Finish up

2021-06-12 15:17:35 +02:00
parent 5efbdcbd6a
commit 0c466644ce
23 changed files with 958 additions and 154 deletions
--- a/src/ui/configurecameradialog.cpp
+++ b/src/ui/configurecameradialog.cpp
@ -0,0 +1,186 @@
+#include "configurecameradialog.h"
+#include "ui_configurecameradialog.h"
+
+#include <QFileDialog>
+#include <QMessageBox>
+#include <uvosunwrap/bgremoval.h>
+#include <uvosunwrap/charuco.h>
+#include <uvosunwrap/unwrap.h>
+#include <opencv2/imgproc.hpp>
+
+ConfigureCameraDialog::ConfigureCameraDialog(const CameraSetup& setup, std::shared_ptr<Camera> camera, double exposureTime, QWidget *parent):
+	QDialog(parent),
+	setup_(setup),
+	camera_(camera),
+	ui(new Ui::ConfigureCameraDialog)
+{
+	ui->setupUi(this);
+
+	ui->doubleSpinBox->setValue(exposureTime);
+
+	connect(ui->pushButtonBgLoad, &QPushButton::clicked, this, &ConfigureCameraDialog::loadBg);
+	connect(ui->pushButtonRemapLoad, &QPushButton::clicked, this, &ConfigureCameraDialog::loadRemap);
+	connect(ui->pushButtonDarkImageLoad, &QPushButton::clicked, this, &ConfigureCameraDialog::loadDark);
+	connect(ui->pushButtonBgClear, &QPushButton::clicked, [this](){setup_.bgmask.release(); checkConfig();});
+	connect(ui->pushButtonRemapClear, &QPushButton::clicked, [this](){setup_.remapMap = RemapMap(); checkConfig();});
+	connect(ui->pushButtonDarkImageClear, &QPushButton::clicked, [this](){setup_.darkmap.release(); checkConfig();});
+	connect(ui->pushButtonBgCreate, &QPushButton::clicked, this, &ConfigureCameraDialog::captureBg);
+	connect(ui->pushButtonRemapCreate, &QPushButton::clicked, this, &ConfigureCameraDialog::captureRemap);
+	connect(ui->pushButtonDarkImageCreate, &QPushButton::clicked, this, &ConfigureCameraDialog::captureDark);
+	connect(ui->pushButtonCapture, &QPushButton::clicked, this, &ConfigureCameraDialog::takeImage);
+	connect(camera_.get(), &Camera::newImage, this, &ConfigureCameraDialog::gotImage);
+
+	checkConfig();
+}
+
+ConfigureCameraDialog::~ConfigureCameraDialog()
+{
+	delete ui;
+}
+
+
+
+void ConfigureCameraDialog::loadBg()
+{
+	QString filename = QFileDialog::getOpenFileName(this, tr("Open Background Mask"), CameraSetup::camerasLocation(), "OpenCV Mat (*.mat)");
+	if(!filename.isEmpty())
+	{
+		setup_.loadBgMask(filename);
+		if(!setup_.bgmask.data)
+			QMessageBox::warning(this, "Warning", "Could not load " + filename);
+		checkConfig();
+	}
+}
+
+void ConfigureCameraDialog::loadRemap()
+{
+	QString filename = QFileDialog::getOpenFileName(this, tr("Open Background Mask"), CameraSetup::camerasLocation(), "OpenCV Mat (*.mat)");
+	if(!filename.isEmpty())
+	{
+		setup_.loadRemapMaps(filename);
+		if(!setup_.remapMap.xMat.data || !setup_.remapMap.yMat.data)
+		{
+			QMessageBox::warning(this, "Warning", "Could not load " + filename);
+			setup_.remapMap = RemapMap();
+		}
+		checkConfig();
+	}
+}
+
+void ConfigureCameraDialog::loadDark()
+{
+	QString filename = QFileDialog::getOpenFileName(this, tr("Open Background Mask"), CameraSetup::camerasLocation(), "Image (*.png)");
+	if(!filename.isEmpty())
+	{
+		setup_.loadDarkMap(filename);
+		if(!setup_.darkmap.data)
+			QMessageBox::warning(this, "Warning", "Could not load " + filename);
+		checkConfig();
+	}
+}
+
+void ConfigureCameraDialog::gotImage(Camera::Image img)
+{
+	switch(mode_)
+	{
+	case MODE_IDLE:
+		ui->widget_4->setImage(img);
+		break;
+	case MODE_BG_GET:
+		if(!fgImage.data)
+		{
+			QMessageBox::information(this, "Remove object", "please remove the item from the sphere");
+			fgImage = img.mat;
+			takeImage();
+		}
+		else
+		{
+			if(!createMask(img.mat, setup_.bgmask, fgImage))
+				QMessageBox::warning(this, "Failed", "Unable to create mask from captured images");
+			else
+				ui->widget_4->setImage(Camera::Image(setup_.bgmask, camera_->id()));
+			fgImage.release();
+			mode_ = MODE_IDLE;
+		}
+		break;
+	case MODE_DARK_GET:
+		setup_.darkmap = img.mat;
+		ui->widget_4->setImage(Camera::Image(setup_.darkmap, camera_->id()));
+		mode_ = MODE_IDLE;
+		break;
+	case MODE_REMAP_GET:
+		std::vector<DetectedPoint> points = detectCharucoPoints(img.mat, false);
+		if(points.size() < 8)
+		{
+			QMessageBox::warning(this, "Failed", "Error creating map, insufficant points detected.");
+			mode_ = MODE_IDLE;
+			break;
+		}
+		RemapMap map;
+		if(createRemapMap(img.mat, map, points))
+			setup_.remapMap = map;
+		else
+			QMessageBox::warning(this, "Failed", "Error creating map");
+		for(size_t i = 0; i < points.size(); ++i)
+			cv::circle(img.mat, points[i].point, 5, cv::Scalar(0,255,0), 1);
+		ui->widget_4->setImage(Camera::Image(setup_.bgmask, camera_->id()));
+		mode_ = MODE_IDLE;
+		break;
+	}
+	checkConfig();
+}
+
+void ConfigureCameraDialog::takeImage()
+{
+	camera_->cam()->setExposureTime(ui->doubleSpinBox->value());
+	camera_->cam()->setAcquisitionMode(cam::Camera::MODE_SINGLE);
+	camera_->cam()->setTriggerMode(cam::Camera::TRIGGER_SOFTWARE);
+	camera_->cam()->startAcquisition();
+	camera_->cam()->trigger();
+}
+
+void ConfigureCameraDialog::captureBg()
+{
+	QMessageBox::information(this, "Insert object", "Please insert Test Article A");
+	mode_ = MODE_BG_GET;
+	takeImage();
+}
+
+void ConfigureCameraDialog::captureRemap()
+{
+	QMessageBox::information(this, "Insert object", "Please insert Test Article A.");
+	mode_ = MODE_REMAP_GET;
+	takeImage();
+}
+
+void ConfigureCameraDialog::captureDark()
+{
+	QMessageBox::information(this, "Cover lense", "Please cover the lense of the camera.");
+	mode_ = MODE_DARK_GET;
+	takeImage();
+}
+
+void ConfigureCameraDialog::accept()
+{
+	if(checkConfig())
+		QDialog::accept();
+	else
+		QMessageBox::warning(this, "Unfinished", "Can not accept unfinished camera setup");
+}
+
+bool ConfigureCameraDialog::checkConfig()
+{
+	bool bgOk = setup_.bgmask.data;
+	bool remapMapOk = setup_.remapMap.xMat.data;
+	bool darkMapOK = setup_.darkmap.data;
+
+	ui->pushButtonBgClear->setEnabled(bgOk);
+	ui->pushButtonDarkImageClear->setEnabled(darkMapOK);
+	ui->pushButtonRemapClear->setEnabled(remapMapOk);
+
+	ui->ledBg->setLit(bgOk);
+	ui->ledDark->setLit(darkMapOK);
+	ui->ledRemap->setLit(remapMapOk);
+
+	return bgOk && remapMapOk && darkMapOK;
+}