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#include "SMScanner.h"
#include "ui_SMScanner.h"
#include <QMetaObject>
#include <QFileDialog>
#include <QMessageBox>
#include <QProgressDialog>
#include <pcl/io/pcd_io.h>
#include <pcl/io/ascii_io.h>
#include <pcl/io/ply_io.h>
#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");
qRegisterMetaType< std::vector<cv::Mat> >("std::vector<cv::Mat>");
qRegisterMetaType< std::vector<float> >("std::vector<float>");
qRegisterMetaType<SMCalibrationSet>("SMCalibrationSet");
qRegisterMetaType<SMCalibrationParameters>("SMCalibrationParameters");
qRegisterMetaTypeStreamOperators<SMCalibrationParameters>("SMCalibrationParameters");
qRegisterMetaType< std::vector<SMCalibrationSet> >("std::vector<SMCalibrationSet>");
qRegisterMetaType<SMFrameSequence>("SMFrameSequence");
qRegisterMetaType< std::vector<SMFrameSequence> >("std::vector<SMFrameSequence>");
qRegisterMetaType<pcl::PointCloud<pcl::PointXYZRGB>::Ptr>("pcl::PointCloud<pcl::PointXYZRGB>::Ptr");
qRegisterMetaType<SMPointCloud>("SMPointCloud");
// Setup ui (requires stream operators registered)
ui->setupUi(this);
// Restore geometry
this->restoreGeometry(settings.value("geometry/mainwindow").toByteArray());
this->restoreState(settings.value("state/mainwindow").toByteArray());
// Set up threads
captureWorker = new SMCaptureWorker;
captureWorkerThread = new QThread(this);
captureWorkerThread->setObjectName("captureWorkerThread");
captureWorker->moveToThread(captureWorkerThread);
captureWorkerThread->start();
// Connections
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(newFrameSequence(SMFrameSequence)), this, SLOT(onReceiveFrameSequence(SMFrameSequence)));
connect(captureWorker, SIGNAL(rotatedTo(float)), this, SLOT(onReceiveRotatedTo(float)));
// Start capturing
QMetaObject::invokeMethod(captureWorker, "setup");
QMetaObject::invokeMethod(captureWorker, "doWork");
}
void SMScanner::onReceiveFrame(unsigned int camId, cv::Mat frame){
if(camId == 0){
if(!calibrationReviewMode)
ui->calibrationCamera0Widget->showImageCV(frame);
if(!captureReviewMode)
ui->captureCamera0Widget->showImageCV(frame);
} else if(camId == 1){
if(!calibrationReviewMode)
ui->calibrationCamera1Widget->showImageCV(frame);
if(!captureReviewMode)
ui->captureCamera1Widget->showImageCV(frame);
}
}
void SMScanner::on_actionPreferences_triggered(){
connect(&preferenceDialog, SIGNAL(accepted()), this, SLOT(onPreferencesChanged()));
preferenceDialog.show();
}
void SMScanner::onPreferencesChanged(){
// Stop capturing thread
connect(captureWorker, SIGNAL(finished()), captureWorker, SLOT(deleteLater()));
connect(captureWorker, SIGNAL(finished()), captureWorkerThread, SLOT(quit()));
QMetaObject::invokeMethod(captureWorker, "stopWork");
captureWorkerThread->quit();
captureWorkerThread->wait();
// 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(newCalibrationSet(SMCalibrationSet)), this, SLOT(onReceiveCalibrationSet(SMCalibrationSet)));
connect(captureWorker, SIGNAL(newFrameSequence(SMFrameSequence)), this, SLOT(onReceiveFrameSequence(SMFrameSequence)));
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){
// Stop capturing thread
connect(captureWorker, SIGNAL(finished()), captureWorker, SLOT(deleteLater()));
connect(captureWorker, SIGNAL(finished()), captureWorkerThread, SLOT(quit()));
QMetaObject::invokeMethod(captureWorker, "stopWork");
captureWorkerThread->quit();
captureWorkerThread->wait();
// Save window geometry
settings.setValue("geometry/mainwindow", this->saveGeometry());
settings.setValue("state/mainwindow", this->saveState());
event->accept();
}
SMScanner::~SMScanner(){
delete ui;
}
void SMScanner::on_singleCalibrationButton_clicked(){
// If in review mode, go back to aquisition mode
if(calibrationReviewMode){
ui->calibrationListWidget->clearSelection();
ui->singleCalibrationButton->setText("Single Aquisition");
ui->batchCalibrationButton->setText("Batch Aquisition");
calibrationReviewMode = false;
return;
}
QMetaObject::invokeMethod(captureWorker, "acquireCalibrationSet", Q_ARG(float, -1.0));
}
void SMScanner::on_batchCalibrationButton_clicked(){
// If in review mode, go back to aquisition mode
if(calibrationReviewMode){
ui->calibrationListWidget->clearSelection();
ui->singleCalibrationButton->setText("Single Aquisition");
ui->batchCalibrationButton->setText("Batch Aquisition");
calibrationReviewMode = false;
return;
}
// Construct vector of angles
int angleStart = ui->calibrationBatchStartSpinBox->value();
int angleEnd = ui->calibrationBatchEndSpinBox->value();
int angleStep = ui->calibrationBatchStepSpinBox->value();
if(angleStart > angleEnd)
angleEnd += 360;
std::vector<float> angles;
for(int i=angleStart; i<=angleEnd; i+=angleStep)
angles.push_back(i % 360);
QMetaObject::invokeMethod(captureWorker, "acquireCalibrationSets", Q_ARG(std::vector<float>, angles));
std::cout << "Aquiring sets at ";
for(unsigned int i=0; i<angles.size(); i++)
std::cout << angles[i] << " ";
std::cout << " degrees" <<std::endl;
}
void SMScanner::on_calibrationRotationDial_sliderReleased(){
float angle = ui->calibrationRotationDial->value();
std::cout << "Rotation stage target: " << angle << std::endl;
QMetaObject::invokeMethod(captureWorker, "rotateTo", Q_ARG(float, angle));
ui->captureRotationDial->setValue(ui->calibrationRotationDial->value());
}
void SMScanner::onReceiveCalibrationSet(SMCalibrationSet calibrationSet){
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);
ui->calibrationListWidget->addItem(item);
// Set enabled checkmark
if(calibrationData.size() >= 2)
ui->calibrateButton->setEnabled(true);
}
void SMScanner::on_calibrateButton_clicked(){
// disable ui elements
ui->calibrateButton->setEnabled(false);
ui->calibrationFrame->setEnabled(false);
// set checked flags
for(unsigned int i=0; i<calibrationData.size(); i++){
calibrationData[i].checked = (ui->calibrationListWidget->item(i)->checkState() == Qt::Checked);
}
// SMCalibrationWorker calibrationWorker;
// 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
QMetaObject::invokeMethod(calibrationWorker, "performCalibration", Q_ARG(std::vector<SMCalibrationSet>, calibrationData));
}
void SMScanner::onCalibrationSetProcessed(int idx){
if(calibrationData[idx].frame0Result.empty() && calibrationData[idx].frame1Result.empty())
ui->calibrationListWidget->item(idx)->setCheckState(Qt::Unchecked);
ui->calibrationListWidget->setCurrentRow(idx);
}
void SMScanner::onCalibrationDone(){
std::cout << "Calibration done!" << std::endl;
ui->calibrateButton->setEnabled(true);
ui->calibrationFrame->setEnabled(true);
}
void SMScanner::on_calibrationListWidget_itemSelectionChanged(){
// if selection is just cleared
if(ui->calibrationListWidget->selectedItems().empty())
return;
int currentRow = ui->calibrationListWidget->currentRow();
calibrationReviewMode = true;
ui->singleCalibrationButton->setText("Live View");
ui->batchCalibrationButton->setText("Live View");
if(!calibrationData[currentRow].frame0Result.empty())
ui->calibrationCamera0Widget->showImageCV(calibrationData[currentRow].frame0Result);
else
ui->calibrationCamera0Widget->showImageCV(calibrationData[currentRow].frame0);
if(!calibrationData[currentRow].frame1Result.empty())
ui->calibrationCamera1Widget->showImageCV(calibrationData[currentRow].frame1Result);
else
ui->calibrationCamera1Widget->showImageCV(calibrationData[currentRow].frame1);
// 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_singleCaptureButton_clicked(){
// If in review mode, go back to aquisition mode
if(captureReviewMode){
ui->captureTreeWidget->clearSelection();
ui->singleCaptureButton->setText("Single Aquisition");
ui->batchCaptureButton->setText("Batch Aquisition");
captureReviewMode = false;
return;
}
QMetaObject::invokeMethod(captureWorker, "acquireFrameSequence", Q_ARG(float, -1.0));
}
void SMScanner::on_batchCaptureButton_clicked(){
// If in review mode, go back to aquisition mode
if(captureReviewMode){
ui->captureTreeWidget->clearSelection();
ui->singleCaptureButton->setText("Single Aquisition");
ui->batchCaptureButton->setText("Batch Aquisition");
captureReviewMode = false;
return;
}
// Construct vector of angles
int angleStart = ui->captureBatchStartSpinBox->value();
int angleEnd = ui->captureBatchEndSpinBox->value();
int angleStep = ui->captureBatchStepSpinBox->value();
if(angleStart > angleEnd)
angleEnd += 360;
std::vector<float> angles;
for(int i=angleStart; i<=angleEnd; i+=angleStep)
angles.push_back(i % 360);
std::cout << "Aquiring sequences at ";
for(unsigned int i=0; i<angles.size(); i++)
std::cout << angles[i] << " ";
std::cout << " degrees" <<std::endl;
QMetaObject::invokeMethod(captureWorker, "acquireFrameSequences", Q_ARG(std::vector<float>, angles));
}
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));
ui->calibrationRotationDial->setValue(ui->captureRotationDial->value());
}
void SMScanner::onReceiveFrameSequence(SMFrameSequence frameSequence){
int id = lastCaptureId + 1;
lastCaptureId += 1;
frameSequence.id = id;
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->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));
}
ui->reconstructButton->setEnabled(true);
}
void SMScanner::on_captureTreeWidget_itemSelectionChanged(){
// if selection is just cleared
if(ui->captureTreeWidget->selectedItems().empty())
return;
QTreeWidgetItem *item = ui->captureTreeWidget->currentItem();
captureReviewMode = true;
ui->singleCaptureButton->setText("Live View");
ui->batchCaptureButton->setText("Live View");
QPoint idx = item->data(0, Qt::UserRole).toPoint();
if(idx.y() != -1){
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){
// update ui with new position
ui->calibrationRotationDial->setValue(angle);
ui->captureRotationDial->setValue(angle);
}
void SMScanner::on_actionExport_Sets_triggered(){
cv::Mat frameBGR;
QString dirName = QFileDialog::getExistingDirectory(this, "Export calibration sets", QString());
for(unsigned int i=0; i<calibrationData.size(); i++){
QString fileName = QString("%1/frame0_%2.png").arg(dirName).arg(i);
// Convert to BGR
if(calibrationData[i].frame0.channels() == 1)
cv::cvtColor(calibrationData[i].frame0, frameBGR, CV_BayerBG2BGR);
else
cv::cvtColor(calibrationData[i].frame1, frameBGR, CV_RGB2BGR);
cv::imwrite(fileName.toStdString(), frameBGR);
fileName = QString("%1/frame1_%2.png").arg(dirName).arg(i);
// Convert to BGR
if(calibrationData[i].frame1.channels() == 1)
cv::cvtColor(calibrationData[i].frame1, frameBGR, CV_BayerBG2BGR);
else
cv::cvtColor(calibrationData[i].frame1, frameBGR, CV_RGB2BGR);
cv::imwrite(fileName.toStdString(), frameBGR);
// Necessary to prevent pileup of video frame signals
QCoreApplication::processEvents();
}
}
void SMScanner::on_actionExport_Sequences_triggered(){
QProgressDialog progressDialog("Exporting Sequences.", "Cancel", 0, 100);
progressDialog.setMinimumDuration(1000);
progressDialog.setMinimum(1);
progressDialog.setMaximum(captureData.size());
cv::Mat frameBGR;
QString dirName = QFileDialog::getExistingDirectory(this, "Export frame sequences", QString());
for(unsigned int i=0; i<captureData.size(); i++){
progressDialog.setValue(i);
QString seqDirName = QString("%1/sequence_%2").arg(dirName).arg(i);
if(!QDir().mkdir(seqDirName))
std::cerr << "Could not create directory " << seqDirName.toStdString() << std::endl;
for(unsigned int j=0; j<captureData[i].frames0.size(); j++){
QString fileName = QString("%1/frames0_%2.png").arg(seqDirName).arg(j);
// Convert Bayer to rgb (png needs BGR order)
cv::cvtColor(captureData[i].frames0[j], frameBGR, CV_BayerBG2BGR);
cv::imwrite(fileName.toStdString(), frameBGR);
// Necessary to prevent pileup of video frame signals
QCoreApplication::processEvents();
}
for(unsigned int j=0; j<captureData[i].frames1.size(); j++){
QString fileName = QString("%1/frames1_%2.png").arg(seqDirName).arg(j);
// Convert Bayer to rgb (png needs BGR order)
cv::cvtColor(captureData[i].frames1[j], frameBGR, CV_BayerBG2BGR);
cv::imwrite(fileName.toStdString(), frameBGR);
// Necessary to prevent pileup of video frame signals
QCoreApplication::processEvents();
}
}
}
void SMScanner::on_actionExport_White_Frames_triggered(){
cv::Mat frameBGR;
QString dirName = QFileDialog::getExistingDirectory(this, "Export frame sequences", QString());
for(unsigned int i=0; i<captureData.size(); i++){
QString seqDirName = QString("%1/sequence_%2").arg(dirName).arg(i);
if(!QDir().mkdir(seqDirName))
std::cerr << "Could not create directory " << seqDirName.toStdString() << std::endl;
QString fileName = QString("%1/frames0_0.png").arg(seqDirName);
// Convert Bayer to rgb (png needs BGR order)
cv::cvtColor(captureData[i].frames0[0], frameBGR, CV_BayerBG2BGR);
cv::imwrite(fileName.toStdString(), frameBGR);
// Necessary to prevent memory pileup
QCoreApplication::processEvents();
fileName = QString("%1/frames1_0.png").arg(seqDirName);
// Convert Bayer to rgb (png needs BGR order)
cv::cvtColor(captureData[i].frames1[0], frameBGR, CV_BayerBG2BGR);
cv::imwrite(fileName.toStdString(), frameBGR);
// Necessary to prevent memory pileup
QCoreApplication::processEvents();
}
}
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(onNewPointCloud(SMPointCloud)));
connect(reconstructionWorker, SIGNAL(done()), reconstructionWorkerThread, SLOT(quit()));
connect(reconstructionWorker, SIGNAL(done()), reconstructionWorker, SLOT(deleteLater()));
// 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))
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++){
// if(captureData[i].id == id)
// 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);
item->setFlags(item->flags() | Qt::ItemIsUserCheckable);
item->setData(Qt::UserRole, QVariant(id));
item->setCheckState(Qt::Checked);
ui->pointCloudsListWidget->addItem(item);
// ui->pointCloudWidget->addPointCloud(smCloud, id);
}
void SMScanner::on_actionExport_Point_Clouds_triggered(){
QString directory = QFileDialog::getExistingDirectory(this, "Export Point Clouds", QString());
// // Non native file dialog
// QFileDialog saveDirectoryDialog(this, "Export Point Clouds", QString(), "*.pcd;;*.ply;;*.vtk;;*.png;;*.txt");
// saveDirectoryDialog.setDefaultSuffix("ply");
// saveDirectoryDialog.setFileMode(QFileDialog::Directory);
// saveDirectoryDialog.exec();
// QString directory = saveDirectoryDialog.directory().path();
// QString type = saveDirectoryDialog.selectedNameFilter();
// save point clouds in ply format
for(unsigned int i=0; i<pointCloudData.size(); i++){
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);
}
// 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++){
QString fileName = QString("pointcloud_%1.ply").arg(i);
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();
if(item->checkState() == Qt::Checked)
ui->pointCloudWidget->addPointCloud(pointCloudData[id], id);
else
ui->pointCloudWidget->removePointCloud(id);
}
void SMScanner::on_actionExport_Parameters_triggered(){
QString fileName = QFileDialog::getSaveFileName(this, "Export calibration parameters", QString(), "*.xml");
QFileInfo info(fileName);
QString type = info.suffix();
if(type == ""){
fileName.append(".xml");
}
SMCalibrationParameters calibration = settings.value("calibration/parameters").value<SMCalibrationParameters>();
calibration.exportToXML(fileName);
}
void SMScanner::on_actionClear_Sequences_triggered(){
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();
}
}
void SMScanner::on_actionImport_Parameters_triggered(){
QString fileName = QFileDialog::getOpenFileName(this, "Import calibration parameters", QString(), "*.xml");
QFileInfo info(fileName);
QString type = info.suffix();
if(type != "xml"){
std::cerr << "Error: calibration parameters must be in .xml file." << std::endl;
return;
}
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());
QDir dir(dirName);
QStringList fileNames0 = dir.entryList(QStringList("frame0_*.png"));
QStringList fileNames1 = dir.entryList(QStringList("frame1_*.png"));
if(fileNames0.empty() || fileNames1.empty() || fileNames0.count() != fileNames1.count()){
std::cerr << "Error: could not load calibration sets. Directory must contain .png files for both cameras." << std::endl;
return;
}
calibrationData.clear();
ui->calibrationListWidget->clear();
int nSets = fileNames0.size();
for(unsigned int i=0; i<nSets; i++){
SMCalibrationSet calibrationSet;
QString fileName0 = QString("%1/frame0_%2.png").arg(dirName).arg(i);
cv::Mat frame0BGR = cv::imread(fileName0.toStdString());
cvtools::cvtColorBGRToBayerBG(frame0BGR, calibrationSet.frame0);
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;
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::Unchecked);
ui->calibrationListWidget->addItem(item);
QCoreApplication::processEvents();
}
// 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;
}
}