back(i % 360);
167 
 
 167 
 
168 
    QMetaObject::invokeMethod(captureWorker, "acquireCalibrationSets", Q_ARG(std::vector<float>, angles));
 168 
    QMetaObject::invokeMethod(captureWorker, "acquireCalibrationSets", Q_ARG(std::vector<float>, angles));
169 
 
 169 
 
170 
    std::cout << "Aquiring sets at ";
 170 
    std::cout << "Aquiring sets at ";
171 
    for(int i=0; i<angles.size(); i++)
 171 
    for(unsigned int i=0; i<angles.size(); i++)
172 
        std::cout << angles[i] << " ";
 172 
        std::cout << angles[i] << " ";
173 
    std::cout << " degrees" <<std::endl;
 173 
    std::cout << " degrees" <<std::endl;
174 
}
 174 
}
175 
 
 175 
 
176 
 
 176 
 
Line 202... Line 202...
202 
    // disable ui elements
 202 
    // disable ui elements
203 
    ui->calibrateButton->setEnabled(false);
 203 
    ui->calibrateButton->setEnabled(false);
204 
    ui->calibrationFrame->setEnabled(false);
 204 
    ui->calibrationFrame->setEnabled(false);
205 
 
 205 
 
206 
    // set checked flags
 206 
    // set checked flags
207 
    for(int i=0; i<calibrationData.size(); i++){
 207 
    for(unsigned int i=0; i<calibrationData.size(); i++){
208 
        calibrationData[i].checked = (ui->calibrationListWidget->item(i)->checkState() == Qt::Checked);
 208 
        calibrationData[i].checked = (ui->calibrationListWidget->item(i)->checkState() == Qt::Checked);
209 
    }
 209 
    }
210 
 
 210 
 
211 
//    SMCalibrationWorker calibrationWorker;
 211 
//    SMCalibrationWorker calibrationWorker;
212 
//    calibrationWorker.performCalibration(calibrationData);
 212 
//    calibrationWorker.performCalibration(calibrationData);
213 
 
 213 
 
214 
    // Set up calibration thread
 214 
    // Set up calibration thread
215 
    calibrationWorker = new SMCalibrationWorker;
 215 
    calibrationWorker = new SMCalibrationWorker(this);
216 
    calibrationWorkerThread = new QThread(this);
 216 
    calibrationWorkerThread = new QThread(this);
217 
    calibrationWorkerThread->setObjectName("calibrationWorkerThread");
 217 
    calibrationWorkerThread->setObjectName("calibrationWorkerThread");
218 
    calibrationWorker->moveToThread(captureWorkerThread);
 218 
    calibrationWorker->moveToThread(captureWorkerThread);
219 
    calibrationWorkerThread->start();
 219 
    calibrationWorkerThread->start();
220 
 
 220 
 
Line 324... Line 324...
324 
    std::vector<float> angles;
 324 
    std::vector<float> angles;
325 
    for(int i=angleStart; i<=angleEnd; i+=angleStep)
 325 
    for(int i=angleStart; i<=angleEnd; i+=angleStep)
326 
        angles.push_back(i % 360);
 326 
        angles.push_back(i % 360);
327 
 
 327 
 
328 
    std::cout << "Aquiring sequences at ";
 328 
    std::cout << "Aquiring sequences at ";
329 
    for(int i=0; i<angles.size(); i++)
 329 
    for(unsigned int i=0; i<angles.size(); i++)
330 
        std::cout << angles[i] << " ";
 330 
        std::cout << angles[i] << " ";
331 
    std::cout << " degrees" <<std::endl;
 331 
    std::cout << " degrees" <<std::endl;
332 
 
 332 
 
333 
    QMetaObject::invokeMethod(captureWorker, "acquireFrameSequences", Q_ARG(std::vector<float>, angles));
 333 
    QMetaObject::invokeMethod(captureWorker, "acquireFrameSequences", Q_ARG(std::vector<float>, angles));
334 
}
 334 
}
Line 357... Line 357...
357 
    item->setFlags(item->flags() | Qt::ItemIsUserCheckable);
 357 
    item->setFlags(item->flags() | Qt::ItemIsUserCheckable);
358 
    item->setData(0, Qt::UserRole, QPoint(captureData.size()-1, -1));
 358 
    item->setData(0, Qt::UserRole, QPoint(captureData.size()-1, -1));
359 
    item->setCheckState(0, Qt::Checked);
 359 
    item->setCheckState(0, Qt::Checked);
360 
    //ui->captureTreeWidget->addItem(item);
 360 
    //ui->captureTreeWidget->addItem(item);
361 
 
 361 
 
362 
    for(int i=0; i<frameSequence.frames0.size(); i++){
 362 
    for(unsigned int i=0; i<frameSequence.frames0.size(); i++){
363 
        QTreeWidgetItem* subItem = new QTreeWidgetItem(item);
 363 
        QTreeWidgetItem* subItem = new QTreeWidgetItem(item);
364 
        subItem->setText(0, QString("frames %1").arg(i));
 364 
        subItem->setText(0, QString("frames %1").arg(i));
365 
        subItem->setData(0, Qt::UserRole, QPoint(id, i));
 365 
        subItem->setData(0, Qt::UserRole, QPoint(id, i));
366 
    }
 366 
    }
367 
 
 367 
 
Line 401... Line 401...
401 
}
 401 
}
402 
 
 402 
 
403 
void SMScanner::on_actionExport_Sets_triggered(){
 403 
void SMScanner::on_actionExport_Sets_triggered(){
404 
 
 404 
 
405 
    QString dirName = QFileDialog::getExistingDirectory(this, "Export calibration sets", QString());
 405 
    QString dirName = QFileDialog::getExistingDirectory(this, "Export calibration sets", QString());
406 
    for(int i=0; i<calibrationData.size(); i++){
 406 
    for(unsigned int i=0; i<calibrationData.size(); i++){
407 
        QString fileName = QString("%1/frame0_%2.png").arg(dirName).arg(i);
 407 
        QString fileName = QString("%1/frame0_%2.png").arg(dirName).arg(i);
408 
        cv::Mat frameBGR;
 408 
        cv::Mat frameBGR;
409 
        cv::cvtColor(calibrationData[i].frame0, frameBGR, CV_RGB2BGR);
 409 
        cv::cvtColor(calibrationData[i].frame0, frameBGR, CV_RGB2BGR);
410 
        cv::imwrite(fileName.toStdString(), frameBGR);
 410 
        cv::imwrite(fileName.toStdString(), frameBGR);
411 
        fileName = QString("%1/frame1_%2.png").arg(dirName).arg(i);
 411 
        fileName = QString("%1/frame1_%2.png").arg(dirName).arg(i);
Line 417... Line 417...
417 
 
 417 
 
418 
void SMScanner::on_actionExport_Sequences_triggered(){
 418 
void SMScanner::on_actionExport_Sequences_triggered(){
419 
 
 419 
 
420 
    QString dirName = QFileDialog::getExistingDirectory(this, "Export frame sequences", QString());
 420 
    QString dirName = QFileDialog::getExistingDirectory(this, "Export frame sequences", QString());
421 
 
 421 
 
422 
    for(int i=0; i<captureData.size(); i++){
 422 
    for(unsigned int i=0; i<captureData.size(); i++){
423 
        QString seqDirName = QString("%1/sequence_%2").arg(dirName).arg(i);
 423 
        QString seqDirName = QString("%1/sequence_%2").arg(dirName).arg(i);
424 
        if(!QDir().mkdir(seqDirName))
 424 
        if(!QDir().mkdir(seqDirName))
425 
            std::cerr << "Could not create directory " << seqDirName.toStdString() << std::endl;
 425 
            std::cerr << "Could not create directory " << seqDirName.toStdString() << std::endl;
426 
        for(int j=0; j<captureData[i].frames0.size(); j++){
 426 
        for(unsigned int j=0; j<captureData[i].frames0.size(); j++){
427 
            QString fileName = QString("%1/frames0_%2.png").arg(seqDirName).arg(j);
 427 
            QString fileName = QString("%1/frames0_%2.png").arg(seqDirName).arg(j);
428 
            cv::Mat frameBGR;
 428 
            cv::Mat frameBGR;
429 
            cv::cvtColor(captureData[i].frames0[j], frameBGR, CV_RGB2BGR);
 429 
            cv::cvtColor(captureData[i].frames0[j], frameBGR, CV_RGB2BGR);
430 
            cv::imwrite(fileName.toStdString(), frameBGR);
 430 
            cv::imwrite(fileName.toStdString(), frameBGR);
431 
        }
 431 
        }
432 
        for(int j=0; j<captureData[i].frames1.size(); j++){
 432 
        for(unsigned int j=0; j<captureData[i].frames1.size(); j++){
433 
            QString fileName = QString("%1/frames1_%2.png").arg(seqDirName).arg(j);
 433 
            QString fileName = QString("%1/frames1_%2.png").arg(seqDirName).arg(j);
434 
            cv::Mat frameBGR;
 434 
            cv::Mat frameBGR;
435 
            cv::cvtColor(captureData[i].frames1[j], frameBGR, CV_RGB2BGR);
 435 
            cv::cvtColor(captureData[i].frames1[j], frameBGR, CV_RGB2BGR);
436 
            cv::imwrite(fileName.toStdString(), frameBGR);
 436 
            cv::imwrite(fileName.toStdString(), frameBGR);
437 
        }
 437 
        }
Line 453... Line 453...
453 
    connect(reconstructionWorker, SIGNAL(done()), reconstructionWorker, SLOT(deleteLater()));
 453 
    connect(reconstructionWorker, SIGNAL(done()), reconstructionWorker, SLOT(deleteLater()));
454 
 
 454 
 
455 
    // Start reconstructing
 455 
    // Start reconstructing
456 
    QMetaObject::invokeMethod(reconstructionWorker, "setup");
 456 
    QMetaObject::invokeMethod(reconstructionWorker, "setup");
457 
 
 457 
 
458 
    for(int i=0; i<captureData.size(); i++){
 458 
    for(unsigned int i=0; i<captureData.size(); i++){
459 
        if(!captureData[i].reconstructed & ui->captureTreeWidget->topLevelItem(i)->checkState(0) == Qt::Checked)
 459 
        if(!captureData[i].reconstructed & (ui->captureTreeWidget->topLevelItem(i)->checkState(0) == Qt::Checked))
460 
            QMetaObject::invokeMethod(reconstructionWorker, "reconstructPointCloud", Q_ARG(SMFrameSequence, captureData[i]));
 460 
            QMetaObject::invokeMethod(reconstructionWorker, "reconstructPointCloud", Q_ARG(SMFrameSequence, captureData[i]));
461 
    }
 461 
    }
462 
 
 462 
 
463 
}
 463 
}
464 
 
 464 
 
Line 493... Line 493...
493 
//    saveDirectoryDialog.exec();
 493 
//    saveDirectoryDialog.exec();
494 
//    QString directory = saveDirectoryDialog.directory().path();
 494 
//    QString directory = saveDirectoryDialog.directory().path();
495 
//    QString type = saveDirectoryDialog.selectedNameFilter();
 495 
//    QString type = saveDirectoryDialog.selectedNameFilter();
496 
 
 496 
 
497 
    // save point clouds in ply format
 497 
    // save point clouds in ply format
498 
    for(int i=0; i<pointCloudData.size(); i++){
 498 
    for(unsigned int i=0; i<pointCloudData.size(); i++){
499 
        QString fileName = QString("%1/pointcloud_%2.ply").arg(directory).arg(i);
 499 
        QString fileName = QString("%1/pointcloud_%2.ply").arg(directory).arg(i);
500 
        pcl::PointCloud<pcl::PointXYZRGB>::Ptr pointCloudPCL(pointCloudData[i].pointCloud);
 500 
        pcl::PointCloud<pcl::PointXYZRGB>::Ptr pointCloudPCL(pointCloudData[i].pointCloud);
501 
        //pcl::io::savePLYFileBinary(fileName.toStdString(), *pointCloudPCL);
 501 
        //pcl::io::savePLYFileBinary(fileName.toStdString(), *pointCloudPCL);
502 
        pcl::PLYWriter w;
 502 
        pcl::PLYWriter w;
503 
        // Write to ply in binary without camera
 503 
        // Write to ply in binary without camera
Line 505... Line 505...
505 
    }
 505 
    }
506 
 
 506 
 
507 
    // save meshlab aln project file
 507 
    // save meshlab aln project file
508 
    std::ofstream s(QString("%1/alignment.aln").arg(directory).toLocal8Bit());
 508 
    std::ofstream s(QString("%1/alignment.aln").arg(directory).toLocal8Bit());
509 
    s << pointCloudData.size() << std::endl;
 509 
    s << pointCloudData.size() << std::endl;
510 
    for(int i=0; i<pointCloudData.size(); i++){
 510 
    for(unsigned int i=0; i<pointCloudData.size(); i++){
511 
        QString fileName = QString("pointcloud_%1.ply").arg(i);
 511 
        QString fileName = QString("pointcloud_%1.ply").arg(i);
512 
        s << fileName.toStdString() << std::endl << "#" << std::endl;
 512 
        s << fileName.toStdString() << std::endl << "#" << std::endl;
513 
        cv::Mat Tr = cv::Mat::eye(4, 4, CV_32F);
 513 
        cv::Mat Tr = cv::Mat::eye(4, 4, CV_32F);
514 
        cv::Mat(pointCloudData[i].R.t()).copyTo(Tr.colRange(0, 3).rowRange(0, 3));
 514 
        cv::Mat(pointCloudData[i].R.t()).copyTo(Tr.colRange(0, 3).rowRange(0, 3));
515 
        cv::Mat(-pointCloudData[i].R.t()*pointCloudData[i].T).copyTo(Tr.col(3).rowRange(0, 3));
 515 
        cv::Mat(-pointCloudData[i].R.t()*pointCloudData[i].T).copyTo(Tr.col(3).rowRange(0, 3));