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uvos
2021-06-12 15:17:35 +02:00
parent 5efbdcbd6a
commit 0c466644ce
23 changed files with 958 additions and 154 deletions
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3
CMakeLists.txt
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@ -45,6 +45,9 @@ set(PROJECT_SOURCES
src/ui/led.h
src/ui/cameralistwidget.h
src/ui/cameralistwidget.cpp
src/ui/configurecameradialog.cpp
src/ui/configurecameradialog.h
src/ui/configurecameradialog.ui
)

11
src/cameras.cpp
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@ -41,6 +41,17 @@ std::vector<cam::Camera::Description> Cameras::getCameras()
return desc;
}
std::shared_ptr<Camera> Cameras::getCamera(size_t id)
{
std::vector<cam::Camera::Description> desc = getCameras();
for(size_t i = 0; i < desc.size(); ++i)
{
if(desc[i].getHash() == id)
return cameras_[i];
}
return std::shared_ptr<Camera>(nullptr);
}
bool Cameras::addCamera(const cam::Camera::Description& desc)
{
cameras_.push_back(std::shared_ptr<Camera>(new Camera(desc)));

1
src/cameras.h
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@ -49,6 +49,7 @@ public:
bool setCameras(const std::vector<cam::Camera::Description>& descriptions);
bool addCamera(const cam::Camera::Description& desc);
std::vector<cam::Camera::Description> getCameras();
std::shared_ptr<Camera> getCamera(size_t id);
size_t numCameras(){return cameras_.size();}
void clear();
Cameras(uvosled* led = nullptr);

1
src/imagepipeline.cpp
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@ -72,3 +72,4 @@ void ImagePipeline::imageFinished()
}
}
}

45
src/main.cpp
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@ -8,28 +8,47 @@
#include <QDir>
#include <QThread>
#include <opencv2/core/mat.hpp>
#include <unistd.h>
#include "cameras.h"
#include "./ui/cameradialog.h"
#include "profile.h"
#include "./ui/mainwindow.h"
#include "./ui/profiledialog.h"
#include "imagepipeline.h"
const char* organziation = "UVOS";
const char* application = "UVOS";
const char* version = "UVOS";
std::vector<cam::Camera::Description> showCameraSelectionDialog()
std::vector<cam::Camera::Description> showCameraSelectionDialog(bool* accepted = nullptr)
{
std::vector<cam::Camera::Description> ret;
CameraDialog diag(cam::Camera::getAvailableCameras());
diag.show();
if(diag.exec() == QDialog::Accepted)
{
ret = diag.getDescriptions();
if(accepted)
*accepted = true;
}
else if(accepted)
{
*accepted = false;
}
return ret;
}
void showProfileDialog(Cameras* cameras)
{
qDebug()<<__FUNCTION__;
cameras->stop();
ProfileDialog diag(cameras);
diag.show();
diag.exec();
}
int main(int argc, char *argv[])
{
QApplication a(argc, argv);
@ -53,6 +72,14 @@ int main(int argc, char *argv[])
uvosled led;
int uvosledRet = uvosled_connect(&led);
if(uvosledRet >= 0)
{
uvosled_poweron(&led);
// Give cameras some time to power on
// TODO: figure out how to do this better
sleep(10);
}
Cameras cameras(uvosledRet < 0 ? nullptr : &led);
ImagePipeline pipe(&cameras);
@ -61,7 +88,16 @@ int main(int argc, char *argv[])
QObject::connect(&cameras, &Cameras::cameraAdded, &w, &MainWindow::addCamera);
QObject::connect(&cameras, &Cameras::cameraRemoved, &w, &MainWindow::removeCamera);
QObject::connect(&w, &MainWindow::sigCapture, [&cameras](){cameras.start(); cameras.trigger();});
QObject::connect(&w, &MainWindow::sigChooseCameras, [&cameras](){cameras.setCameras(showCameraSelectionDialog());});
QObject::connect(&w, &MainWindow::sigChooseCameras, [&cameras]()
{
bool accepted;
std::vector<cam::Camera::Description> descs = showCameraSelectionDialog(&accepted);
if(accepted)
cameras.setCameras(descs);
});
QObject::connect(&w, &MainWindow::sigEditProfiles, [&cameras, &w](){showProfileDialog(&cameras); w.refreshProfiles();});
QObject::connect(&pipe, &ImagePipeline::sigResult, w.mainImageViewer(), &CvImageViewer::setImage, Qt::QueuedConnection);
QObject::connect(&w, &MainWindow::sigProfile, [&pipe](QString name)
@ -85,9 +121,14 @@ int main(int argc, char *argv[])
cameras.setCameras(showCameraSelectionDialog());
}
pipe.setProfile(w.getProfileName());
int ret = a.exec();
cameras.store(settings);
if(uvosledRet >= 0)
uvosled_poweroff(&led);
return ret;
}

71
src/profile.cpp
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@ -3,16 +3,46 @@
#include <QStandardPaths>
#include <QFile>
#include <QDir>
#include <QDebug>
#include <uvosunwrap/unwrap.h>
void CameraSetup::store() const
{
cv::imwrite((camerasLocation() + QString::number(id) + ".darkmap.png").toStdString(), darkmap);
if(darkmap.data)
cv::imwrite(darkmapLocation(id).toStdString(), darkmap);
if(remapMap.xMat.data)
saveRemapMap(remapMap, remapMapLocation(id).toStdString());
if(bgmask.data)
{
cv::FileStorage matf(bgmaskLocation(id).toStdString(), cv::FileStorage::WRITE);
matf<<"bgmask"<<bgmask;
matf.release();
}
}
void CameraSetup::loadDarkMap(const QString &filename)
{
darkmap = cv::imread(filename.toStdString());
}
void CameraSetup::loadBgMask(const QString &filename)
{
cv::FileStorage matf(filename.toStdString(), cv::FileStorage::READ);
matf["bgmask"]>>bgmask;
matf.release();
}
void CameraSetup::loadRemapMaps(const QString &filename)
{
remapMap = loadRemapMap(filename.toStdString());
}
void CameraSetup::load(size_t cameraId)
{
id = cameraId;
darkmap = cv::imread((camerasLocation() + QString::number(id) + ".darkmap.png").toStdString());
loadDarkMap(darkmapLocation(id));
loadRemapMaps(remapMapLocation(id));
loadBgMask(bgmaskLocation(id));
}
QString CameraSetup::camerasLocation()
@ -20,6 +50,21 @@ QString CameraSetup::camerasLocation()
return QStandardPaths::writableLocation(QStandardPaths::AppDataLocation) + "/cameras/";
}
QString CameraSetup::darkmapLocation(size_t cameraId)
{
return camerasLocation() + QString::number(cameraId) + ".darkmap.png";
}
QString CameraSetup::bgmaskLocation(size_t cameraId)
{
return camerasLocation() + QString::number(cameraId) + "bgmask.mat";
}
QString CameraSetup::remapMapLocation(size_t cameraId)
{
return camerasLocation() + QString::number(cameraId) + "remap.mat";
}
void LightingSetup::store(QSettings& settings) const
{
settings.setValue(GROUP + QString("/brightness"), brightness);
@ -29,16 +74,18 @@ void LightingSetup::store(QSettings& settings) const
void LightingSetup::load(const QSettings& settings)
{
brightness = settings.value(GROUP + QString("/brightness"), 0.25).toDouble();
mask = settings.value(GROUP + QString("/maks"), 0).toUInt();
mask = settings.value(GROUP + QString("/mask"), 0).toUInt();
}
void Profile::store(QSettings& settings) const
{
qDebug()<<"storing to "<<settings.fileName();
lighting.store(settings);
settings.setValue(GROUP + QString("/id"), static_cast<unsigned long long>(id));
settings.setValue(GROUP + QString("/exposureTime"), exposureTime);
settings.setValue(GROUP + QString("/name"), name_);
if(lightmap.data)
cv::imwrite((profileLocation() + QString::number(id) + ".lightmap.png").toStdString(), lightmap);
settings.beginWriteArray(GROUP + QString("/cameras"), cameras.size());
@ -73,16 +120,18 @@ void Profile::load(QSettings &settings)
void Profile::load(const QString& name)
{
QSettings settings(profileLocation() + name + ".profile.ini");
qDebug()<<profileLocation();
QSettings settings(profileLocation() + name + ".profile.ini", QSettings::IniFormat);
name_=name;
load(settings);
}
void Profile::store(const QString& name)
{
QSettings settings(profileLocation() + name + ".profile.ini");
QSettings settings(profileLocation() + name + ".profile.ini", QSettings::IniFormat);
name_=name;
store(settings);
settings.sync();
}
void Profile::load()
@ -115,6 +164,18 @@ QList<QString> Profile::avaiableProfiles()
return ret;
}
void Profile::setCamerasSetupsFromDescription(const std::vector<cam::Camera::Description>& desc)
{
cameras.clear();
cameras.reserve(desc.size());
for(size_t i = 0; i < desc.size(); ++i)
{
CameraSetup tmp;
tmp.load(desc[i].getHash());
cameras.push_back(tmp);
}
}
bool Profile::camerasSufficant(const std::vector<cam::Camera::Description>& desc) const
{
bool invalid = false;

8
src/profile.h
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@ -18,6 +18,9 @@ public:
cv::Mat bgmask;
void store() const;
void load(size_t cameraId);
void loadBgMask(const QString& filename);
void loadDarkMap(const QString& filename);
void loadRemapMaps(const QString& filename);
static QString camerasLocation();
static QString remapMapLocation(size_t cameraId);
static QString bgmaskLocation(size_t cameraId);
@ -40,7 +43,7 @@ class Profile
{
static constexpr const char* GROUP = "Profile";
QString name_ = "NULL";
QString name_;
public:
uint64_t id;
@ -49,7 +52,7 @@ public:
cv::Mat lightmap;
std::vector<CameraSetup> cameras;
Profile(const QString& name = "NULL");
Profile(const QString& name = "Unamed");
void store(QSettings& settings) const;
void store(const QString& name);
void store();
@ -58,6 +61,7 @@ public:
void load();
void deleteProfile();
void setName(const QString name){name_=name;}
void setCamerasSetupsFromDescription(const std::vector<cam::Camera::Description>& desc);
QString getName() const {return name_;}
bool camerasSufficant(const std::vector<cam::Camera::Description>& desc) const;
static QList<QString> avaiableProfiles();

9
src/ui/cameradialog.ui
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@ -27,13 +27,6 @@
<item>
<widget class="CameraListWidget" name="listView"/>
</item>
<item>
<widget class="QPushButton" name="pushButtonConfigure">
<property name="text">
<string>Configure Cameras</string>
</property>
</widget>
</item>
<item>
<widget class="QDialogButtonBox" name="buttonBox">
<property name="orientation">
@ -50,7 +43,7 @@
<customwidget>
<class>CameraListWidget</class>
<extends>QListView</extends>
<header location="global">cameralistwidget.h</header>
<header location="global">./src/ui/cameralistwidget.h</header>
</customwidget>
</customwidgets>
<resources/>

6
src/ui/cameralistwidget.cpp
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@ -11,6 +11,7 @@ CameraListWidget::CameraListWidget(QWidget* parent): QTableWidget(parent)
setHorizontalHeaderItem(0, new QTableWidgetItem("Camera"));
setRowCount(desc_.size());
horizontalHeader()->setSectionResizeMode(0, QHeaderView::Stretch);
setEditTriggers(QAbstractItemView::NoEditTriggers);
}
void CameraListWidget::setConfigured(std::vector<bool> configured)
@ -18,7 +19,10 @@ void CameraListWidget::setConfigured(std::vector<bool> configured)
setColumnCount(2);
setHorizontalHeaderItem(1, new QTableWidgetItem("Configured"));
for(size_t i = 0; i < desc_.size() && i < configured.size(); ++i)
setItem(static_cast<int>(i), 0, new QTableWidgetItem("No"));
{
setItem(static_cast<int>(i), 1, new QTableWidgetItem("No"));
qDebug()<<"Set item "<<i<<1;
}
}
void CameraListWidget::setCameras(const std::vector<cam::Camera::Description>& desc)

186
src/ui/configurecameradialog.cpp Normal file
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@ -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;
}

49
src/ui/configurecameradialog.h Normal file
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@ -0,0 +1,49 @@
#ifndef CONFIGURECAMERADIALOG_H
#define CONFIGURECAMERADIALOG_H
#include <QDialog>
#include "cameras.h"
#include "profile.h"
namespace Ui {
class ConfigureCameraDialog;
}
class ConfigureCameraDialog : public QDialog
{
Q_OBJECT
static constexpr int MODE_IDLE = 0;
static constexpr int MODE_REMAP_GET = 1;
static constexpr int MODE_BG_GET = 2;
static constexpr int MODE_DARK_GET = 3;
CameraSetup setup_;
std::shared_ptr<Camera> camera_;
int mode_ = MODE_IDLE;
cv::Mat fgImage;
private:
bool checkConfig();
void gotImage(Camera::Image img);
private slots:
void loadBg();
void loadRemap();
void loadDark();
void captureBg();
void captureRemap();
void captureDark();
void takeImage();
public:
explicit ConfigureCameraDialog(const CameraSetup& setup, const std::shared_ptr<Camera> camera, double exposureTime = 1.0/60, QWidget *parent = nullptr);
~ConfigureCameraDialog();
CameraSetup getCameraSetup(){return setup_;}
void accept() override;
private:
Ui::ConfigureCameraDialog *ui;
};
#endif // CONFIGURECAMERADIALOG_H

270
src/ui/configurecameradialog.ui Normal file
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@ -0,0 +1,270 @@
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>ConfigureCameraDialog</class>
<widget class="QDialog" name="ConfigureCameraDialog">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>466</width>
<height>438</height>
</rect>
</property>
<property name="windowTitle">
<string>Configure Camera</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_2" stretch="1,0,0,0">
<item>
<widget class="QGroupBox" name="groupBox">
<property name="title">
<string>Camera output</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout">
<item>
<widget class="CvImageViewer" name="widget_4" native="true"/>
</item>
</layout>
</widget>
</item>
<item>
<layout class="QGridLayout" name="gridLayout">
<property name="horizontalSpacing">
<number>6</number>
</property>
<item row="2" column="0">
<widget class="QLabel" name="label">
<property name="text">
<string>Dark image</string>
</property>
</widget>
</item>
<item row="2" column="4">
<widget class="QPushButton" name="pushButtonDarkImageClear">
<property name="enabled">
<bool>false</bool>
</property>
<property name="text">
<string>Clear</string>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLabel" name="label_3">
<property name="text">
<string>Background image</string>
</property>
</widget>
</item>
<item row="2" column="3">
<widget class="QPushButton" name="pushButtonDarkImageCreate">
<property name="text">
<string>Create</string>
</property>
</widget>
</item>
<item row="3" column="4">
<widget class="QPushButton" name="pushButtonBgClear">
<property name="enabled">
<bool>false</bool>
</property>
<property name="text">
<string>Clear</string>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="Led" name="ledRemap" native="true">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
</widget>
</item>
<item row="1" column="4">
<widget class="QPushButton" name="pushButtonRemapClear">
<property name="enabled">
<bool>false</bool>
</property>
<property name="text">
<string>Clear</string>
</property>
</widget>
</item>
<item row="3" column="3">
<widget class="QPushButton" name="pushButtonBgCreate">
<property name="text">
<string>Create</string>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="Led" name="ledBg" native="true"/>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label_2">
<property name="text">
<string>Remap Map</string>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QPushButton" name="pushButtonRemapLoad">
<property name="text">
<string>Load</string>
</property>
</widget>
</item>
<item row="3" column="2">
<widget class="QPushButton" name="pushButtonBgLoad">
<property name="text">
<string>Load</string>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="Led" name="ledDark" native="true">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
</widget>
</item>
<item row="2" column="2">
<widget class="QPushButton" name="pushButtonDarkImageLoad">
<property name="text">
<string>Load</string>
</property>
</widget>
</item>
<item row="1" column="3">
<widget class="QPushButton" name="pushButtonRemapCreate">
<property name="text">
<string>Create</string>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QLabel" name="label_4">
<property name="text">
<string/>
</property>
</widget>
</item>
</layout>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout">
<property name="topMargin">
<number>5</number>
</property>
<item>
<widget class="QLabel" name="label_5">
<property name="text">
<string>Exposure Time for Map creation</string>
</property>
</widget>
</item>
<item>
<widget class="QDoubleSpinBox" name="doubleSpinBox">
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_6">
<property name="text">
<string>s</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="pushButtonCapture">
<property name="text">
<string>Test Exposure</string>
</property>
</widget>
</item>
</layout>
</item>
<item>
<widget class="QDialogButtonBox" name="buttonBox">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="standardButtons">
<set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok</set>
</property>
</widget>
</item>
</layout>
</widget>
<customwidgets>
<customwidget>
<class>Led</class>
<extends>QWidget</extends>
<header location="global">./src/ui/led.h</header>
<container>1</container>
</customwidget>
<customwidget>
<class>CvImageViewer</class>
<extends>QWidget</extends>
<header location="global">./src/ui/cvimageviewer.h</header>
<container>1</container>
</customwidget>
</customwidgets>
<resources/>
<connections>
<connection>
<sender>buttonBox</sender>
<signal>accepted()</signal>
<receiver>ConfigureCameraDialog</receiver>
<slot>accept()</slot>
<hints>
<hint type="sourcelabel">
<x>248</x>
<y>254</y>
</hint>
<hint type="destinationlabel">
<x>157</x>
<y>274</y>
</hint>
</hints>
</connection>
<connection>
<sender>buttonBox</sender>
<signal>rejected()</signal>
<receiver>ConfigureCameraDialog</receiver>
<slot>reject()</slot>
<hints>
<hint type="sourcelabel">
<x>316</x>
<y>260</y>
</hint>
<hint type="destinationlabel">
<x>286</x>
<y>274</y>
</hint>
</hints>
</connection>
</connections>
</ui>

23
src/ui/cvimageviewer.cpp
View File

@ -17,11 +17,23 @@ void CvImageViewer::setImage(Camera::Image img)
{
image_ = img.mat;
if(image_.type() == CV_8UC3 || image_.type() == CV_8SC3)
{
qimage_ = QImage(image_.data, image_.cols, image_.rows, image_.step, QImage::Format_RGB888);
}
else if(image_.type() == CV_8UC1 || image_.type() == CV_8SC1)
{
qimage_ = QImage(image_.data, image_.cols, image_.rows, image_.step, QImage::Format_Grayscale8);
}
else if(image_.type() == CV_32FC1 || image_.type() == CV_64FC1)
{
img.mat.convertTo(image_, CV_8UC1, 255, 0);
qimage_ = QImage(image_.data, image_.cols, image_.rows, image_.step, QImage::Format_Grayscale8);
}
else
{
img.mat.convertTo(image_, CV_8UC1, 255, 0);
qimage_ = QImage(image_.data, image_.cols, image_.rows, image_.step, QImage::Format_Grayscale8);
}
update();
}
@ -29,8 +41,15 @@ void CvImageViewer::paintEvent(QPaintEvent* event)
{
Q_UNUSED(event)
QPainter painter(this);
if(!fixedOnWidth_)
painter.drawImage(QRect((rect().width()-rect().height())/2, rect().y(), rect().height(), rect().height()), qimage_);
{
double ratio = qimage_.size().width() / qimage_.size().height();
painter.drawImage(QRect((rect().width()-rect().height())/2, rect().y(), rect().height()*ratio, rect().height()), qimage_);
}
else
painter.drawImage(QRect(rect().x(), (rect().height()-rect().width())/2, rect().width(), rect().width()), qimage_);
{
double ratio = qimage_.size().height() / qimage_.size().width();
painter.drawImage(QRect(rect().x(), (rect().height()-rect().width())/2, rect().width(), rect().width()*ratio), qimage_);
}
}

99
src/ui/editprofiledialog.cpp
View File

@ -1,13 +1,110 @@
#include "editprofiledialog.h"
#include "ui_editprofiledialog.h"
#include <uvosled.h>
#include <QDebug>
EditProfileDialog::EditProfileDialog(Cameras* cameras, Profile* profile, QWidget *parent) :
#include "configurecameradialog.h"
EditProfileDialog::EditProfileDialog(Cameras* cameras, const Profile profile, QWidget *parent) :
QDialog(parent),
profile_(profile),
cameras_(cameras),
ui(new Ui::EditProfileDialog)
{
ui->setupUi(this);
ui->lineEditName->setText(profile_.getName());
ui->doubleSpinBoxBrightness->setValue(profile_.lighting.brightness*100.0);
ui->doubleSpinBoxExposure->setValue(profile_.exposureTime);
qDebug()<<"Mask: "<<profile_.lighting.mask<<" & "<<(profile_.lighting.mask & CHANNEL_A);
ui->checkBoxCh1->setChecked(profile_.lighting.mask & CHANNEL_A);
ui->checkBoxCh2->setChecked(profile_.lighting.mask & CHANNEL_B);
ui->checkBoxCh3->setChecked(profile_.lighting.mask & CHANNEL_C);
ui->checkBoxCh4->setChecked(profile_.lighting.mask & CHANNEL_D);
if(profile_.cameras.size() == 0)
profile_.setCamerasSetupsFromDescription(cameras_->getCameras());
connect(ui->doubleSpinBoxBrightness, QOverload<double>::of(&QDoubleSpinBox::valueChanged), [this](double in){profile_.lighting.brightness = in/100.0;});
connect(ui->doubleSpinBoxExposure, QOverload<double>::of(&QDoubleSpinBox::valueChanged), [this](double in){profile_.exposureTime = in;});
connect(ui->lineEditName, &QLineEdit::textChanged, [this](QString in){profile_.setName(in);});
connect(ui->checkBoxCh1, &QCheckBox::clicked, this, &EditProfileDialog::setMask);
connect(ui->checkBoxCh2, &QCheckBox::clicked, this, &EditProfileDialog::setMask);
connect(ui->checkBoxCh3, &QCheckBox::clicked, this, &EditProfileDialog::setMask);
connect(ui->checkBoxCh4, &QCheckBox::clicked, this, &EditProfileDialog::setMask);
connect(ui->pushButton, &QPushButton::clicked, this, &EditProfileDialog::configureCamera);
ui->listView->setCameras(cameras_->getCameras());
ui->listView->setSelectionMode(QAbstractItemView::SingleSelection);
setConfigured();
}
void EditProfileDialog::setConfigured()
{
std::vector<cam::Camera::Description> descs = cameras_->getCameras();
std::vector<bool> configured(descs.size(), false);
for(size_t i = 0; i< profile_.cameras.size(); ++i)
{
auto& profileCamera = profile_.cameras[i];
if(profileCamera.remapMap.xMat.data)
{
for(auto& camera : descs)
{
if(camera.getHash() == profileCamera.id)
configured[i] = true;
}
}
}
ui->listView->setConfigured(configured);
}
void EditProfileDialog::invalidateCameras()
{
for(size_t i = 0; i< profile_.cameras.size(); ++i)
{
profile_.cameras[i].bgmask.release();
profile_.cameras[i].remapMap.xMat.release();
profile_.cameras[i].remapMap.yMat.release();
profile_.cameras[i].darkmap.release();
}
setConfigured();
}
void EditProfileDialog::configureCamera()
{
std::vector<cam::Camera::Description> descs = ui->listView->getSelectedDescriptions();
qDebug()<<"descs"<<descs.size();
if(!descs.empty())
{
size_t i = 0;
for(; i < profile_.cameras.size(); ++i)
{
if(profile_.cameras[i].id == descs[0].getHash())
{
std::shared_ptr<Camera> camera = cameras_->getCamera(profile_.cameras[i].id);
if(camera)
{
ConfigureCameraDialog diag(profile_.cameras[i], camera, profile_.exposureTime, this);
diag.show();
int ret = diag.exec();
if(ret == QDialog::Accepted)
profile_.cameras[i] = diag.getCameraSetup();
}
}
}
}
}
void EditProfileDialog::setMask()
{
uint8_t mask = (ui->checkBoxCh1->isChecked() ? CHANNEL_A : 0) |
(ui->checkBoxCh2->isChecked() ? CHANNEL_B : 0) |
(ui->checkBoxCh3->isChecked() ? CHANNEL_C : 0) |
(ui->checkBoxCh4->isChecked() ? CHANNEL_D : 0);
profile_.lighting.mask = mask;
invalidateCameras();
}
EditProfileDialog::~EditProfileDialog()

13
src/ui/editprofiledialog.h
View File

@ -12,13 +12,20 @@ class EditProfileDialog;
class EditProfileDialog : public QDialog
{
Q_OBJECT
Profile* profile_;
Profile profile_;
Cameras* cameras_;
void setConfigured();
void invalidateCameras();
private slots:
void setMask();
void configureCamera();
public:
explicit EditProfileDialog(Cameras* cameras, Profile* profile, QWidget *parent = nullptr);
Profile* getProfile(){return profile_;}
explicit EditProfileDialog(Cameras* cameras, const Profile profile = Profile(), QWidget *parent = nullptr);
Profile getProfile(){return profile_;}
~EditProfileDialog();
private:

174
src/ui/editprofiledialog.ui
View File

@ -11,7 +11,7 @@
</rect>
</property>
<property name="windowTitle">
<string>Dialog</string>
<string>Profile</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_3">
<item>
@ -24,10 +24,99 @@
</widget>
</item>
<item>
<widget class="QLineEdit" name="lineEditName"/>
<widget class="QLineEdit" name="lineEditName">
<property name="text">
<string>Unamed</string>
</property>
</widget>
</item>
</layout>
</item>
<item>
<widget class="QGroupBox" name="groupBox_2">
<property name="title">
<string>Lights</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_2">
<item>
<layout class="QHBoxLayout" name="horizontalLayout_3">
<item>
<widget class="QLabel" name="label_2">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>Brightness</string>
</property>
</widget>
</item>
<item>
<widget class="QDoubleSpinBox" name="doubleSpinBoxBrightness">
<property name="maximum">
<double>100.000000000000000</double>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_3">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>%</string>
</property>
</widget>
</item>
</layout>
</item>
<item>
<widget class="QLabel" name="label_6">
<property name="text">
<string>Channels:</string>
</property>
</widget>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_4">
<item>
<widget class="QCheckBox" name="checkBoxCh1">
<property name="text">
<string>CH1</string>
</property>
</widget>
</item>
<item>
<widget class="QCheckBox" name="checkBoxCh2">
<property name="text">
<string>CH2</string>
</property>
</widget>
</item>
<item>
<widget class="QCheckBox" name="checkBoxCh3">
<property name="text">
<string>CH3</string>
</property>
</widget>
</item>
<item>
<widget class="QCheckBox" name="checkBoxCh4">
<property name="text">
<string>CH4</string>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="groupBox">
<property name="title">
@ -90,87 +179,6 @@
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="groupBox_2">
<property name="title">
<string>Lights</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_2">
<item>
<layout class="QHBoxLayout" name="horizontalLayout_3">
<item>
<widget class="QLabel" name="label_2">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>Brightness</string>
</property>
</widget>
</item>
<item>
<widget class="QDoubleSpinBox" name="doubleSpinBoxBrightness"/>
</item>
<item>
<widget class="QLabel" name="label_3">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>%</string>
</property>
</widget>
</item>
</layout>
</item>
<item>
<widget class="QLabel" name="label_6">
<property name="text">
<string>Channels:</string>
</property>
</widget>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_4">
<item>
<widget class="QCheckBox" name="checkBoxCh1">
<property name="text">
<string>CH1</string>
</property>
</widget>
</item>
<item>
<widget class="QCheckBox" name="checkBoxCh2">
<property name="text">
<string>CH2</string>
</property>
</widget>
</item>
<item>
<widget class="QCheckBox" name="checkBoxCh3">
<property name="text">
<string>CH3</string>
</property>
</widget>
</item>
<item>
<widget class="QCheckBox" name="checkBoxCh4">
<property name="text">
<string>CH4</string>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QDialogButtonBox" name="buttonBox">
<property name="orientation">

9
src/ui/led.cpp
View File

@ -3,6 +3,8 @@
Led::Led(QWidget* parent): QWidget(parent)
{
setMinimumSize(QSize(40,40));
setSizePolicy(QSizePolicy::Policy::Fixed, QSizePolicy::Policy::Fixed);
}
bool Led::lit() const
@ -24,8 +26,11 @@ void Led::paintEvent(QPaintEvent* event)
{
Q_UNUSED(event)
QPainter ledPainter(this);
ledPainter.setRenderHint(QPainter::Antialiasing, true);
ledPainter.setPen(Qt::black);
if(lit_) ledPainter.setBrush(Qt::red);
else ledPainter.setBrush(Qt::NoBrush);
if(lit_)
ledPainter.setBrush(Qt::green);
else
ledPainter.setBrush(Qt::red);
ledPainter.drawEllipse(rect().adjusted(0, 0, -1, -1));
}

29
src/ui/mainwindow.cpp
View File

@ -14,9 +14,9 @@ MainWindow::MainWindow(QWidget *parent)
ui->statusbar->showMessage("idle");
connect(ui->actionQuit, &QAction::triggered, [this](bool checked){(void)checked; close();});
connect(ui->actionCameras, &QAction::triggered, [this](bool checked){(void)checked; sigChooseCameras();});
connect(ui->actionProfile, &QAction::triggered, [this](bool checked){(void)checked; sigEditProfiles();});
connect(ui->comboBox, &QComboBox::currentTextChanged, this, &MainWindow::sigProfile);
connect(ui->pushButtonCapture, &QPushButton::clicked, this, &MainWindow::sigCapture);
ui->widget->setLit(true);
refreshProfiles();
}
@ -42,6 +42,33 @@ void MainWindow::removeCamera(std::shared_ptr<Camera> camera)
}
}
bool MainWindow::setProfile(const QString& profileName)
{
ui->comboBox->clear();
QList<QString> profiles = Profile::avaiableProfiles();
int selected = -1;
for(int i = 0; i < profiles.size(); ++i)
{
if(profileName == profiles[i])
selected = i;
ui->comboBox->addItem(profiles[i]);
}
if(selected != -1)
{
ui->comboBox->setCurrentIndex(selected);
return true;
}
else
{
return false;
}
}
QString MainWindow::getProfileName()
{
return ui->comboBox->currentText();
}
void MainWindow::refreshProfiles()
{
ui->comboBox->clear();

3
src/ui/mainwindow.h
View File

@ -20,6 +20,7 @@ signals:
void sigCapture();
void sigProfile(QString profileName);
void sigChooseCameras();
void sigEditProfiles();
public slots:
@ -27,6 +28,8 @@ public slots:
void refreshProfiles();
void profileInconpatible(QString message);
void removeCamera(std::shared_ptr<Camera> camera);
bool setProfile(const QString& profileName);
QString getProfileName();
public:
MainWindow(QWidget *parent = nullptr);

42
src/ui/mainwindow.ui
View File

@ -68,7 +68,7 @@
<x>0</x>
<y>0</y>
<width>467</width>
<height>315</height>
<height>353</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_6">
@ -124,36 +124,6 @@
</item>
</layout>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_3">
<property name="bottomMargin">
<number>0</number>
</property>
<item>
<widget class="Led" name="widget" native="true">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>30</width>
<height>30</height>
</size>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_2">
<property name="text">
<string>Uncal</string>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
</item>
@ -184,7 +154,7 @@
<string>Settings</string>
</property>
<addaction name="actionCameras"/>
<addaction name="actionCallibration"/>
<addaction name="actionProfile"/>
</widget>
<addaction name="menuFile"/>
<addaction name="menuSetup"/>
@ -200,7 +170,7 @@
<string>Cameras</string>
</property>
</action>
<action name="actionCallibration">
<action name="actionProfile">
<property name="text">
<string>Profile</string>
</property>
@ -212,12 +182,6 @@
</action>
</widget>
<customwidgets>
<customwidget>
<class>Led</class>
<extends>QWidget</extends>
<header location="global">./src/ui/led.h</header>
<container>1</container>
</customwidget>
<customwidget>
<class>CvImageViewer</class>
<extends>QWidget</extends>

60
src/ui/profiledialog.cpp
View File

@ -2,6 +2,8 @@
#include "ui_profiledialog.h"
#include "editprofiledialog.h"
#include <QMessageBox>
ProfileDialog::ProfileDialog(Cameras* cameras, QWidget *parent) :
QDialog(parent),
cameras_(cameras),
@ -9,6 +11,9 @@ ProfileDialog::ProfileDialog(Cameras* cameras, QWidget *parent) :
{
ui->setupUi(this);
ui->listWidget->addItems(Profile::avaiableProfiles());
connect(ui->pushButtonAdd, &QPushButton::clicked, this, &ProfileDialog::addProfile);
connect(ui->pushButtonEdit, &QPushButton::clicked, this, &ProfileDialog::editProfile);
connect(ui->pushButtonDelete, &QPushButton::clicked, this, &ProfileDialog::deleteProfile);
}
@ -19,19 +24,56 @@ ProfileDialog::~ProfileDialog()
void ProfileDialog::editProfile()
{
}
void ProfileDialog::addProfile()
{
Profile newProfile;
EditProfileDialog dialog(cameras_, &newProfile);
QList<QListWidgetItem *> items = ui->listWidget->selectedItems();
if(items.size() > 0)
{
Profile profile;
profile.load(items[0]->text());
if(!profile.camerasSufficant(cameras_->getCameras()))
{
QMessageBox::critical(this, "Profile Incompatible", "Not all cameras need for this profile are available");
return;
}
EditProfileDialog dialog(cameras_, profile);
dialog.show();
int ret = dialog.exec();
if(ret == QDialog::Accepted)
{
dialog.getProfile().store();
ui->listWidget->clear();
ui->listWidget->addItems(Profile::avaiableProfiles());
}
}
}
void ProfileDialog::deleteProfile()
{
QList<QListWidgetItem *> items = ui->listWidget->selectedItems();
if(items.size() > 0)
{
Profile profile(items[0]->text());
profile.deleteProfile();
ui->listWidget->clear();
ui->listWidget->addItems(Profile::avaiableProfiles());
}
}
void ProfileDialog::addProfile()
{
if(cameras_->getCameras().size() == 0)
{
QMessageBox::critical(this, "No Cameras", "At least one camera is needed to create a profile");
return;
}
EditProfileDialog dialog(cameras_);
dialog.show();
int ret = dialog.exec();
if(ret == QDialog::Accepted)
{
dialog.getProfile().store();
ui->listWidget->clear();
ui->listWidget->addItems(Profile::avaiableProfiles());
}
}

1
src/ui/profiledialog.h
View File

@ -17,6 +17,7 @@ class ProfileDialog : public QDialog
private slots:
void addProfile();
void editProfile();
void deleteProfile();
public:
explicit ProfileDialog(Cameras* cameras, QWidget *parent = nullptr);

7
src/ui/profiledialog.ui
View File

@ -40,6 +40,13 @@
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="pushButtonDelete">
<property name="text">
<string>Delete</string>
</property>
</widget>
</item>
</layout>
</item>
<item>