change stiching method

add camera temperature readout

src/camera.h

@@ -20,8 +20,8 @@ public:
 	{
 	public:
 		cv::Mat mat;
-		size_t cameraId;
+		uint64_t cameraId;
-		Image(cv::Mat mati, size_t cameraIdi): mat(mati), cameraId(cameraIdi){}
+		Image(cv::Mat mati, uint64_t cameraIdi): mat(mati), cameraId(cameraIdi){}
 		Image() = default;
 		Image(const Image& img) = default;
 	};
@@ -29,7 +29,7 @@ private:
 	cam::Camera* camera_ = nullptr;
 
 	void callback(cv::Mat);
-	size_t cameraId_;
+	uint64_t cameraId_;
 
 signals:
 	void newImage(Image);
@@ -38,7 +38,7 @@ public:
 	Camera(cam::Camera::Description);
 	~Camera();
 	cam::Camera* cam(){return camera_;}
-	size_t id() const {return cameraId_;}
+	uint64_t id() const {return cameraId_;}
 	bool operator==(const Camera& cam){return cam.id() == id();}
 	bool operator!=(const Camera& cam){return !operator==(cam);}
 };

src/cameras.cpp

@@ -9,7 +9,9 @@
 Cameras::Cameras(uvosled* led): led_(led)
 {
 	ledTimer.setSingleShot(true);
+	cameraFailureTimer.setSingleShot(true);
 	connect(&ledTimer, &QTimer::timeout, this, &Cameras::lightOff);
+	connect(&cameraFailureTimer, &QTimer::timeout, this, &Cameras::reloadCameras);
 }
 
 Cameras::~Cameras()
@@ -29,6 +31,11 @@ bool Cameras::setCameras(const std::vector<cam::Camera::Description>& descriptio
 	return ret;
 }
 
+void Cameras::reloadCameras()
+{
+	setCameras(getCameras());
+}
+
 
 void Cameras::clear()
 {
@@ -70,6 +77,9 @@ bool Cameras::addCamera(const cam::Camera::Description& desc)
 		return false;
 	}
 
+	enableCapture(false);
+	blockCaptureId_ = cameras_.back()->id();
+
 	cameras_.back()->cam()->setExposureTime(exposrueTime_);
 
 	if(desc.getVendor().find("Photonfocus") != std::string::npos)
@@ -80,11 +90,11 @@ bool Cameras::addCamera(const cam::Camera::Description& desc)
 		camera->cam()->setAcquisitionMode(cam::Camera::MODE_FREE);
 		camera->cam()->setFrameRate(10);
 		camera->cam()->startAcquisition();
-		struct timespec tv = {0, 200000000};
+		std::this_thread::sleep_for (std::chrono::milliseconds(200));
-		nanosleep(&tv, nullptr);
 		camera->cam()->stopAcquisition();
 		cameras_.pop_back();
 		camera = nullptr;
+		std::this_thread::sleep_for (std::chrono::milliseconds(200));
 		cameras_.push_back(std::shared_ptr<Camera>(new Camera(desc)));
 		if(!cameras_.back()->cam()->isOpen())
 		{
@@ -112,6 +122,8 @@ void Cameras::finishAddCamera(std::shared_ptr<Camera> camera)
 	camera->cam()->setTriggerMode(cam::Camera::TRIGGER_SOFTWARE);
 	setFree(free_);
 	connect(camera.get(), &Camera::newImage, this, &Cameras::imageRecived);
+	if(blockCaptureId_ == camera->id())
+		enableCapture(true);
 	qDebug()<<"Using camera"<<camera->id();
 }
 
@@ -229,8 +241,12 @@ void Cameras::imageRecived(Camera::Image img)
 
 		qDebug()<<"Recived"<<images_.size()<<"of"<<cameras_.size()<<"images";
 
+		if(images_.size() == 1)
+			cameraFailureTimer.start(exposrueTime_*1000+1000);
+
 		if(images_.size() == cameras_.size())
 		{
+			cameraFailureTimer.stop();
 			newImages(images_);
 			images_.clear();
 		}
@@ -238,6 +254,24 @@ void Cameras::imageRecived(Camera::Image img)
 	}
 }
 
+double Cameras::getMeanTemp()
+{
+	double mean = 0;
+	bool failure = false;
+	for(auto& camera : cameras_)
+	{
+		double temp;
+		if(camera->cam()->getTemperature(temp))
+			mean+=temp;
+		else
+			failure = true;
+	}
+	if(!failure)
+		return mean/cameras_.size();
+	else
+		return NAN;
+}
+
 void Cameras::setSetup(const std::vector<CameraSetup>& setups)
 {
 	for(auto& camera : cameras_)

src/cameras.h

@@ -26,10 +26,12 @@ private:
 	bool free_ = false;
 	bool disable_ = false;
 	double exposrueTime_ = 1.0/60.0;
+	uint64_t blockCaptureId_ = 0;
 	LightingSetup lighting_;
 	std::vector<std::shared_ptr<Camera>> cameras_;
 	std::vector<Camera::Image> images_;
 	QTimer ledTimer;
+	QTimer cameraFailureTimer;
 
 	bool lightFor(const LightingSetup& lighting, double time);
 
@@ -42,6 +44,7 @@ signals:
 	void cameraRemoved(std::shared_ptr<Camera> camera);
 	void cameraAdded(std::shared_ptr<Camera> camera);
 	void newImages(std::vector<Camera::Image> images);
+	void enableCapture(bool enable);
 
 public slots:
 
@@ -51,6 +54,7 @@ public slots:
 	bool stop();
 	bool setFree(bool free);
 	void setLighting(const LightingSetup& lighting) {lighting_ = lighting;}
+	void reloadCameras();
 
 public:
 	Cameras(uvosled* led = nullptr);
@@ -62,6 +66,7 @@ public:
 	std::shared_ptr<Camera> getCamera(size_t id);
 	size_t numCameras(){return cameras_.size();}
 	void clear();
+	double getMeanTemp();
 	void load(QSettings& settings);
 	void store(QSettings& settings);
 	void disable(bool disable);

src/imagepipeline.cpp

@@ -6,6 +6,7 @@
 #include <QFuture>
 #include <QDebug>
 #include <algorithm>
+#include <opencv2/highgui.hpp>
 
 ImagePipeline::ImagePipeline(Cameras* cameras, QObject *parent): QObject(parent), cameras_(cameras)
 {
@@ -14,7 +15,7 @@ ImagePipeline::ImagePipeline(Cameras* cameras, QObject *parent): QObject(parent)
 
 cv::Mat ImagePipeline::process(const Profile profile, std::vector<Camera::Image> images)
 {
-	qDebug()<<__FUNCTION__<<"got"<<images.size()<<"images";
+	qDebug()<<__func__<<"got"<<images.size()<<"images";
 	std::vector<RemapedImage> remapedImages;
 	remapedImages.reserve(images.size());
 
@@ -80,7 +81,13 @@ cv::Mat ImagePipeline::process(const Profile profile, std::vector<Camera::Image>
 	if(remapedImages.size() > 0)
 	{
 		std::sort(remapedImages.begin(), remapedImages.end(),  [](const RemapedImage& imgA, const RemapedImage& imgB) -> bool {return imgA.origin.x < imgB.origin.x;});
-		cv::Mat output = simpleStich(remapedImages);
+		cv::Mat output = stich(remapedImages);
+
+		if(output.depth() != CV_8U)
+			output.convertTo(output, CV_8U);
+		if(output.channels() == 3)
+			cv::cvtColor(output, output, cv::COLOR_BGR2GRAY);
+
 		output.convertTo(output, CV_32FC1, 1.0/255.0, 0);
 
 		if(profile.lightmap.data)

src/main.cpp

@@ -23,10 +23,10 @@ const char* organziation = "UVOS";
 const char* application  = "UVOS";
 const char* version  = "UVOS";
 
-std::vector<cam::Camera::Description> showCameraSelectionDialog(bool* accepted = nullptr)
+std::vector<cam::Camera::Description> showCameraSelectionDialog(bool* accepted = nullptr, QWidget* w = nullptr)
 {
 	std::vector<cam::Camera::Description> ret;
-	CameraDialog diag(cam::Camera::getAvailableCameras());
+	CameraDialog diag(cam::Camera::getAvailableCameras(), w);
 
 	diag.show();
 	if(diag.exec() == QDialog::Accepted)
@@ -42,13 +42,13 @@ std::vector<cam::Camera::Description> showCameraSelectionDialog(bool* accepted =
 	return ret;
 }
 
-void showProfileDialog(Cameras* cameras)
+void showProfileDialog(Cameras* cameras, QWidget* w)
 {
 	qDebug()<<__FUNCTION__;
 	cameras->stop();
 	cameras->disable(true);
 	std::vector<cam::Camera::Description> descs = cameras->getCameras();
-	ProfileDialog diag(cameras);
+	ProfileDialog diag(cameras, w);
 	diag.show();
 	diag.exec();
 	cameras->disable(false);
@@ -56,7 +56,7 @@ void showProfileDialog(Cameras* cameras)
 
 int main(int argc, char *argv[])
 {
-	Log::level = Log::WARN;
+	Log::level = Log::DEBUG;
 
 	uvosled led;
 	int uvosledRet = uvosled_connect(&led);
@@ -99,17 +99,23 @@ int main(int argc, char *argv[])
 
 		QObject::connect(&cameras, &Cameras::cameraAdded, &w, &MainWindow::addCamera);
 		QObject::connect(&cameras, &Cameras::cameraRemoved, &w, &MainWindow::removeCamera);
+		QObject::connect(&cameras, &Cameras::enableCapture, &w, &MainWindow::enableCapture);
 		QObject::connect(&w, &MainWindow::sigCapture, [&cameras](){cameras.start(); cameras.trigger();});
 
-		QObject::connect(&w, &MainWindow::sigChooseCameras, [&cameras]()
+		QTimer temperatureTimer;
+		temperatureTimer.setSingleShot(false);
+		QObject::connect(&temperatureTimer, &QTimer::timeout, [&cameras, &w](){w.setTemperature(cameras.getMeanTemp());});
+		temperatureTimer.start(1000);
+
+		QObject::connect(&w, &MainWindow::sigChooseCameras, [&cameras, &w]()
 		{
 			bool accepted;
-			std::vector<cam::Camera::Description> descs = showCameraSelectionDialog(&accepted);
+			std::vector<cam::Camera::Description> descs = showCameraSelectionDialog(&accepted, &w);
 			if(accepted)
 				cameras.setCameras(descs);
 		});
 
-		QObject::connect(&w, &MainWindow::sigEditProfiles, [&cameras, &w](){showProfileDialog(&cameras); w.refreshProfiles();});
+		QObject::connect(&w, &MainWindow::sigEditProfiles, [&cameras, &w](){showProfileDialog(&cameras, &w); w.refreshProfiles();});
 		QObject::connect(&pipe, &ImagePipeline::sigResult, w.mainImageViewer(), &CvImageViewer::setImage, Qt::QueuedConnection);
 		QObject::connect(&pipe, &ImagePipeline::sigResult, [&w](){w.statusMsg("idle");});
 		QObject::connect(&pipe, &ImagePipeline::sigInvalidProfile, &w, &MainWindow::profileInconpatible);

src/ui/cameralistwidget.cpp

@@ -31,9 +31,7 @@ void CameraListWidget::setCameras(const std::vector<cam::Camera::Description>& d
 	qDebug()<<"cameras: "<<desc_.size();
 	setRowCount(static_cast<int>(desc_.size()));
 	for(size_t i = 0; i < desc_.size(); ++i)
-	{
 		setItem(static_cast<int>(i), 0, new QTableWidgetItem((desc_[i].getVendor() + " " + desc_[i].getModel()).c_str()));
-	}
 }
 
 std::vector<cam::Camera::Description> CameraListWidget::getSelectedDescriptions()

src/ui/cvimageviewer.cpp

@@ -100,7 +100,6 @@ void CvImageViewer::mousePressEvent(QMouseEvent *event)
 		}
 		else
 		{
-
 			sigValue(x, y, 0);
 		}
 	}

src/ui/mainwindow.cpp

@@ -12,7 +12,7 @@ MainWindow::MainWindow(QWidget *parent)
 	, ui(new Ui::MainWindow)
 {
 	ui->setupUi(this);
-	ui->statusbar->showMessage("idle");
+	ui->statusbar->showMessage("no cameras");
 	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();});
@@ -32,6 +32,11 @@ void MainWindow::setImageValue(size_t x, size_t y, double value)
 	ui->lcdNumber->display(value);
 }
 
+void MainWindow::setTemperature(double temp)
+{
+	ui->lcdNumber_temp->display(temp);
+}
+
 void MainWindow::saveImage()
 {
 	if(!ui->mainViewer->getImage().data)
@@ -59,7 +64,16 @@ void MainWindow::openImage()
 	{
 		cv::Mat image;
 		cv::FileStorage matf(fileName.toStdString(), cv::FileStorage::READ);
-		matf["image"]>>image;
+		try
+		{
+			matf["image"]>>image;
+		}
+		catch(const cv::Exception& ex)
+		{
+			qDebug()<<ex.what();
+			QMessageBox::warning(this, "Invalid file", "File selected dose not contain a valid image");
+			return;
+		}
 
 		if(matf.isOpened() && (!image.data || image.type() != CV_32FC1))
 		{
@@ -75,6 +89,12 @@ void MainWindow::openImage()
 	}
 }
 
+void MainWindow::enableCapture(bool enable)
+{
+	ui->statusbar->showMessage(enable ? "idle" : "cameras not ready" );
+	ui->pushButtonCapture->setEnabled(enable);
+}
+
 void MainWindow::addCamera(std::shared_ptr<Camera> camera)
 {
 	viewers_.push_back(new CvImageViewer(this, camera->id()));

src/ui/mainwindow.h

@@ -36,6 +36,8 @@ public slots:
 	bool setProfile(const QString& profileName);
 	QString getProfileName();
 	void statusMsg(QString msg);
+	void enableCapture(bool capture);
+	void setTemperature(double temp);
 
 public:
 	MainWindow(QWidget *parent = nullptr);

src/ui/mainwindow.ui

@@ -42,7 +42,7 @@
             <rect>
              <x>0</x>
              <y>0</y>
-             <width>278</width>
+             <width>182</width>
              <height>483</height>
             </rect>
            </property>
@@ -74,8 +74,8 @@
                <rect>
                 <x>0</x>
                 <y>0</y>
-                <width>467</width>
+                <width>563</width>
-                <height>313</height>
+                <height>282</height>
                </rect>
               </property>
               <layout class="QVBoxLayout" name="verticalLayout_6">
@@ -152,6 +152,9 @@
           <layout class="QVBoxLayout" name="verticalLayout_2">
            <item>
             <widget class="QPushButton" name="pushButtonCapture">
+             <property name="enabled">
+              <bool>false</bool>
+             </property>
              <property name="text">
               <string>Capture</string>
              </property>
@@ -180,6 +183,36 @@
              </item>
             </layout>
            </item>
+           <item>
+            <layout class="QHBoxLayout" name="horizontalLayout_3">
+             <property name="topMargin">
+              <number>0</number>
+             </property>
+             <item>
+              <widget class="QLabel" name="label_temp">
+               <property name="enabled">
+                <bool>true</bool>
+               </property>
+               <property name="text">
+                <string>Mean camera temperature [℃]</string>
+               </property>
+              </widget>
+             </item>
+             <item>
+              <widget class="QLCDNumber" name="lcdNumber_temp">
+               <property name="enabled">
+                <bool>true</bool>
+               </property>
+               <property name="value" stdset="0">
+                <double>0.000000000000000</double>
+               </property>
+               <property name="intValue" stdset="0">
+                <number>0</number>
+               </property>
+              </widget>
+             </item>
+            </layout>
+           </item>
           </layout>
          </widget>
         </item>