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

     connect(calibrationWorker, SIGNAL(done()), ui->pointCloudWidget, SLOT(updateCalibrationParameters()));
     connect(calibrationWorker, SIGNAL(done()), calibrationWorkerThread, SLOT(quit()));
     connect(calibrationWorker, SIGNAL(done()), calibrationWorker, SLOT(deleteLater()));
     // Start calibration
-    QMetaObject::invokeMethod(calibrationWorker, "performCalibration", Q_ARG(std::vector<SMCalibrationSet>, calibrationData));
+    QMetaObject::invokeMethod(calibrationWorker, "performCameraCalibration", Q_ARG(std::vector<SMCalibrationSet>, calibrationData));
+}
     // if selection is just cleared
     if(ui->calibrationListWidget->selectedItems().empty())
         return;
+    // clamp to available range
-    int currentRow = ui->calibrationListWidget->currentRow();
+    assert(ui->calibrationListWidget->currentRow() >= 0
+           && ui->calibrationListWidget->currentRow() < calibrationData.size());
+    int currentRow = std::min(int(calibrationData.size())-1,
+                              std::max(0, ui->calibrationListWidget->currentRow()));
     calibrationReviewMode = true;
     ui->singleCalibrationButton->setText("Live View");
     ui->batchCalibrationButton->setText("Live View");
     QMetaObject::invokeMethod(captureWorker, "acquireFrameSequences", Q_ARG(std::vector<float>, angles));
+}
 void SMScanner::onReceiveFrameSequence(SMFrameSequence frameSequence){
-    int id = lastCaptureId + 1;
-    lastCaptureId += 1;
-    frameSequence.id = id;
+    frameSequence.id = ++lastCaptureId;
     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->setText(0, QString("Frame Sequence %1 -- %2 deg").arg(frameSequence.id).arg(frameSequence.rotationAngle));
     //item->setFlags(item->flags() | Qt::ItemIsUserCheckable);
     item->setData(0, Qt::UserRole, QPoint(captureData.size()-1, -1));
     //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));
-        subItem->setData(0, Qt::UserRole, QPoint(id, i));
+        subItem->setData(0, Qt::UserRole, QPoint(frameSequence.id, i));
+    }
     ui->reconstructButton->setEnabled(true);
+}
     ui->singleCaptureButton->setText("Live View");
     ui->batchCaptureButton->setText("Live View");
     QPoint idx = item->data(0, Qt::UserRole).toPoint();
-    if(idx.y() != -1){
+    if( idx.y() != -1 && idx.x()>=0 && idx.x()<captureData.size()
+            && idx.y()<captureData[idx.x()].frames0.size()
+            && idx.y()<captureData[idx.x()].frames1.size() ){
+        // TODO idx.x() can & WILL be out of bounds
         ui->captureCamera0Widget->showImageCV(captureData[idx.x()].frames0[idx.y()]);
         ui->captureCamera1Widget->showImageCV(captureData[idx.x()].frames1[idx.y()]);
+    }
 //     std::cout << "on_captureTreeWidget_itemSelectionChanged" << std::endl;
+}
 void SMScanner::onReceiveRotatedTo(float angle){
     connect(reconstructionWorker, SIGNAL(done()), reconstructionWorker, SLOT(deleteLater()));
     // Start reconstructing
     QMetaObject::invokeMethod(reconstructionWorker, "setup");
+    // TODO is a reference working here??
+    QMetaObject::invokeMethod(reconstructionWorker, "reconstructPointClouds", Q_ARG(std::vector<SMFrameSequence>, captureData));
     for(unsigned int i=0; i<captureData.size(); i++){
         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]));
+            // now done before QMetaObject::invokeMethod(reconstructionWorker, "reconstructPointCloud", Q_ARG(SMFrameSequence, captureData[i]));
+        }
+    }
+}
 void SMScanner::onReceivePointCloud(SMPointCloud smCloud){
-    int id = smCloud.id;
 //    for(int i=0; i<captureData.size(); i++){
 //        if(captureData[i].id == id)
 //            captureData[i].reconstructed = true;
 //    }
-    pointCloudData.push_back(smCloud);
+    //pointCloudData.push_back(smCloud);
+    if(pointCloudData.size()<=smCloud.id) pointCloudData.resize(smCloud.id+1);
+    pointCloudData[smCloud.id] = smCloud;
     // Add identifier to list
-    QListWidgetItem* item = new QListWidgetItem(QString("Point Cloud %1 -- %2 deg").arg(id).arg(smCloud.rotationAngle));
+    QListWidgetItem* item = new QListWidgetItem(QString("Point Cloud %1 -- %2 deg").arg(smCloud.id).arg(smCloud.rotationAngle));
     item->setFlags(item->flags() | Qt::ItemIsUserCheckable);
-    item->setData(Qt::UserRole, QVariant(id));
+    item->setData(Qt::UserRole, QVariant(smCloud.id));
     item->setCheckState(Qt::Checked);
     ui->pointCloudsListWidget->addItem(item);
-ui->pointCloudWidget->addPointCloud(smCloud, id);
+    ui->pointCloudWidget->addPointCloud(smCloud, smCloud.id);
+}
 void SMScanner::on_actionExport_Point_Clouds_triggered(){
     QString directory = QFileDialog::getExistingDirectory(this, "Export Point Clouds", QString());
 //    //  Non native file dialog
     // save point clouds in ply format
     for(unsigned int i=0; i<pointCloudData.size(); i++){
         progressDialog.setValue(100.0*i/pointCloudData.size());
+    if(pointCloudData[i].id != -1){
         QString fileName = QString("%1/pointcloud_%2.ply").arg(directory).arg(i);
         pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr pointCloudPCL(pointCloudData[i].pointCloud);
         //pcl::io::savePLYFileBinary(fileName.toStdString(), *pointCloudPCL);
         pcl::PLYWriter w;
         // Write to ply in binary without camera
         w.write<pcl::PointXYZRGBNormal> (fileName.toStdString(), *pointCloudPCL, true, false);
+    }
         QCoreApplication::processEvents();
         if(progressDialog.wasCanceled())
             return;
+    }
     // save meshlab aln project file
     std::ofstream s(QString("%1/alignment.aln").arg(directory).toLocal8Bit());
     s << pointCloudData.size() << std::endl;
     for(unsigned int i=0; i<pointCloudData.size(); i++){
+        if(pointCloudData[i].id != -1){
-        QString fileName = QString("pointcloud_%1.ply").arg(i);
+        QString fileName = QString("pointcloud_%1.ply").arg(pointCloudData[i].id);
         s << fileName.toStdString() << std::endl << "#" << std::endl;
         cv::Mat Tr = cv::Mat::eye(4, 4, CV_32F);
         cv::Mat(pointCloudData[i].R.t()).copyTo(Tr.colRange(0, 3).rowRange(0, 3));
         cv::Mat(-pointCloudData[i].R.t()*pointCloudData[i].T).copyTo(Tr.col(3).rowRange(0, 3));
         for(int j=0; j<Tr.rows; j++){
             for(int k=0; k<Tr.cols; k++){
                 s << Tr.at<float>(j,k) << " ";
+            }
             s << std::endl;
+        }
+        }
+    }
     s << "0" << std::flush;
     s.close();
+}
 void SMScanner::on_pointCloudsListWidget_itemChanged(QListWidgetItem *item){
     int id = item->data(Qt::UserRole).toInt();
+    assert(pointCloudData.size()>id);
-    if(item->checkState() == Qt::Checked)
+    if(item->checkState() == Qt::Checked){
+        id = std::min(int(pointCloudData.size())-1,std::max(0,id));// clamp range
         ui->pointCloudWidget->addPointCloud(pointCloudData[id], id);
+    }
     else
         ui->pointCloudWidget->removePointCloud(id);
+}
     int res = QMessageBox::question(this, "Clear Captured Sequences", "Clear all captured data?", QMessageBox::Ok, QMessageBox::Cancel);
     if(res == QMessageBox::Ok){
         captureData.clear();
         ui->captureTreeWidget->clear();
+        lastCaptureId=-1;
+    }
+}
         return;
+    }
     captureData.clear();
     ui->captureTreeWidget->clear();
+    lastCaptureId=-1;
     QProgressDialog progressDialog("Importing Sequences...", "Cancel", 0, 100, this);
     progressDialog.setWindowModality(Qt::WindowModal);
     progressDialog.setMinimumDuration(1000);

Subversion Repositories seema-scanner

(root)/src/SMScanner.cpp @ 208 – Rev 199 → 207