Initial commit

src/imagepipeline.cpp

@@ -0,0 +1,74 @@
+#include "imagepipeline.h"
+#include <uvosunwrap/unwrap.h>
+#include <QtConcurrent/QtConcurrentRun>
+#include <QFuture>
+
+ImagePipeline::ImagePipeline(Cameras* cameras, QObject *parent): QObject(parent), cameras_(cameras)
+{
+}
+
+cv::Mat ImagePipeline::process(const Profile profile, std::vector<Camera::Image> images)
+{
+	std::vector<RemapedImage> remapedImages;
+	remapedImages.reserve(images.size());
+
+	for(Camera::Image& image : images)
+	{
+		for(auto& camera : profile.cameras)
+		{
+			if(camera.id == image.cameraId)
+			{
+				if(camera.darkmap.data)
+					image.mat = image.mat - camera.darkmap;
+				remapedImages.push_back(applyRemap(image.mat, camera.remapMap));
+				break;
+			}
+		}
+	}
+
+	cv::Mat output = simpleStich(remapedImages);
+	output.convertTo(output, CV_32FC1, 1.0/255.0, 0);
+
+	if(profile.lightmap.data)
+		normalize(output, profile.lightmap);
+	return output;
+}
+
+void ImagePipeline::apply(std::vector<Camera::Image> images)
+{
+	if(!invalid_)
+	{
+		futureImageWatchers_.push_back(new QFutureWatcher<cv::Mat>());
+		connect(futureImageWatchers_.back(), &QFutureWatcher<cv::Mat>::finished, this, &ImagePipeline::imageFinished);
+
+		QFuture<cv::Mat> futureImage = QtConcurrent::run(&ImagePipeline::process, profile_, images);
+		futureImageWatchers_.back()->setFuture(futureImage);
+	}
+}
+
+void ImagePipeline::setProfile(const Profile& profile)
+{
+	profile_ = profile;
+	cameras_->setExposureTime(profile_.exposureTime);
+	cameras_->setLighting(profile_.lighting);
+	if(!profile_.camerasSufficant(cameras_->getCameras()))
+	{
+		invalid_ = true;
+		sigInvalidProfile("A camera required for this profile is not available");
+	}
+}
+
+void ImagePipeline::imageFinished()
+{
+	for(size_t i = 0; i < futureImageWatchers_.size(); ++i)
+	{
+		if(futureImageWatchers_[i]->isFinished())
+		{
+			cv::Mat result = futureImageWatchers_[i]->result();
+			sigResult(Camera::Image(result, 0));
+			delete futureImageWatchers_[i];
+			futureImageWatchers_.erase(futureImageWatchers_.begin()+i);
+			i--;
+		}
+	}
+}