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Rev 251 Rev 255
Line 39... Line 39...
39 
 
 39 
 
40 
    // Restore geometry
 40 
    // Restore geometry
41 
    this->restoreGeometry(settings.value("geometry/mainwindow").toByteArray());
 41 
    this->restoreGeometry(settings.value("geometry/mainwindow").toByteArray());
42 
    this->restoreState(settings.value("state/mainwindow").toByteArray());
 42 
    this->restoreState(settings.value("state/mainwindow").toByteArray());
43 
 
 43 
 
- 
 
 44 
    // Set up export thread
- 
 
 45 
    exportWorker = new SMExportWorker();
- 
 
 46 
    exportWorkerThread = new QThread(this);
- 
 
 47 
    exportWorkerThread->setObjectName("exportWorkerThread");
- 
 
 48 
    exportWorker->moveToThread(exportWorkerThread);
- 
 
 49 
    exportWorkerThread->start();
- 
 
 50 
 
- 
 
 51 
    // Connections
- 
 
 52 
    connect(this, SIGNAL(exportFrameSequence(QString, SMFrameSequence)), exportWorker, SLOT(exportFrameSequence(QString, SMFrameSequence)));
- 
 
 53 
    connect(exportWorker, SIGNAL(progressUpdate(int)), this, SLOT(onExportProgress(int)));
- 
 
 54 
    connect(exportWorker, SIGNAL(aborted()), this, SLOT(onAbortedExport()));
- 
 
 55 
    connect(exportWorker, SIGNAL(finished(int)), this, SLOT(onFinishedExport(int)));
- 
 
 56 
 
- 
 
 57 
    // Start export timer
- 
 
 58 
    exportTimer = new QTimer(this);
- 
 
 59 
    connect(exportTimer, SIGNAL(timeout()), exportWorker, SLOT(work()));
- 
 
 60 
    exportTimer->start(1000);
- 
 
 61 
 
44 
    // Set up capture thread
 62 
    // Set up capture thread
45 
    captureWorker = new SMCaptureWorker;
 63 
    captureWorker = new SMCaptureWorker;
46 
    captureWorkerThread = new QThread(this);
 64 
    captureWorkerThread = new QThread(this);
47 
    captureWorkerThread->setObjectName("captureWorkerThread");
 65 
    captureWorkerThread->setObjectName("captureWorkerThread");
48 
    captureWorker->moveToThread(captureWorkerThread);
 66 
    captureWorker->moveToThread(captureWorkerThread);
Line 195... Line 213...
195 
    if(angleStart > angleEnd)
 213 
    if(angleStart > angleEnd)
196 
        angleEnd += 360;
 214 
        angleEnd += 360;
197 
 
 215 
 
198 
    std::vector<float> angles;
 216 
    std::vector<float> angles;
199 
    for(int i=angleStart; i<=angleEnd; i+=angleStep)
 217 
    for(int i=angleStart; i<=angleEnd; i+=angleStep)
200 
        angles.push_back(i % 360);
 218 
       angles.push_back(i % 360);
201 
 
 219 
 
202 
    QMetaObject::invokeMethod(captureWorker, "acquireCalibrationSets", Q_ARG(std::vector<float>, angles));
 220 
    QMetaObject::invokeMethod(captureWorker, "acquireCalibrationSets", Q_ARG(std::vector<float>, angles));
203 
 
 221 
 
204 
    std::cout << "Aquiring sets at ";
 222 
    std::cout << "Aquiring sets at ";
205 
    for(unsigned int i=0; i<angles.size(); i++)
 223 
    for(unsigned int i=0; i<angles.size(); i++)
Line 273... Line 291...
273 
        QMetaObject::invokeMethod(calibrationWorker, "cameraCalibration", Q_ARG(std::vector<SMCalibrationSet>, calibrationData));
 291 
        QMetaObject::invokeMethod(calibrationWorker, "cameraCalibration", Q_ARG(std::vector<SMCalibrationSet>, calibrationData));
274 
 
 292 
 
275 
 
 293 
 
276 
}
 294 
}
277 
 
 295 
 
278 
void SMScanner::onReceiveCheckerboardResult(int idx, SMCalibrationSet calibrationSet){
 296 
void SMScanner::onReceiveCheckerboardResult(int, SMCalibrationSet calibrationSet){
279 
 
 297 
 
280 
    int id = ui->calibrationListWidget->count();
 298 
    int id = ui->calibrationListWidget->count();
281 
    calibrationSet.id = id;
 299 
    calibrationSet.id = id;
282 
 
 300 
 
283 
    calibrationData.push_back(calibrationSet);
 301 
    calibrationData.push_back(calibrationSet);
Line 385... Line 403...
385 
        captureReviewMode = false;
 403 
        captureReviewMode = false;
386 
        return;
 404 
        return;
387 
    }
 405 
    }
388 
 
 406 
 
389 
    // Construct vector of angles
 407 
    // Construct vector of angles
- 
 
 408 
    int repeatsteps = ui->captureBatchStepRepeatSpinBox->value();
- 
 
 409 
    int repeatsequence = ui->captureBatchSequenceRepeatSpinBox->value();
390 
    int angleStart = ui->captureBatchStartSpinBox->value();
 410 
    int angleStart = ui->captureBatchStartSpinBox->value();
391 
    int angleEnd = ui->captureBatchEndSpinBox->value();
 411 
    int angleEnd = ui->captureBatchEndSpinBox->value();
392 
    int angleStep = ui->captureBatchStepSpinBox->value();
 412 
    int angleStep = ui->captureBatchStepSpinBox->value();
393 
 
 413 
 
394 
    if(angleStart > angleEnd)
 414 
    if(angleStart > angleEnd)
395 
        angleEnd += 360;
 415 
        angleEnd += 360;
396 
 
 416 
 
397 
    std::vector<float> angles;
 417 
    std::vector<float> angles;
398 
    for(int i=angleStart; i<=angleEnd; i+=angleStep)
 418 
    for(int i=angleStart; i<=angleEnd; i+=angleStep) {
399 
        angles.push_back(i % 360);
 419 
        angles.push_back(i % 360);
- 
 
 420 
        for(int j=1; j<repeatsteps; ++j)
- 
 
 421 
            angles.push_back(-1);
- 
 
 422 
    }
- 
 
 423 
    for(int l=1; l<repeatsequence; ++l) {
- 
 
 424 
        for(int i=angleStart; i<=angleEnd; i+=angleStep) {
- 
 
 425 
            angles.push_back(i % 360);
- 
 
 426 
            for(int j=1; j<repeatsteps; ++j)
- 
 
 427 
                angles.push_back(-1);
- 
 
 428 
        }
- 
 
 429 
    }
400 
 
 430 
 
401 
    std::cout << "Aquiring sequences at ";
 431 
    std::cout << "Aquiring sequences at ";
402 
    for(unsigned int i=0; i<angles.size(); i++)
 432 
    for(unsigned int i=0; i<angles.size(); i++)
403 
        std::cout << angles[i] << " ";
 433 
        std::cout << angles[i] << " ";
404 
    std::cout << " degrees" <<std::endl;
 434 
    std::cout << " degrees" <<std::endl;
Line 524... Line 554...
524 
 
 554 
 
525 
    progressDialog.show();
 555 
    progressDialog.show();
526 
 
 556 
 
527 
    cv::Mat frameBGR;
 557 
    cv::Mat frameBGR;
528 
    for(unsigned int i=0; i<captureData.size(); i++){
 558 
    for(unsigned int i=0; i<captureData.size(); i++){
529 
 
 - 
 
530 
        QString format;
 - 
 
531 
        if(captureData[i].frames0[0].depth() == CV_32F)
 - 
 
532 
            format = "hdr";
 - 
 
533 
        else
 - 
 
534 
            format = "png";
 - 
 
535 
 
 - 
 
536 
        QString seqDirName = QString("%1/sequence_%2").arg(dirName).arg(i);
 - 
 
537 
        if(!QDir().mkdir(seqDirName))
 - 
 
538 
            std::cerr << "Could not create directory " << seqDirName.toStdString() << std::endl;
 - 
 
539 
        for(unsigned int j=0; j<captureData[i].frames0.size(); j++){
 - 
 
540 
 
 - 
 
541 
            progressDialog.setValue(100.0*i/captureData.size() + 100.0/captureData.size()*j/captureData[i].frames0.size());
 - 
 
542 
 
 - 
 
543 
            QString fileName0 = QString("%1/frames0_%2.%3").arg(seqDirName).arg(j).arg(format);
 - 
 
544 
 
 - 
 
545 
            // Convert Bayer to rgb (png needs BGR order)
 - 
 
546 
            if(captureData[i].frames0[j].type() == CV_8UC1)
 - 
 
547 
                cv::cvtColor(captureData[i].frames0[j], frameBGR, CV_BayerBG2BGR);
 - 
 
548 
            else
 - 
 
549 
                cv::cvtColor(captureData[i].frames0[j], frameBGR, CV_RGB2BGR);
 - 
 
550 
 
 - 
 
551 
            cv::imwrite(fileName0.toStdString(), frameBGR);
 - 
 
552 
 
 - 
 
553 
            // Necessary to prevent pileup of video frame signals
 - 
 
554 
            QCoreApplication::processEvents();
 - 
 
555 
 
 - 
 
556 
            QString fileName1 = QString("%1/frames1_%2.%3").arg(seqDirName).arg(j).arg(format);
 - 
 
557 
 
 - 
 
558 
            // Convert Bayer to rgb (png needs BGR order)
 - 
 
559 
            if(captureData[i].frames1[j].type() == CV_8UC1)
 - 
 
560 
                cv::cvtColor(captureData[i].frames1[j], frameBGR, CV_BayerBG2BGR);
 - 
 
561 
            else
 - 
 
562 
                cv::cvtColor(captureData[i].frames1[j], frameBGR, CV_RGB2BGR);
 - 
 
563 
 
 - 
 
564 
            cv::imwrite(fileName1.toStdString(), frameBGR);
 - 
 
565 
 
 - 
 
566 
            // Necessary to prevent pileup of video frame signals
 - 
 
567 
            QCoreApplication::processEvents();
 559 
        emit exportFrameSequence(dirName, captureData[i]);
568 
            if(progressDialog.wasCanceled())
 - 
 
569 
                return;
 - 
 
570 
        }
 - 
 
571 
    }
 560 
    }
572 
}
 561 
}
573 
 
 562 
 
574 
void SMScanner::on_actionExport_White_Frames_triggered(){
 563 
void SMScanner::on_actionExport_White_Frames_triggered(){
575 
 
 564 
 
Line 628... Line 617...
628 
            captureItem->setTextColor(0, QColor(0, 0, 0));
 617 
            captureItem->setTextColor(0, QColor(0, 0, 0));
629 
            captureItem->setIcon(0, QIcon());
 618 
            captureItem->setIcon(0, QIcon());
630 
        }
 619 
        }
631 
   }
 620 
   }
632 
 
 621 
 
- 
 
 622 
    if (ui->exportCheckBox->isChecked()) {
- 
 
 623 
        QString path = ui->exportPathLineEdit->text();
- 
 
 624 
        for(unsigned int i = 0; i < captureData.size(); i++) {
- 
 
 625 
            if (captureData[i].id == smCloud.id) {
- 
 
 626 
                emit exportFrameSequence(path, captureData[i]);
- 
 
 627 
                break;
- 
 
 628 
            }
- 
 
 629 
        }
- 
 
 630 
    }
- 
 
 631 
}
- 
 
 632 
 
- 
 
 633 
void SMScanner::onExportProgress(int progress) {
- 
 
 634 
    ui->exportProgressBar->setEnabled(true);
- 
 
 635 
    ui->abortExportPushButton->setEnabled(true);
- 
 
 636 
    ui->exportProgressBar->setValue(progress);
- 
 
 637 
}
- 
 
 638 
 
- 
 
 639 
void SMScanner::onAbortedExport() {
- 
 
 640 
    ui->exportProgressBar->setEnabled(false);
- 
 
 641 
    ui->abortExportPushButton->setEnabled(false);
- 
 
 642 
    ui->exportProgressBar->setValue(100);
- 
 
 643 
}
- 
 
 644 
 
- 
 
 645 
void SMScanner::onFinishedExport(int id) {
- 
 
 646 
    if (ui->deleteExportCheckBox->isChecked()) {
- 
 
 647 
        for(unsigned int i = 0; i < captureData.size(); i++) {
- 
 
 648 
            if (captureData[i].id == id) {
- 
 
 649 
                captureData.erase(captureData.begin()+i);
- 
 
 650 
                ui->captureTreeWidget->takeTopLevelItem(i);
- 
 
 651 
                break;
- 
 
 652 
            }
- 
 
 653 
        }
- 
 
 654 
    }
- 
 
 655 
    onAbortedExport();
633 
}
 656 
}
634 
 
 657 
 
635 
void SMScanner::on_actionExport_Point_Clouds_triggered(){
 658 
void SMScanner::on_actionExport_Point_Clouds_triggered(){
636 
 
 659 
 
637 
    QString directory = QFileDialog::getExistingDirectory(this, "Export Point Clouds", QString());
 660 
    QString directory = QFileDialog::getExistingDirectory(this, "Export Point Clouds", QString());
Line 651... Line 674...
651 
    // save point clouds in ply format
 674 
    // save point clouds in ply format
652 
    for(unsigned int i=0; i<pointCloudData.size(); i++){
 675 
    for(unsigned int i=0; i<pointCloudData.size(); i++){
653 
 
 676 
 
654 
        progressDialog.setValue(100.0*i/pointCloudData.size());
 677 
        progressDialog.setValue(100.0*i/pointCloudData.size());
655 
    if(pointCloudData[i].id != -1){
 678 
    if(pointCloudData[i].id != -1){
656 
        QString fileName = QString("%1/pointcloud_%2.ply").arg(directory).arg(i);
 679 
        QString fileName = QString("%1/pointcloud_%2.ply").arg(directory).arg(pointCloudData[i].id);
657 
        pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr pointCloudPCL(pointCloudData[i].pointCloud);
 680 
        pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr pointCloudPCL(pointCloudData[i].pointCloud);
658 
        //pcl::io::savePLYFileBinary(fileName.toStdString(), *pointCloudPCL);
 681 
        //pcl::io::savePLYFileBinary(fileName.toStdString(), *pointCloudPCL);
659 
        pcl::PLYWriter w;
 682 
        pcl::PLYWriter w;
660 
        // Write to ply in binary without camera
 683 
        // Write to ply in binary without camera
661 
        w.write<pcl::PointXYZRGBNormal> (fileName.toStdString(), *pointCloudPCL, true, false);
 684 
        w.write<pcl::PointXYZRGBNormal> (fileName.toStdString(), *pointCloudPCL, true, false);
Line 688... Line 711...
688 
}
 711 
}
689 
 
 712 
 
690 
void SMScanner::on_pointCloudsListWidget_itemChanged(QListWidgetItem *item){
 713 
void SMScanner::on_pointCloudsListWidget_itemChanged(QListWidgetItem *item){
691 
 
 714 
 
692 
    int id = item->data(Qt::UserRole).toInt();
 715 
    int id = item->data(Qt::UserRole).toInt();
693 
    assert((int)pointCloudData.size()>id);
 716 
    // assert((int)pointCloudData.size()>id);
694 
 
 717 
 
695 
    if(item->checkState() == Qt::Checked){
 718 
    if(item->checkState() == Qt::Checked){
696 
        id = std::min(int(pointCloudData.size())-1,std::max(0,id));// clamp range
 719 
        id = std::min(int(pointCloudData.size())-1,std::max(0,id));// clamp range
697 
        ui->pointCloudWidget->addPointCloud(pointCloudData[id], id);
 720 
        ui->pointCloudWidget->addPointCloud(pointCloudData[id], id);
698 
    }
 721 
    }
Line 959... Line 982...
959 
 
 982 
 
960 
void SMScanner::on_actionEdit_Configuration_File_triggered()
 983 
void SMScanner::on_actionEdit_Configuration_File_triggered()
961 
{
 984 
{
962 
    QDesktopServices::openUrl(QUrl::fromLocalFile(settings.fileName()));
 985 
    QDesktopServices::openUrl(QUrl::fromLocalFile(settings.fileName()));
963 
}
 986 
}
- 
 
 987 
 
- 
 
 988 
void SMScanner::on_exportCheckBox_toggled(bool checked)
- 
 
 989 
{
- 
 
 990 
    ui->exportPathLineEdit->setEnabled(checked);
- 
 
 991 
    ui->browseExportPushButton->setEnabled(checked);
- 
 
 992 
    ui->exportedPathLabel->setEnabled(checked);
- 
 
 993 
    ui->deleteExportCheckBox->setEnabled(checked);
- 
 
 994 
}
- 
 
 995 
 
- 
 
 996 
void SMScanner::on_browseExportPushButton_clicked()
- 
 
 997 
{
- 
 
 998 
    QString dirName = QFileDialog::getExistingDirectory(this, "Export frame sequences", QString());
- 
 
 999 
    ui->exportPathLineEdit->setText(dirName);
- 
 
 1000 
}