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

 #include "SMScanner.h"
 #include "ui_SMScanner.h"
 #include <QMetaObject>
 #include <QFileDialog>
 #include <QMessageBox>
     // Restore geometry
     this->restoreGeometry(settings.value("geometry/mainwindow").toByteArray());
     this->restoreState(settings.value("state/mainwindow").toByteArray());
-    // Set up threads
+    // Set up capture thread
     captureWorker = new SMCaptureWorker;
     captureWorkerThread = new QThread(this);
     captureWorkerThread->setObjectName("captureWorkerThread");
     captureWorker->moveToThread(captureWorkerThread);
     captureWorkerThread->start();
     // Start capturing
     QMetaObject::invokeMethod(captureWorker, "setup");
     QMetaObject::invokeMethod(captureWorker, "doWork");
+    // Set up calibration thread
+    calibrationWorker = new SMCalibrationWorker;
+    calibrationWorkerThread = new QThread(this);
+    calibrationWorkerThread->setObjectName("calibrationWorkerThread");
+    calibrationWorker->moveToThread(calibrationWorkerThread);
+    calibrationWorkerThread->start();
+    // Connections
+    connect(calibrationWorker, SIGNAL(newCheckerboardResult(int, SMCalibrationSet)), this, SLOT(onReceiveCheckerboardResult(int, SMCalibrationSet)));
+    connect(calibrationWorker, SIGNAL(done()), this, SLOT(onReceiveCalibrationDone()));
+    connect(calibrationWorker, SIGNAL(done()), ui->pointCloudWidget, SLOT(updateCalibrationParameters()));
+//    connect(calibrationWorker, SIGNAL(done()), calibrationWorkerThread, SLOT(quit()));
+//    connect(calibrationWorker, SIGNAL(done()), calibrationWorker, SLOT(deleteLater()));
+    connect(calibrationWorker, SIGNAL(logMessage(QString)), &logDialog, SLOT(showLogMessage(QString)));
+    // Set up reconstruction thread
+    reconstructionWorker = new SMReconstructionWorker;
+    reconstructionWorkerThread = new QThread(this);
+    reconstructionWorkerThread->setObjectName("reconstructionWorkerThread");
+    reconstructionWorker->moveToThread(reconstructionWorkerThread);
+    reconstructionWorkerThread->start();
+    // Connections
+    connect(reconstructionWorker, SIGNAL(newPointCloud(SMPointCloud)), this, SLOT(onReceivePointCloud(SMPointCloud)));
+    connect(reconstructionWorker, SIGNAL(done()), reconstructionWorkerThread, SLOT(quit()));
-//ui->captureCamera0ScrollArea->setWidget(ui->captureCamera0Widget);
+    connect(reconstructionWorker, SIGNAL(done()), reconstructionWorker, SLOT(deleteLater()));
+}
 void SMScanner::onReceiveFrame(unsigned int camId, cv::Mat frame){
     preferenceDialog.show();
+}
 void SMScanner::onPreferencesChanged(){
-    // Stop capturing thread
+    // Stop capture worker
-    connect(captureWorker, SIGNAL(finished()), captureWorker, SLOT(deleteLater()));
+//    connect(captureWorker, SIGNAL(finished()), captureWorker, SLOT(deleteLater()));
-    connect(captureWorker, SIGNAL(finished()), captureWorkerThread, SLOT(quit()));
+//    connect(captureWorker, SIGNAL(finished()), captureWorkerThread, SLOT(quit()));
     QMetaObject::invokeMethod(captureWorker, "stopWork");
-    captureWorkerThread->quit();
+//    captureWorkerThread->quit();
-    captureWorkerThread->wait();
+//    captureWorkerThread->wait();
-    // Restart capture worker
-    captureWorker = new SMCaptureWorker;
-    captureWorkerThread = new QThread(this);
-    captureWorkerThread->setObjectName("captureWorkerThread");
-    captureWorker->moveToThread(captureWorkerThread);
-    captureWorkerThread->start();
+//    // Restart capture worker
+//    captureWorker = new SMCaptureWorker;
+//    captureWorkerThread = new QThread(this);
+//    captureWorkerThread->setObjectName("captureWorkerThread");
+//    captureWorker->moveToThread(captureWorkerThread);
+//    captureWorkerThread->start();
-    connect(captureWorker, SIGNAL(newFrame(unsigned int, cv::Mat)), this, SLOT(onReceiveFrame(unsigned int, cv::Mat)));
+//    connect(captureWorker, SIGNAL(newFrame(unsigned int, cv::Mat)), this, SLOT(onReceiveFrame(unsigned int, cv::Mat)));
-    connect(captureWorker, SIGNAL(newCalibrationSet(SMCalibrationSet)), this, SLOT(onReceiveCalibrationSet(SMCalibrationSet)));
+//    connect(captureWorker, SIGNAL(newCalibrationSet(SMCalibrationSet)), this, SLOT(onReceiveCalibrationSet(SMCalibrationSet)));
-    connect(captureWorker, SIGNAL(newFrameSequence(SMFrameSequence)), this, SLOT(onReceiveFrameSequence(SMFrameSequence)));
+//    connect(captureWorker, SIGNAL(newFrameSequence(SMFrameSequence)), this, SLOT(onReceiveFrameSequence(SMFrameSequence)));
-    connect(captureWorker, SIGNAL(rotatedTo(float)), this, SLOT(onReceiveRotatedTo(float)));
+//    connect(captureWorker, SIGNAL(rotatedTo(float)), this, SLOT(onReceiveRotatedTo(float)));
     QMetaObject::invokeMethod(captureWorker, "setup");
     QMetaObject::invokeMethod(captureWorker, "doWork");
-//    QMessageBox::warning(this, "Information", "You must quit and restart the program for new settings to take effect!", QMessageBox::Ok);
+}
 void SMScanner::closeEvent(QCloseEvent *event){
+    // Close dialogs
+    preferenceDialog.close();
+    logDialog.close();
     // Stop capturing thread
     connect(captureWorker, SIGNAL(finished()), captureWorker, SLOT(deleteLater()));
     connect(captureWorker, SIGNAL(finished()), captureWorkerThread, SLOT(quit()));
     QMetaObject::invokeMethod(captureWorker, "stopWork");
     captureWorkerThread->quit();
     calibrationData.push_back(calibrationSet);
     // Add identifier to list
     QListWidgetItem* item = new QListWidgetItem(QString("Calibration Set %1 -- %2 deg").arg(id).arg(calibrationSet.rotationAngle), ui->calibrationListWidget);
-    item->setFlags(item->flags() | Qt::ItemIsUserCheckable);
-    item->setCheckState(Qt::Checked);
     ui->calibrationListWidget->addItem(item);
+    item->setSelected(true);
+    // Send to checkerboard detection on calibration thread
+    QMetaObject::invokeMethod(calibrationWorker, "checkerboardDetection", Q_ARG(SMCalibrationSet, calibrationSet));
-    // Set enabled checkmark
+    // Enable calibration button
-    if(calibrationData.size() >= 2)
+    if(calibrationData.size() >= 2){
-        ui->calibrateButton->setEnabled(true);
+        ui->calibrateCamerasButton->setEnabled(true);
+        ui->calibrateRotationStageButton->setEnabled(true);
+    }
+}
-void SMScanner::on_calibrateButton_clicked(){
+void SMScanner::on_calibrateCamerasButton_clicked(){
     // disable ui elements
-    ui->calibrateButton->setEnabled(false);
+    ui->calibrateCamerasButton->setEnabled(false);
+    ui->calibrateRotationStageButton->setEnabled(false);
     ui->calibrationFrame->setEnabled(false);
+    // if none items are selected, we will use all available items
+    if(ui->calibrationListWidget->selectedItems().empty())
+        ui->calibrationListWidget->selectAll();
-    // set checked flags
+    // set selected flags
     for(unsigned int i=0; i<calibrationData.size(); i++){
-        calibrationData[i].checked = (ui->calibrationListWidget->item(i)->checkState() == Qt::Checked);
+        if(ui->calibrationListWidget->item(i)->isSelected())
+            calibrationData[i].selected = true;
+        else
+            calibrationData[i].selected = false;
+    }
-//    SMCalibrationWorker calibrationWorker;
+    logDialog.show();
-//    calibrationWorker.performCalibration(calibrationData);
-    // Set up calibration thread
-    calibrationWorker = new SMCalibrationWorker;
-    calibrationWorkerThread = new QThread(this);
-    calibrationWorkerThread->setObjectName("calibrationWorkerThread");
-    calibrationWorker->moveToThread(calibrationWorkerThread);
-    calibrationWorkerThread->start();
-    // Connections
-    connect(calibrationWorker, SIGNAL(newSetProcessed(int)), this, SLOT(onCalibrationSetProcessed(int)));
-    connect(calibrationWorker, SIGNAL(newFrameResult(int,int,bool,cv::Mat)), this, SLOT(onCalibrationFrameResult(int,int,bool,cv::Mat)));
-    connect(calibrationWorker, SIGNAL(done()), this, SLOT(onCalibrationDone()));
-    connect(calibrationWorker, SIGNAL(done()), ui->pointCloudWidget, SLOT(updateCalibrationParameters()));
-    connect(calibrationWorker, SIGNAL(done()), calibrationWorkerThread, SLOT(quit()));
-    connect(calibrationWorker, SIGNAL(done()), calibrationWorker, SLOT(deleteLater()));
-    // Start calibration
+    // start calibration
-    QMetaObject::invokeMethod(calibrationWorker, "performCameraCalibration", Q_ARG(std::vector<SMCalibrationSet>, calibrationData));
+    QMetaObject::invokeMethod(calibrationWorker, "cameraCalibration", Q_ARG(std::vector<SMCalibrationSet>, calibrationData));
+}
+void SMScanner::onReceiveCheckerboardResult(int idx, SMCalibrationSet set){
-void SMScanner::onCalibrationSetProcessed(int idx){
+    calibrationData[idx] = set;
-    if(calibrationData[idx].frame0Result.empty() && calibrationData[idx].frame1Result.empty())
-        ui->calibrationListWidget->item(idx)->setCheckState(Qt::Unchecked);
     ui->calibrationListWidget->setCurrentRow(idx);
+}
-void SMScanner::onCalibrationDone(){
+void SMScanner::onReceiveCalibrationDone(){
     std::cout << "Calibration done!" << std::endl;
-    ui->calibrateButton->setEnabled(true);
+    ui->calibrateCamerasButton->setEnabled(true);
+    ui->calibrateRotationStageButton->setEnabled(true);
     ui->calibrationFrame->setEnabled(true);
+}
 void SMScanner::on_calibrationListWidget_itemSelectionChanged(){
     // if selection is just cleared
     if(ui->calibrationListWidget->selectedItems().empty())
         return;
-    // clamp to available range
-    if(ui->calibrationListWidget->currentRow() < 0)
-        return;
-    assert(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");
+    int currentRow = ui->calibrationListWidget->currentRow();
+    if(currentRow < 0)
+        return;
+    assert(currentRow < (int)calibrationData.size());
+    // if checkerboard results are available, show them, otherwise show the frame
     if(calibrationData[currentRow].frame0Result.empty())
         ui->calibrationCamera0Widget->showImageCV(calibrationData[currentRow].frame0);
     else
         ui->calibrationCamera0Widget->showImageCV(calibrationData[currentRow].frame0Result);
         ui->calibrationCamera1Widget->showImageCV(calibrationData[currentRow].frame1Result);
 //     std::cout << "on_calibrationListWidget_itemSelectionChanged" << std::endl;
+}
-void SMScanner::onCalibrationFrameResult(int idx, int camID, bool success, cv::Mat result){
-    if(success){
-        if(camID == 0)
-            calibrationData[idx].frame0Result = result;
-        else if(camID == 1)
-            calibrationData[idx].frame1Result = result;
-    }
-}
 void SMScanner::on_captureRotationDial_sliderReleased(){
     float angle = ui->captureRotationDial->value();
     std::cout << "Rotation stage target: " << angle << std::endl;
     QMetaObject::invokeMethod(captureWorker, "rotateTo", Q_ARG(float, angle));
     QMetaObject::invokeMethod(captureWorker, "acquireFrameSequences", Q_ARG(std::vector<float>, angles));
+}
 void SMScanner::onReceiveFrameSequence(SMFrameSequence frameSequence){
     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(frameSequence.id).arg(frameSequence.rotationAngle));
     //item->setFlags(item->flags() | Qt::ItemIsUserCheckable);
-    item->setData(0, Qt::UserRole, QPoint(captureData.size()-1, -1));
+    item->setData(0, Qt::UserRole, QPoint(frameSequence.id, -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(frameSequence.id, i));
+    }
+    // Indicate that the current item is currently reconstructing
+    item->setTextColor(0, QColor(128, 128, 128));
+    item->setIcon(0, QIcon::fromTheme("system-run"));
-    ui->reconstructButton->setEnabled(true);
+    // Reconstruct the frame sequence
+    QMetaObject::invokeMethod(reconstructionWorker, "reconstructPointCloud", Q_ARG(SMFrameSequence, frameSequence));
+    frameSequence.reconstructed = true;
+    captureData.push_back(frameSequence);
+}
 void SMScanner::on_captureTreeWidget_itemSelectionChanged(){
     // if selection is just cleared
             && 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){
             return;
+    }
+}
-void SMScanner::on_reconstructButton_clicked(){
-    // Set up reconstruction thread
-    reconstructionWorker = new SMReconstructionWorker;
-    reconstructionWorkerThread = new QThread(this);
-    reconstructionWorkerThread->setObjectName("reconstructionWorkerThread");
-    reconstructionWorker->moveToThread(reconstructionWorkerThread);
-    reconstructionWorkerThread->start();
-    // Connections
-    connect(reconstructionWorker, SIGNAL(newPointCloud(SMPointCloud)), this, SLOT(onReceivePointCloud(SMPointCloud)));
-    connect(reconstructionWorker, SIGNAL(done()), reconstructionWorkerThread, SLOT(quit()));
-    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;
-            // now done before QMetaObject::invokeMethod(reconstructionWorker, "reconstructPointCloud", Q_ARG(SMFrameSequence, captureData[i]));
-        }
-    }
-}
-void SMScanner::on_meshButton_clicked(){
-//    // Set up reconstruction thread
-//    meshWorker = new SMMeshingWorker;
-//    meshWorkerThread = new QThread(this);
-//    meshWorkerThread->setObjectName("meshWorkerThread");
-//    meshWorker->moveToThread(meshWorkerThread);
-//    meshWorkerThread->start();
-//    // Connections
-//    //connect(meshWorker, SIGNAL(newMesh(pcl::PolygonMesh)), this, SLOT(onReceiveMesh(pcl::PolygonMesh)));
-//    //connect(meshWorker, SIGNAL(done()), meshWorkerThread, SLOT(quit()));
-//    //connect(meshWorker, SIGNAL(done()), meshWorker, SLOT(deleteLater()));
-//    // Start reconstructing
-//    //QMetaObject::invokeMethod(meshWorker, "setup");
-//    // TODO is a reference working here??
-//    QMetaObject::invokeMethod(meshWorker, "reconstructMesh",
-//                              Q_ARG(std::vector<SMPointCloud>, pointCloudData));
-}
 void SMScanner::onReceivePointCloud(SMPointCloud smCloud){
-//    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);
-    // TODO on demand resizing here is evil
-    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(smCloud.id).arg(smCloud.rotationAngle));
     item->setFlags(item->flags() | Qt::ItemIsUserCheckable);
     item->setData(Qt::UserRole, QVariant(smCloud.id));
     item->setCheckState(Qt::Checked);
     ui->pointCloudsListWidget->addItem(item);
     ui->pointCloudWidget->addPointCloud(smCloud, smCloud.id);
-    // TODO just to test
+    // Indicate completed reconstruction in captureTreeWidget
+    for(int i=0; i<ui->captureTreeWidget->topLevelItemCount(); i++){
+        QTreeWidgetItem *captureItem = ui->captureTreeWidget->topLevelItem(i);
+        if(captureItem->data(0, Qt::UserRole).toPoint() == QPoint(smCloud.id, -1)){
+            captureItem->setTextColor(0, QColor(0, 0, 0));
-    on_meshButton_clicked();
+            captureItem->setIcon(0, QIcon());
+        }
+   }
+}
 void SMScanner::on_actionExport_Point_Clouds_triggered(){
     QString directory = QFileDialog::getExistingDirectory(this, "Export Point Clouds", QString());
 void SMScanner::on_pointCloudsListWidget_itemChanged(QListWidgetItem *item){
     int id = item->data(Qt::UserRole).toInt();
     assert(pointCloudData.size()>id);
     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
         QString fileName1 = QString("%1/frame1_%2.png").arg(dirName).arg(i);
         cv::Mat frame1BGR = cv::imread(fileName1.toStdString());
         cvtools::cvtColorBGRToBayerBG(frame1BGR, calibrationSet.frame1);
+//        int id = ui->calibrationListWidget->count();
+//        calibrationSet.id = id;
-        int id = ui->calibrationListWidget->count();
-        calibrationSet.id = id;
+//        calibrationData.push_back(calibrationSet);
+//        // Add identifier to list
+//        QListWidgetItem* item = new QListWidgetItem(QString("Calibration Set %1 -- %2 deg").arg(id).arg(calibrationSet.rotationAngle), ui->calibrationListWidget);
+//        item->setFlags(item->flags() | Qt::ItemIsUserCheckable);
+//        item->setCheckState(Qt::Checked);
-        calibrationData.push_back(calibrationSet);
+//        ui->calibrationListWidget->addItem(item);
-        // Add identifier to list
-        QListWidgetItem* item = new QListWidgetItem(QString("Calibration Set %1 -- %2 deg").arg(id).arg(calibrationSet.rotationAngle), ui->calibrationListWidget);
-        item->setFlags(item->flags() | Qt::ItemIsUserCheckable);
-        item->setCheckState(Qt::Checked);
-        ui->calibrationListWidget->addItem(item);
+        this->onReceiveCalibrationSet(calibrationSet);
         QCoreApplication::processEvents();
         if(progressDialog.wasCanceled())
             return;
+    }
     // Set enabled checkmark
-    if(calibrationData.size() >= 2)
+    if(calibrationData.size() >= 2){
-        ui->calibrateButton->setEnabled(true);
+        ui->calibrateCamerasButton->setEnabled(true);
+        ui->calibrateRotationStageButton->setEnabled(true);
+    }
+}
 void SMScanner::on_actionImport_Sequences_triggered(){
     // NOTE: we do not know which algorithm was used!!!
             captureData[i].reconstructed = false;
+    }
+}
-void SMScanner::on_actionProject_Focusing_Pattern_triggered()
+void SMScanner::on_actionProject_Focusing_Pattern_triggered(){
-{
     bool projectFocusingPattern = ui->actionProject_Focusing_Pattern->isChecked();
     QMetaObject::invokeMethod(captureWorker, "setProjectFocusingPattern", Q_ARG(bool, projectFocusingPattern));
+}
+void SMScanner::on_calibrateRotationStageButton_clicked(){
+    // disable ui elements
+    ui->calibrateCamerasButton->setEnabled(false);
+    ui->calibrateRotationStageButton->setEnabled(false);
+    ui->calibrationFrame->setEnabled(false);
+    // if none items are selected, we will use all available items
+    if(ui->calibrationListWidget->selectedItems().empty())
+        ui->calibrationListWidget->selectAll();
+    // set selected flags
+    for(unsigned int i=0; i<calibrationData.size(); i++){
+        if(ui->calibrationListWidget->item(i)->isSelected())
+            calibrationData[i].selected = true;
+        else
+            calibrationData[i].selected = false;
+    }
+    logDialog.show();
+    // start calibration
+    QMetaObject::invokeMethod(calibrationWorker, "rotationStageCalibration", Q_ARG(std::vector<SMCalibrationSet>, calibrationData));
+}
+void SMScanner::on_actionView_Log_Messages_triggered()
+{
+     logDialog.show();
+}

Subversion Repositories seema-scanner

(root)/src/SMScanner.cpp – Rev 222 → 225