mainny ui improcements

res/resources.qrc

@@ -2,5 +2,6 @@
     <qresource prefix="/images">
         <file>noimage.png</file>
         <file>splash.png</file>
+        <file>icon.png</file>
     </qresource>
 </RCC>

src/camera.cpp

@@ -6,7 +6,7 @@
 
 Camera::Camera(cam::Camera::Description desc)
 {
-	cameraId_ = desc.getHash();
+	cameraId_ = desc.getId();
 	std::function<void(cv::Mat)> cb = [this](cv::Mat image){newImage(Image(image, cameraId_));};
 	camera_ = new cam::Camera(cb);
 	camera_->openCamera(desc);

src/cameras.cpp

@@ -3,6 +3,8 @@
 #include <string>
 #include <functional>
 #include <QDebug>
+#include <unistd.h>
+#include <QTimer>
 
 Cameras::Cameras(uvosled* led): led_(led)
 {
@@ -46,7 +48,7 @@ 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)
+		if(desc[i].getId() == id)
 			return cameras_[i];
 	}
 	return std::shared_ptr<Camera>(nullptr);
@@ -62,14 +64,35 @@ bool Cameras::addCamera(const cam::Camera::Description& desc)
 		return false;
 	}
 
-	cameras_.back()->cam()->setTriggerMode(cam::Camera::TRIGGER_SOFTWARE);
 	cameras_.back()->cam()->setExposureTime(exposrueTime_*1000000);
-	setFree(false);
+
-	cameraAdded(cameras_.back());
+	if(desc.getVendor().find("Photonfocus") != std::string::npos)
-	qDebug()<<"Using camera"<<cameras_.back()->id();
+	{
+		qDebug()<<"Mitiagting broken PhotonFocus single shot mode";
+		std::shared_ptr<Camera> camera = cameras_.back();
+		camera->cam()->setTriggerMode(cam::Camera::TRIGGER_FREE);
+		camera->cam()->setAcquisitionMode(cam::Camera::MODE_FREE);
+		camera->cam()->setFrameRate(10);
+		camera->cam()->startAcquisition();
+		QTimer::singleShot(2000, [camera, this](){finishAddCamera(camera);});
+	}
+	else
+	{
+		finishAddCamera(cameras_.back());
+	}
+
 	return true;
 }
 
+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);
+	qDebug()<<"Using camera"<<camera->id();
+	cameraAdded(camera);
+}
+
 void Cameras::trigger()
 {
 	for(auto& camera : cameras_)
@@ -108,6 +131,11 @@ bool Cameras::stop()
 	return ret;
 }
 
+void Cameras::disable(bool disable)
+{
+	disable_ = disable;
+}
+
 bool Cameras::setFree(bool free)
 {
 	stop();
@@ -117,7 +145,10 @@ bool Cameras::setFree(bool free)
 	for(auto& camera : cameras_)
 	{
 		if(!camera->cam()->setAcquisitionMode(free ? cam::Camera::MODE_FREE : cam::Camera::MODE_SINGLE))
+		{
+			qDebug()<<"failed to set single on camera"<<camera->id();
 			ret = false;
+		}
 	}
 	return ret;
 }
@@ -130,34 +161,40 @@ bool Cameras::setExposureTime(double exposureTime)
 	for(auto& camera : cameras_)
 	{
 		if(!camera->cam()->setExposureTime(exposrueTime_*1000000))
+		{
+			qDebug()<<"failed to set exposure on camera"<<camera->id();
 			ret = false;
+		}
 	}
 	return ret;
 }
 
 void Cameras::imageRecived(Camera::Image img)
 {
-	bool allreadyUpdated = false;
+	if(!disable_)
-	for(auto& camera : cameras_)
 	{
+		bool allreadyUpdated = false;
 		for(auto& image : images_)
 		{
-			if(image.cameraId == camera->id())
+			if(image.cameraId == img.cameraId)
 			{
 				allreadyUpdated = true;
-				goto FOUND;
+				break;;
 			}
 		}
+
+		if(!allreadyUpdated)
+			images_.push_back(img);
+
+		qDebug()<<"Recived"<<images_.size()<<"of"<<cameras_.size()<<"images";
+
+		if(images_.size() == cameras_.size())
+		{
+			newImages(images_);
+			images_.clear();
+		}
+
 	}
-	FOUND:
-
-	if(!allreadyUpdated)
-		images_.push_back(img);
-
-	if(images_.size() == cameras_.size())
-		newImages(images_);
-
-	images_.clear();
 }
 
 void Cameras::store(QSettings &settings)
@@ -184,7 +221,7 @@ void Cameras::load(QSettings &settings)
 		size_t hash = settings.value("id", 0).toULongLong();
 		for(auto& camera : available)
 		{
-			if(camera.getHash() == hash)
+			if(camera.getId() == hash)
 				addCamera(camera);
 		}
 	}

src/cameras.h

@@ -23,6 +23,7 @@ private:
 
 	uvosled* led_;
 	bool free_ = false;
+	bool disable_ = false;
 	double exposrueTime_ = 1.0/60.0;
 	LightingSetup lighting_;
 	std::vector<std::shared_ptr<Camera>> cameras_;
@@ -30,11 +31,12 @@ private:
 
 private slots:
 	void imageRecived(Camera::Image img);
+	void finishAddCamera(std::shared_ptr<Camera> camera);
 
 signals:
 	void cameraRemoved(std::shared_ptr<Camera> camera);
 	void cameraAdded(std::shared_ptr<Camera> camera);
-	void newImages(std::vector<Camera::Image> images_);
+	void newImages(std::vector<Camera::Image> images);
 
 public slots:
 
@@ -55,6 +57,7 @@ public:
 	Cameras(uvosled* led = nullptr);
 	void load(QSettings& settings);
 	void store(QSettings& settings);
+	void disable(bool disable);
 };
 
 #endif // CAMERAS_H

src/imagepipeline.cpp

@@ -1,37 +1,96 @@
 #include "imagepipeline.h"
 #include <uvosunwrap/unwrap.h>
+#include <uvosunwrap/normalize.h>
+#include <uvosunwrap/curve.h>
 #include <QtConcurrent/QtConcurrentRun>
 #include <QFuture>
+#include <QDebug>
 
 ImagePipeline::ImagePipeline(Cameras* cameras, QObject *parent): QObject(parent), cameras_(cameras)
 {
+	connect(cameras_, &Cameras::newImages, this, &ImagePipeline::apply);
 }
 
 cv::Mat ImagePipeline::process(const Profile profile, std::vector<Camera::Image> images)
 {
+	qDebug()<<__FUNCTION__<<"got"<<images.size()<<"images";
 	std::vector<RemapedImage> remapedImages;
 	remapedImages.reserve(images.size());
 
-	for(Camera::Image& image : images)
+	try
 	{
-		for(auto& camera : profile.cameras)
+		if(profile.nodistort && images.size() > 0)
 		{
-			if(camera.id == image.cameraId)
+			for(auto& image : images)
 			{
-				if(camera.darkmap.data)
+				if(profile.cameras[0].id == image.cameraId)
-					image.mat = image.mat - camera.darkmap;
+				{
-				remapedImages.push_back(applyRemap(image.mat, camera.remapMap));
+					RemapedImage img;
-				break;
+					img.origin.x = 0;
+					img.origin.y = 0;
+					image.mat.copyTo(img.image);
+					if(profile.cameras[0].darkmap.data)
+						img.image = img.image - profile.cameras[0].darkmap;
+					remapedImages.push_back(img);
+					break;
+				}
+			}
+		}
+		else
+		{
+			for(Camera::Image& image : images)
+			{
+				qDebug()<<__FUNCTION__<<"image cam id"<<image.cameraId;
+				bool matched = false;
+				for(auto& camera : profile.cameras)
+				{
+					if(camera.id == image.cameraId)
+					{
+						if(camera.darkmap.data)
+						{
+							cv::Mat subtracted;
+							image.mat.copyTo(subtracted);
+							qDebug()<<"Camera"<<camera.id<<"has darkmap"<<image.mat.type()<<camera.darkmap.type();
+							subtracted = image.mat - camera.darkmap;
+							image.mat = subtracted;
+						}
+						RemapedImage remaped = applyRemap(image.mat, camera.remapMap);
+						qDebug()<<"Camera"<<camera.id<<"image remaped to"<<remaped.image.data<<remaped.image.rows<<remaped.image.cols
+								<<"at"<<remaped.origin.x<<'x'<<remaped.origin.y;
+						remapedImages.push_back(applyRemap(image.mat, camera.remapMap));
+						matched = true;
+						break;
+					}
+				}
+				if(!matched)
+					qWarning()<<"non matching image recived";
 			}
 		}
 	}
+	catch(cv::Exception ex)
+	{
+		qDebug()<<ex.err.c_str();
+		qDebug()<<"Image pipe failure";
+		return cv::Mat();
+	}
 
-	cv::Mat output = simpleStich(remapedImages);
+	if(remapedImages.size() > 0)
-	output.convertTo(output, CV_32FC1, 1.0/255.0, 0);
+	{
+		cv::Mat output = simpleStich(remapedImages);
+		output.convertTo(output, CV_32FC1, 1.0/255.0, 0);
 
-	if(profile.lightmap.data)
+		if(profile.lightmap.data)
-		normalize(output, profile.lightmap);
+			normalize(output, profile.lightmap);
-	return output;
+
+		if(profile.calcurve.data)
+			applyCurve(output, profile.calcurve);
+		return output;
+	}
+	else
+	{
+		qDebug()<<"Image pipe failure insufficant matched images";
+		return cv::Mat();
+	}
 }
 
 void ImagePipeline::apply(std::vector<Camera::Image> images)
@@ -41,6 +100,7 @@ void ImagePipeline::apply(std::vector<Camera::Image> images)
 		futureImageWatchers_.push_back(new QFutureWatcher<cv::Mat>());
 		connect(futureImageWatchers_.back(), &QFutureWatcher<cv::Mat>::finished, this, &ImagePipeline::imageFinished);
 
+		statusMsg("Processing");
 		QFuture<cv::Mat> futureImage = QtConcurrent::run(&ImagePipeline::process, profile_, images);
 		futureImageWatchers_.back()->setFuture(futureImage);
 	}
@@ -51,11 +111,20 @@ void ImagePipeline::setProfile(const Profile& profile)
 	profile_ = profile;
 	cameras_->setExposureTime(profile_.exposureTime);
 	cameras_->setLighting(profile_.lighting);
+	qDebug()<<"setting profile "<<profile_.getName();
+	for(CameraSetup& setup : profile_.cameras)
+	{
+		qDebug()<<setup.id;
+		//TODO: dehardcode this
+		setup.remapMap.outputCellSize=200;
+	}
+	invalid_ = false;
 	if(!profile_.camerasSufficant(cameras_->getCameras()))
 	{
 		invalid_ = true;
 		sigInvalidProfile("A camera required for this profile is not available");
 	}
+	statusMsg("set profile " + profile_.getName());
 }
 
 void ImagePipeline::imageFinished()
@@ -65,11 +134,18 @@ void ImagePipeline::imageFinished()
 		if(futureImageWatchers_[i]->isFinished())
 		{
 			cv::Mat result = futureImageWatchers_[i]->result();
-			sigResult(Camera::Image(result, 0));
+			if(result.data)
-			delete futureImageWatchers_[i];
+			{
-			futureImageWatchers_.erase(futureImageWatchers_.begin()+i);
+				sigResult(Camera::Image(result, 0));
-			i--;
+				delete futureImageWatchers_[i];
+				futureImageWatchers_.erase(futureImageWatchers_.begin()+i);
+				i--;
+				statusMsg("Finished");
+			}
+			else
+			{
+				sigInvalidProfile("Image pipe failure");
+			}
 		}
 	}
 }
-

src/imagepipeline.h

@@ -30,6 +30,7 @@ private slots:
 signals:
 	void sigInvalidProfile(QString message);
 	void sigResult(Camera::Image image);
+	void statusMsg(QString msg);
 
 public slots:
 	void setProfile(const Profile& profile);

src/main.cpp

@@ -9,6 +9,7 @@
 #include <QThread>
 #include <opencv2/core/mat.hpp>
 #include <unistd.h>
+#include <uvosunwrap/log.h>
 
 #include "cameras.h"
 #include "./ui/cameradialog.h"
@@ -17,6 +18,7 @@
 #include "./ui/profiledialog.h"
 #include "imagepipeline.h"
 
+
 const char* organziation = "UVOS";
 const char* application  = "UVOS";
 const char* version  = "UVOS";
@@ -44,13 +46,18 @@ void showProfileDialog(Cameras* cameras)
 {
 	qDebug()<<__FUNCTION__;
 	cameras->stop();
+	cameras->disable(true);
+	std::vector<cam::Camera::Description> descs = cameras->getCameras();
 	ProfileDialog diag(cameras);
 	diag.show();
 	diag.exec();
+	cameras->disable(false);
 }
 
 int main(int argc, char *argv[])
 {
+	Log::level = Log::WARN;
+
 	QApplication a(argc, argv);
 	QCoreApplication::setOrganizationName("UVOS");
 	QCoreApplication::setOrganizationDomain("uvos.xyz");
@@ -61,11 +68,12 @@ int main(int argc, char *argv[])
 	splash.show();
 
 	QDir().mkpath(Profile::profileLocation());
-	QDir().mkpath(CameraSetup::camerasLocation());
 
 	qRegisterMetaType<cv::Mat>("cv::Mat");
 	qRegisterMetaType<size_t>("size_t");
+	qRegisterMetaType<Camera::Image>("Camera::Image");
 	qRegisterMetaType<Camera::Image>("Image");
+	qRegisterMetaType<std::vector<Camera::Image>>("std::vector<Camera::Image>");
 
 	QSettings settings(QSettings::IniFormat, QSettings::UserScope, QCoreApplication::organizationName(), QCoreApplication::applicationName());
 
@@ -100,11 +108,16 @@ int main(int argc, char *argv[])
 
 	QObject::connect(&w, &MainWindow::sigEditProfiles, [&cameras, &w](){showProfileDialog(&cameras); w.refreshProfiles();});
 	QObject::connect(&pipe, &ImagePipeline::sigResult, w.mainImageViewer(), &CvImageViewer::setImage, Qt::QueuedConnection);
+	QObject::connect(&pipe, &ImagePipeline::sigInvalidProfile, &w, &MainWindow::profileInconpatible);
 
 	QObject::connect(&w, &MainWindow::sigProfile, [&pipe](QString name)
 	{
 		Profile profile;
 		profile.load(name);
+		if(profile.cameras.size() != 0)
+			qDebug()<<"loading profile"<<name<<"with"<<profile.cameras.size()<<"cameras and first camera"<<profile.cameras.at(0).id;
+		else
+			qDebug()<<"empty profile!!";
 		pipe.setProfile(profile);
 	});
 
@@ -122,7 +135,17 @@ int main(int argc, char *argv[])
 		cameras.setCameras(showCameraSelectionDialog());
 	}
 
-	pipe.setProfile(w.getProfileName());
+	QString name = w.getProfileName();
+	if(!name.isEmpty())
+	{
+		Profile profile;
+		profile.load(w.getProfileName());
+		if(profile.cameras.size() != 0)
+			qDebug()<<"loading profile"<<name<<"with"<<profile.cameras.size()<<"cameras and first camera"<<profile.cameras.at(0).id;
+		else
+			qDebug()<<"empty profile!!";
+		pipe.setProfile(profile);
+	}
 
 	int ret =  a.exec();
 

src/profile.cpp

@@ -6,63 +6,41 @@
 #include <QDebug>
 #include <uvosunwrap/unwrap.h>
 
-void CameraSetup::store() const
+void CameraSetup::store(const QString &filename) const
 {
-	if(darkmap.data)
+	cv::FileStorage matf(filename.toStdString(), cv::FileStorage::APPEND);
-		cv::imwrite(darkmapLocation(id).toStdString(), darkmap);
 	if(remapMap.xMat.data)
-		saveRemapMap(remapMap, remapMapLocation(id).toStdString());
+	{
+		matf<<("_"+QString::number(id)+"_xmat").toStdString()<<remapMap.xMat<<("_"+QString::number(id)+"_ymat").toStdString()
+		   <<remapMap.yMat<<("_"+QString::number(id)+"_origin").toStdString()<<remapMap.topLeftCoordinate;
+	}
+	if(darkmap.data)
+	{
+		matf<<("_"+QString::number(id)+"_darkmap").toStdString()<<darkmap;
+	}
 	if(bgmask.data)
 	{
-		cv::FileStorage matf(bgmaskLocation(id).toStdString(), cv::FileStorage::WRITE);
+		matf<<("_"+QString::number(id)+"_bgmask").toStdString()<<bgmask;
-		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)
+void CameraSetup::load(const QString &filename, size_t cameraId)
-{
-	remapMap = loadRemapMap(filename.toStdString());
-}
-
-void CameraSetup::load(size_t cameraId)
 {
 	id = cameraId;
-	loadDarkMap(darkmapLocation(id));
+	cv::FileStorage matf(filename.toStdString(), cv::FileStorage::READ);
-	loadRemapMaps(remapMapLocation(id));
+	if (matf.isOpened())
-	loadBgMask(bgmaskLocation(id));
+	{
-}
+		matf[("_"+QString::number(id)+"_darkmap").toStdString()]>>darkmap;
-
+		matf[("_"+QString::number(id)+"_bgmask").toStdString()]>>bgmask;
-QString CameraSetup::camerasLocation()
+		matf[("_"+QString::number(id)+"_xmat").toStdString()]>>remapMap.xMat;
-{
+		matf[("_"+QString::number(id)+"_ymat").toStdString()]>>remapMap.yMat;
-	return QStandardPaths::writableLocation(QStandardPaths::AppDataLocation) + "/cameras/";
+		matf[("_"+QString::number(id)+"_origin").toStdString()]>>remapMap.topLeftCoordinate;
-}
+	}
-
+	else
-QString CameraSetup::darkmapLocation(size_t cameraId)
+	{
-{
+		qDebug()<<"could not open file"<<filename;
-	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
@@ -84,6 +62,7 @@ void Profile::store(QSettings& settings) const
 	settings.setValue(GROUP + QString("/id"), static_cast<unsigned long long>(id));
 	settings.setValue(GROUP + QString("/exposureTime"), exposureTime);
 	settings.setValue(GROUP + QString("/name"), name_);
+	settings.setValue(GROUP + QString("/nodistort"), nodistort);
 
 	if(lightmap.data)
 		cv::imwrite((profileLocation() + QString::number(id) + ".lightmap.png").toStdString(), lightmap);
@@ -93,10 +72,18 @@ void Profile::store(QSettings& settings) const
 	{
 		const CameraSetup& camera = cameras[i];
 		settings.setArrayIndex(i);
-		camera.store();
+		camera.store(profileLocation() + name_ + ".profile.mat");
 		settings.setValue("id", static_cast<unsigned long long>(camera.id));
 	}
 	settings.endArray();
+
+	cv::FileStorage matf((profileLocation() + name_ + ".calcurve.mat").toStdString(), cv::FileStorage::WRITE);
+	matf<<"cal"<<calcurve;
+	matf.release();
+
+	cv::FileStorage matfl((profileLocation() + name_ + ".lightmap.mat").toStdString(), cv::FileStorage::WRITE);
+	matfl<<"cal"<<lightmap;
+	matfl.release();
 }
 
 void Profile::load(QSettings &settings)
@@ -105,6 +92,7 @@ void Profile::load(QSettings &settings)
 	id = settings.value(GROUP + QString("/id")).toULongLong();
 	exposureTime = settings.value(GROUP + QString("/exposureTime"), 1.0/60.0).toDouble();
 	name_ = settings.value(GROUP + QString("/name"), "NULL").toString();
+	nodistort = settings.value(GROUP + QString("/nodistort"), "NULL").toBool();
 
 	lightmap = cv::imread((profileLocation() + QString::number(id) + ".lightmap.png").toStdString());
 
@@ -113,9 +101,20 @@ void Profile::load(QSettings &settings)
 	{
 		settings.setArrayIndex(i);
 		cameras.push_back(CameraSetup());
-		cameras.back().load(settings.value("id", 0).toULongLong());
+		cameras.back().load(profileLocation() + name_ + ".profile.mat", settings.value("id", 0).toULongLong());
 	}
 	settings.endArray();
+
+	cv::FileStorage matf((profileLocation() + name_ + ".calcurve.mat").toStdString(), cv::FileStorage::READ);
+	matf["cal"]>>calcurve;
+	matf.release();
+
+	if(calcurve.data && (calcurve.type() != CV_32FC1 || calcurve.rows != 2))
+		calcurve.release();
+
+	cv::FileStorage matfl((profileLocation() + name_ + ".lightmap.mat").toStdString(), cv::FileStorage::READ);
+	matfl["cal"]>>lightmap;
+	matfl.release();
 }
 
 void Profile::load(const QString& name)
@@ -164,15 +163,43 @@ QList<QString> Profile::avaiableProfiles()
 	return  ret;
 }
 
-void Profile::setCamerasSetupsFromDescription(const std::vector<cam::Camera::Description>& desc)
+void Profile::setCamerasSetupsFromDescription(const std::vector<cam::Camera::Description>& descs)
 {
-	cameras.clear();
+	for(size_t i = 0; i < cameras.size(); ++i)
-	cameras.reserve(desc.size());
-	for(size_t i = 0; i < desc.size(); ++i)
 	{
-		CameraSetup tmp;
+		bool found = false;
-		tmp.load(desc[i].getHash());
+		for(auto& cameraDesc : descs)
-		cameras.push_back(tmp);
+		{
+			if(cameras[i].id == cameraDesc.getId())
+			{
+				found = true;
+				break;
+			}
+		}
+		if(!found)
+		{
+			cameras.erase(cameras.begin()+i);
+			--i;
+		}
+	}
+
+	for(size_t i = 0; i < descs.size(); ++i)
+	{
+		bool found = false;
+		for(auto& camera : cameras)
+		{
+			if(camera.id == descs[i].getId())
+			{
+				found = true;
+				break;
+			}
+		}
+		if(!found)
+		{
+			CameraSetup tmp;
+			tmp.load(profileLocation() + name_ + ".profile.mat", descs[i].getId());
+			cameras.push_back(tmp);
+		}
 	}
 }
 
@@ -184,7 +211,7 @@ bool Profile::camerasSufficant(const std::vector<cam::Camera::Description>& desc
 		bool found = false;
 		for(auto& camera : desc)
 		{
-			if(camera.getHash() == cameraProfile.id)
+			if(camera.getId() == cameraProfile.id)
 			{
 				found = true;
 				break;

src/profile.h

@@ -16,15 +16,8 @@ public:
 	RemapMap remapMap;
 	cv::Mat darkmap;
 	cv::Mat bgmask;
-	void store() const;
+	void store(const QString& filename) const;
-	void load(size_t cameraId);
+	void load(const QString& name, 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);
-	static QString darkmapLocation(size_t cameraId);
 };
 
 class LightingSetup
@@ -50,7 +43,9 @@ public:
 	LightingSetup lighting;
 	double exposureTime = 1.0/60.0;
 	cv::Mat lightmap;
+	cv::Mat calcurve;
 	std::vector<CameraSetup> cameras;
+	bool nodistort = false;
 
 	Profile(const QString& name = "Unamed");
 	void store(QSettings& settings) const;

src/ui/cameradialog.ui

@@ -16,6 +16,10 @@
   <property name="windowTitle">
    <string>Select Cameras</string>
   </property>
+  <property name="windowIcon">
+   <iconset resource="../../res/resources.qrc">
+    <normaloff>:/images/icon.png</normaloff>:/images/icon.png</iconset>
+  </property>
   <layout class="QVBoxLayout" name="verticalLayout">
    <item>
     <widget class="QLabel" name="label">
@@ -46,7 +50,9 @@
    <header location="global">./src/ui/cameralistwidget.h</header>
   </customwidget>
  </customwidgets>
- <resources/>
+ <resources>
+  <include location="../../res/resources.qrc"/>
+ </resources>
  <connections>
   <connection>
    <sender>buttonBox</sender>

src/ui/cameralistwidget.cpp

@@ -20,7 +20,7 @@ void CameraListWidget::setConfigured(std::vector<bool> configured)
 	setHorizontalHeaderItem(1, new QTableWidgetItem("Configured"));
 	for(size_t i = 0; i < desc_.size() && i < configured.size(); ++i)
 	{
-		setItem(static_cast<int>(i), 1, new QTableWidgetItem("No"));
+		setItem(static_cast<int>(i), 1, new QTableWidgetItem(configured[i] ? "Yes" : "No"));
 		qDebug()<<"Set item "<<i<<1;
 	}
 }
@@ -32,7 +32,7 @@ void CameraListWidget::setCameras(const std::vector<cam::Camera::Description>& d
 	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].vendor + " " + desc_[i].model).c_str()));
+		setItem(static_cast<int>(i), 0, new QTableWidgetItem((desc_[i].getVendor() + " " + desc_[i].getModel()).c_str()));
 	}
 }
 

src/ui/configurecameradialog.cpp

@@ -7,20 +7,26 @@
 #include <uvosunwrap/charuco.h>
 #include <uvosunwrap/unwrap.h>
 #include <opencv2/imgproc.hpp>
+#include <QDebug>
 
 ConfigureCameraDialog::ConfigureCameraDialog(const CameraSetup& setup, std::shared_ptr<Camera> camera, double exposureTime, QWidget *parent):
 	QDialog(parent),
 	setup_(setup),
 	camera_(camera),
+	profileExposure_(exposureTime),
 	ui(new Ui::ConfigureCameraDialog)
 {
 	ui->setupUi(this);
+	qDebug()<<"profileExposure_"<<profileExposure_;
+	ui->doubleSpinBox->setValue(profileExposure_);
+	setExposure(profileExposure_);
 
-	ui->doubleSpinBox->setValue(exposureTime);
+	uint64_t min, max;
+	camera_->cam()->getExposureTimeLimits(min, max);
+	ui->doubleSpinBox->setMaximum(max/1000000.0);
+	ui->doubleSpinBox->setMinimum(min/1000000.0);
 
-	connect(ui->pushButtonBgLoad, &QPushButton::clicked, this, &ConfigureCameraDialog::loadBg);
+	connect(ui->doubleSpinBox, QOverload<double>::of(&QDoubleSpinBox::valueChanged), this, &ConfigureCameraDialog::setExposure);
-	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();});
@@ -38,45 +44,12 @@ ConfigureCameraDialog::~ConfigureCameraDialog()
 	delete ui;
 }
 
-
+void ConfigureCameraDialog::setExposure(double value)
-
-void ConfigureCameraDialog::loadBg()
 {
-	QString filename = QFileDialog::getOpenFileName(this, tr("Open Background Mask"), CameraSetup::camerasLocation(), "OpenCV Mat (*.mat)");
+	 if(!camera_->cam()->setExposureTime(value*1000000.0))
-	if(!filename.isEmpty())
+		QMessageBox::warning(this, "Warning", "Failed to set exposure");
-	{
+	 else
-		setup_.loadBgMask(filename);
+		 qDebug()<<"set exposure to "<<value*1000000.0;
-		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)
@@ -109,6 +82,11 @@ void ConfigureCameraDialog::gotImage(Camera::Image img)
 		mode_ = MODE_IDLE;
 		break;
 	case MODE_REMAP_GET:
+		cv::Mat masked;
+		if(setup_.bgmask.data)
+			img.mat.copyTo(masked, setup_.bgmask);
+		else
+			masked = img.mat;
 		std::vector<DetectedPoint> points = detectCharucoPoints(img.mat, false);
 		if(points.size() < 8)
 		{
@@ -117,13 +95,13 @@ void ConfigureCameraDialog::gotImage(Camera::Image img)
 			break;
 		}
 		RemapMap map;
-		if(createRemapMap(img.mat, map, points))
+		if(createRemapMap(masked, 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);
+			cv::circle(img.mat, points[i].point, img.mat.cols/50, cv::Scalar(255,255,255), img.mat.cols/200);
-		ui->widget_4->setImage(Camera::Image(setup_.bgmask, camera_->id()));
+		ui->widget_4->setImage(Camera::Image(img.mat, camera_->id()));
 		mode_ = MODE_IDLE;
 		break;
 	}
@@ -157,6 +135,8 @@ void ConfigureCameraDialog::captureDark()
 {
 	QMessageBox::information(this, "Cover lense", "Please cover the lense of the camera.");
 	mode_ = MODE_DARK_GET;
+	ui->doubleSpinBox->setValue(profileExposure_);
+	setExposure(profileExposure_);
 	takeImage();
 }
 
@@ -165,7 +145,7 @@ void ConfigureCameraDialog::accept()
 	if(checkConfig())
 		QDialog::accept();
 	else
-		QMessageBox::warning(this, "Unfinished", "Can not accept unfinished camera setup");
+		QMessageBox::information(this, "Unfinished", "Can not accept unfinished camera setup");
 }
 
 bool ConfigureCameraDialog::checkConfig()
@@ -182,5 +162,5 @@ bool ConfigureCameraDialog::checkConfig()
 	ui->ledDark->setLit(darkMapOK);
 	ui->ledRemap->setLit(remapMapOk);
 
-	return bgOk && remapMapOk && darkMapOK;
+	return remapMapOk;
 }

src/ui/configurecameradialog.h

@@ -22,25 +22,27 @@ class ConfigureCameraDialog : public QDialog
 	std::shared_ptr<Camera> camera_;
 	int mode_ = MODE_IDLE;
 	cv::Mat fgImage;
+	double profileExposure_;
 
 private:
 	bool checkConfig();
 	void gotImage(Camera::Image img);
 
 private slots:
-	void loadBg();
-	void loadRemap();
-	void loadDark();
 	void captureBg();
 	void captureRemap();
 	void captureDark();
 	void takeImage();
+	void setExposure(double value);
+
+public slots:
+	void accept() override;
 
 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;

src/ui/configurecameradialog.ui

@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>466</width>
+    <width>545</width>
-    <height>438</height>
+    <height>614</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -31,6 +31,29 @@
      <property name="horizontalSpacing">
       <number>6</number>
      </property>
+     <item row="3" column="1">
+      <widget class="Led" name="ledBg" native="true">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="minimumSize">
+        <size>
+         <width>40</width>
+         <height>40</height>
+        </size>
+       </property>
+      </widget>
+     </item>
+     <item row="3" column="3">
+      <widget class="QPushButton" name="pushButtonBgCreate">
+       <property name="text">
+        <string>Create</string>
+       </property>
+      </widget>
+     </item>
      <item row="2" column="0">
       <widget class="QLabel" name="label">
        <property name="text">
@@ -48,13 +71,6 @@
        </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">
@@ -62,32 +78,6 @@
        </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">
@@ -98,57 +88,40 @@
        </property>
       </widget>
      </item>
-     <item row="3" column="3">
+     <item row="3" column="0">
-      <widget class="QPushButton" name="pushButtonBgCreate">
+      <widget class="QLabel" name="label_3">
        <property name="text">
-        <string>Create</string>
+        <string>Background image</string>
        </property>
       </widget>
      </item>
-     <item row="3" column="1">
+     <item row="2" column="2">
-      <widget class="Led" name="ledBg" native="true"/>
+      <widget class="QPushButton" name="pushButtonDarkImageShow">
-     </item>
-     <item row="1" column="0">
-      <widget class="QLabel" name="label_2">
        <property name="text">
-        <string>Remap Map</string>
+        <string>Show</string>
        </property>
       </widget>
      </item>
-     <item row="1" column="2">
+     <item row="1" column="1">
-      <widget class="QPushButton" name="pushButtonRemapLoad">
+      <widget class="Led" name="ledRemap" native="true">
-       <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">
+        <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
          <horstretch>0</horstretch>
          <verstretch>0</verstretch>
         </sizepolicy>
        </property>
        <property name="minimumSize">
         <size>
-         <width>0</width>
+         <width>40</width>
-         <height>0</height>
+         <height>40</height>
         </size>
        </property>
       </widget>
      </item>
-     <item row="2" column="2">
+     <item row="3" column="2">
-      <widget class="QPushButton" name="pushButtonDarkImageLoad">
+      <widget class="QPushButton" name="pushButtonBgShow">
        <property name="text">
-        <string>Load</string>
+        <string>Show</string>
        </property>
       </widget>
      </item>
@@ -159,10 +132,36 @@
        </property>
       </widget>
      </item>
-     <item row="4" column="0">
+     <item row="2" column="1">
-      <widget class="QLabel" name="label_4">
+      <widget class="Led" name="ledDark" native="true">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="minimumSize">
+        <size>
+         <width>40</width>
+         <height>40</height>
+        </size>
+       </property>
+      </widget>
+     </item>
+     <item row="1" column="0">
+      <widget class="QLabel" name="label_2">
        <property name="text">
-        <string/>
+        <string>Remap Map (required)</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>
@@ -182,11 +181,14 @@
      </item>
      <item>
       <widget class="QDoubleSpinBox" name="doubleSpinBox">
+       <property name="decimals">
+        <number>5</number>
+       </property>
        <property name="maximum">
         <double>1.000000000000000</double>
        </property>
        <property name="singleStep">
-        <double>0.100000000000000</double>
+        <double>0.001000000000000</double>
        </property>
       </widget>
      </item>
@@ -219,18 +221,18 @@
   </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>
+  <customwidget>
+   <class>Led</class>
+   <extends>QWidget</extends>
+   <header location="global">./src/ui/led.h</header>
+   <container>1</container>
+  </customwidget>
  </customwidgets>
  <resources/>
  <connections>

src/ui/cvimageviewer.cpp

@@ -1,21 +1,60 @@
 #include "cvimageviewer.h"
 #include <QPicture>
 #include <QDebug>
+#include <QMouseEvent>
+#include <QFileDialog>
+#include <opencv2/imgcodecs.hpp>
 
 CvImageViewer::CvImageViewer(QWidget *parent, size_t lastId) :
 	QWidget(parent),
-	lastId_(lastId)
+	lastId_(lastId),
+	saveAction_("Save Image", nullptr)
 {
+	connect(&saveAction_, &QAction::triggered, this, &CvImageViewer::saveImage);
 	qimage_.load(":/images/noimage.png");
+
+	imageContextMenu_.addAction(&saveAction_);
 }
 
 CvImageViewer::~CvImageViewer()
 {
 }
 
+void CvImageViewer::saveImage()
+{
+	QString fileName;
+	if(origImage_.type() == CV_8UC3 || origImage_.type() == CV_8SC3 || origImage_.type() == CV_8UC1 || origImage_.type() == CV_8SC1)
+	{
+		fileName = QFileDialog::getSaveFileName(this, "Save Image", "./", "*.mat *.png" );
+	}
+	else
+	{
+		fileName = QFileDialog::getSaveFileName(this, "Save Image", "./", "*.mat" );
+	}
+	if(!fileName.isEmpty())
+	{
+		QStringList tokens = fileName.split('.');
+		if(tokens.back() != "mat" && tokens.back() != "png")
+			fileName.append(".mat");
+		tokens = fileName.split('.');
+		if(tokens.back() == "png")
+		{
+			imwrite(fileName.toStdString(), origImage_);
+		}
+		else
+		{
+			cv::FileStorage matf(fileName.toStdString(), cv::FileStorage::WRITE);
+			matf<<"image"<<origImage_;
+			matf.release();
+		}
+	}
+}
+
 void CvImageViewer::setImage(Camera::Image img)
 {
 	image_ = img.mat;
+	origImage_=img.mat;
+	qDebug()<<"viwer got"<<image_.rows<<'x'<<image_.cols<<" type "<<image_.type()<<"image from camera"<<img.cameraId;
 	if(image_.type() == CV_8UC3 || image_.type() == CV_8SC3)
 	{
 		qimage_ = QImage(image_.data, image_.cols, image_.rows, image_.step, QImage::Format_RGB888);
@@ -37,19 +76,41 @@ void CvImageViewer::setImage(Camera::Image img)
 	update();
 }
 
+void CvImageViewer::mousePressEvent(QMouseEvent *event)
+{
+	if(event->button() == Qt::RightButton)
+	{
+		saveAction_.setEnabled(origImage_.data);
+		imageContextMenu_.popup(event->globalPos());
+	}
+	else if(origImage_.data && event->x() > imgrect_.x() && event->y() > imgrect_.y() && event->x() < imgrect_.x()+imgrect_.width() && event->y() < imgrect_.y()+imgrect_.height())
+	{
+		int x = (event->x()-imgrect_.x())/static_cast<double>(imgrect_.width())*origImage_.cols;
+		int y = (event->y()-imgrect_.y())/static_cast<double>(imgrect_.height())*origImage_.rows;
+		qDebug()<<x<<y;
+		if(origImage_.type() == CV_32FC1)
+		{
+			if(x >= 0 && y >= 0 && x <= origImage_.cols && y < origImage_.rows)
+				sigValue(x, y, origImage_.at<float>(y,x));
+		}
+		else
+		{
+
+			sigValue(x, y, 0);
+		}
+	}
+	QWidget::mousePressEvent(event);
+}
+
 void CvImageViewer::paintEvent(QPaintEvent* event)
 {
 	Q_UNUSED(event)
 	QPainter painter(this);
 
-	if(!fixedOnWidth_)
+	double ratio = qimage_.size().height() / (double)qimage_.size().width();
-	{
+	if(rect().width()*ratio <= rect().height())
-		double ratio = qimage_.size().width() / qimage_.size().height();
+		imgrect_.setRect(0, (rect().height()-rect().width()*ratio)/2, rect().width(), rect().width()*ratio);
-		painter.drawImage(QRect((rect().width()-rect().height())/2, rect().y(), rect().height()*ratio, rect().height()), qimage_);
-	}
 	else
-	{
+		imgrect_.setRect((rect().width()-rect().height()/ratio)/2, 0, rect().height()/ratio, rect().height());
-		double ratio = qimage_.size().height() / qimage_.size().width();
+	painter.drawImage(imgrect_, qimage_);
-		painter.drawImage(QRect(rect().x(), (rect().height()-rect().width())/2, rect().width(), rect().width()*ratio), qimage_);
-	}
 }

src/ui/cvimageviewer.h

@@ -3,19 +3,32 @@
 
 #include <QWidget>
 #include <QPainter>
+#include <QMenu>
 #include "../cameras.h"
 
 class CvImageViewer : public QWidget
 {
 	Q_OBJECT
 
+private:
+	cv::Mat origImage_;
 	cv::Mat image_;
 	QImage qimage_;
 	bool fixedOnWidth_ = false;
 	size_t lastId_;
+	QMenu imageContextMenu_;
+	QAction saveAction_;
+	QRect imgrect_;
+
+private slots:
+	void saveImage();
 
 protected:
 	virtual void paintEvent(QPaintEvent* event) override;
+	virtual void mousePressEvent(QMouseEvent *event) override;
+
+signals:
+	void sigValue(size_t x, size_t y, double value);
 
 public slots:
 	void setImage(Camera::Image img);
@@ -23,6 +36,8 @@ public slots:
 public:
 	explicit CvImageViewer(QWidget *parent = nullptr, size_t lastId = 0);
 	void setFixedOnWidth(bool in){fixedOnWidth_ = in;}
+	cv::Mat getImage(){return origImage_;}
+
 	size_t lastId(){return lastId_;}
 	~CvImageViewer();
 };

src/ui/editprofiledialog.cpp

@@ -2,6 +2,8 @@
 #include "ui_editprofiledialog.h"
 #include <uvosled.h>
 #include <QDebug>
+#include <QMessageBox>
+#include <QFileDialog>
 
 #include "configurecameradialog.h"
 
@@ -24,26 +26,91 @@ EditProfileDialog::EditProfileDialog(Cameras* cameras, const Profile profile, QW
 	ui->checkBoxCh3->setChecked(profile_.lighting.mask & CHANNEL_C);
 	ui->checkBoxCh4->setChecked(profile_.lighting.mask & CHANNEL_D);
 
-	if(profile_.cameras.size() == 0)
+	ui->checkBoxNodistort->setChecked(profile_.nodistort);
-		profile_.setCamerasSetupsFromDescription(cameras_->getCameras());
+
+	std::vector<cam::Camera::Description> descs = cameras_->getCameras();
+	profile_.setCamerasSetupsFromDescription(descs);
+
+	if(profile_.cameras.size() > 0)
+	{
+		uint64_t min, max;
+		std::shared_ptr<Camera> cam = cameras_->getCamera(profile_.cameras[0].id);
+		if(cam)
+		{
+			cam->cam()->getExposureTimeLimits(min, max);
+			ui->doubleSpinBoxExposure->setMaximum(max/1000000.0);
+			ui->doubleSpinBoxExposure->setMinimum(min/1000000.0);
+		}
+	}
+
+	ui->calLed->setLit(profile_.calcurve.data);
 
 	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->doubleSpinBoxExposure, QOverload<double>::of(&QDoubleSpinBox::valueChanged), [this](double in){profile_.exposureTime = in; invalidateCameras();});
 	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);
+	connect(ui->checkBoxNodistort, &QCheckBox::stateChanged, [this](int state){profile_.nodistort = state == Qt::Checked ?: false; setConfigured();});
+	connect(ui->pushButtonCalLoad, &QPushButton::clicked, this, &EditProfileDialog::loadCalcurve);
+	connect(ui->pushButtonLightmapLoad, &QPushButton::clicked, this, &EditProfileDialog::loadCalcurve);
 	ui->listView->setCameras(cameras_->getCameras());
 	ui->listView->setSelectionMode(QAbstractItemView::SingleSelection);
 	setConfigured();
 }
 
-void EditProfileDialog::setConfigured()
+void EditProfileDialog::loadLightmap()
+{
+	QString fileName = QFileDialog::getOpenFileName(this, "Open Lightmap", "./", "*.mat");
+	if(!fileName.isEmpty())
+	{
+		profile_.calcurve.release();
+		cv::FileStorage matf(fileName.toStdString(), cv::FileStorage::READ);
+		matf["image"]>>profile_.lightmap;
+
+		if(matf.isOpened() && (!profile_.calcurve.data || profile_.calcurve.type() != CV_32FC1))
+		{
+			profile_.lightmap.release();
+			QMessageBox::warning(this, "Invalid file", "File selected dose not contain a valid lightmap");
+		}
+		else if(!profile_.calcurve.data)
+		{
+			QMessageBox::warning(this, "Can no open", "Can not open file selected");
+		}
+		matf.release();
+		ui->ledLightmap->setLit(profile_.lightmap.data);
+	}
+}
+
+void EditProfileDialog::loadCalcurve()
+{
+	QString fileName = QFileDialog::getOpenFileName(this, "Open Cal Curve", "./", "*.mat");
+	if(!fileName.isEmpty())
+	{
+		profile_.calcurve.release();
+		cv::FileStorage matf(fileName.toStdString(), cv::FileStorage::READ);
+		matf["cal"]>>profile_.calcurve;
+
+		if(matf.isOpened() && (!profile_.calcurve.data || profile_.calcurve.type() != CV_32FC1 || profile_.calcurve.rows != 2))
+		{
+			profile_.calcurve.release();
+			QMessageBox::warning(this, "Invalid file", "File selected dose not contain a valid cal curve");
+		}
+		else if(!profile_.calcurve.data)
+		{
+			QMessageBox::warning(this, "Can no open", "Can not open file selected");
+		}
+		matf.release();
+		ui->calLed->setLit(profile_.calcurve.data);
+	}
+}
+
+bool EditProfileDialog::setConfigured()
 {
 	std::vector<cam::Camera::Description> descs = cameras_->getCameras();
-	std::vector<bool> configured(descs.size(), false);
+	std::vector<bool> configured(descs.size(), profile_.nodistort);
 
 	for(size_t i = 0; i< profile_.cameras.size(); ++i)
 	{
@@ -52,12 +119,19 @@ void EditProfileDialog::setConfigured()
 		{
 			for(auto& camera : descs)
 			{
-				if(camera.getHash() == profileCamera.id)
+				if(camera.getId() == profileCamera.id)
 					configured[i] = true;
 			}
 		}
 	}
 	ui->listView->setConfigured(configured);
+	bool fullyConfigured = true;
+	for(bool config : configured)
+	{
+		if(!config)
+			fullyConfigured = false;
+	}
+	return fullyConfigured;
 }
 
 void EditProfileDialog::invalidateCameras()
@@ -78,10 +152,12 @@ void EditProfileDialog::configureCamera()
 	qDebug()<<"descs"<<descs.size();
 	if(!descs.empty())
 	{
+		qDebug()<<"want to edit id"<<descs[0].getId();
 		size_t i = 0;
 		for(; i < profile_.cameras.size(); ++i)
 		{
-			if(profile_.cameras[i].id == descs[0].getHash())
+			qDebug()<<"test"<<profile_.cameras[i].id ;
+			if(profile_.cameras[i].id == descs[0].getId())
 			{
 				std::shared_ptr<Camera> camera = cameras_->getCamera(profile_.cameras[i].id);
 				if(camera)
@@ -94,9 +170,18 @@ void EditProfileDialog::configureCamera()
 				}
 			}
 		}
+		setConfigured();
 	}
 }
 
+void EditProfileDialog::accept()
+{
+	if(!setConfigured())
+		QMessageBox::information(this, "Unfinished", "Can not accept with unconfigured cameras");
+	else
+		QDialog::accept();
+}
+
 void EditProfileDialog::setMask()
 {
 	uint8_t mask = (ui->checkBoxCh1->isChecked() ? CHANNEL_A : 0) |

src/ui/editprofiledialog.h

@@ -15,13 +15,17 @@ class EditProfileDialog : public QDialog
 	Profile profile_;
 	Cameras* cameras_;
 
-	void setConfigured();
+	bool setConfigured();
 	void invalidateCameras();
 
 private slots:
-
 	void setMask();
 	void configureCamera();
+	void loadCalcurve();
+	void loadLightmap();
+
+public slots:
+	virtual void accept() override;
 
 public:
 	explicit EditProfileDialog(Cameras* cameras, const Profile profile = Profile(), QWidget *parent = nullptr);

src/ui/editprofiledialog.ui

@@ -7,11 +7,11 @@
     <x>0</x>
     <y>0</y>
     <width>539</width>
-    <height>485</height>
+    <height>652</height>
    </rect>
   </property>
   <property name="windowTitle">
-   <string>Profile</string>
+   <string>Edit Profile</string>
   </property>
   <layout class="QVBoxLayout" name="verticalLayout_3">
    <item>
@@ -153,6 +153,9 @@
         </item>
         <item>
          <widget class="QDoubleSpinBox" name="doubleSpinBoxExposure">
+          <property name="decimals">
+           <number>5</number>
+          </property>
           <property name="maximum">
            <double>1.000000000000000</double>
           </property>
@@ -176,9 +179,89 @@
         </item>
        </layout>
       </item>
+      <item>
+       <widget class="QCheckBox" name="checkBoxNodistort">
+        <property name="text">
+         <string>Don't undisort camera image </string>
+        </property>
+       </widget>
+      </item>
      </layout>
     </widget>
    </item>
+   <item>
+    <layout class="QGridLayout" name="gridLayout">
+     <property name="topMargin">
+      <number>10</number>
+     </property>
+     <item row="0" column="0">
+      <widget class="QLabel" name="label_7">
+       <property name="text">
+        <string>Calibration curve:</string>
+       </property>
+      </widget>
+     </item>
+     <item row="0" column="1">
+      <widget class="Led" name="calLed" native="true">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="minimumSize">
+        <size>
+         <width>40</width>
+         <height>40</height>
+        </size>
+       </property>
+      </widget>
+     </item>
+     <item row="0" column="2">
+      <widget class="QPushButton" name="pushButtonCalLoad">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="text">
+        <string>Load</string>
+       </property>
+      </widget>
+     </item>
+     <item row="1" column="0">
+      <widget class="QLabel" name="label_8">
+       <property name="text">
+        <string>Lightmap:</string>
+       </property>
+      </widget>
+     </item>
+     <item row="1" column="1">
+      <widget class="Led" name="ledLightmap" native="true">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="minimumSize">
+        <size>
+         <width>40</width>
+         <height>40</height>
+        </size>
+       </property>
+      </widget>
+     </item>
+     <item row="1" column="2">
+      <widget class="QPushButton" name="pushButtonLightmapLoad">
+       <property name="text">
+        <string>Load</string>
+       </property>
+      </widget>
+     </item>
+    </layout>
+   </item>
    <item>
     <widget class="QDialogButtonBox" name="buttonBox">
      <property name="orientation">
@@ -192,6 +275,12 @@
   </layout>
  </widget>
  <customwidgets>
+  <customwidget>
+   <class>Led</class>
+   <extends>QWidget</extends>
+   <header location="global">./src/ui/led.h</header>
+   <container>1</container>
+  </customwidget>
   <customwidget>
    <class>CameraListWidget</class>
    <extends>QListView</extends>

src/ui/mainwindow.cpp

@@ -3,6 +3,7 @@
 #include <QDebug>
 #include <QMessageBox>
 #include <uvosled.h>
+#include <QFileDialog>
 
 #include "../profile.h"
 
@@ -17,9 +18,62 @@ MainWindow::MainWindow(QWidget *parent)
 	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);
+	connect(ui->mainViewer, &CvImageViewer::sigValue, this, &MainWindow::setImageValue);
+	connect(ui->actionOpen, &QAction::triggered, [this](bool checked){(void)checked; openImage();});
+	connect(ui->actionSave_2, &QAction::triggered, [this](bool checked){(void)checked; saveImage();});
 	refreshProfiles();
 }
 
+void MainWindow::setImageValue(size_t x, size_t y, double value)
+{
+	ui->lcdNumber_3->display((double)x);
+	ui->lcdNumber_2->display((double)y);
+	ui->lcdNumber->display(value);
+}
+
+void MainWindow::saveImage()
+{
+	if(!ui->mainViewer->getImage().data)
+	{
+		QMessageBox::warning(this, "No image", "There is no image to save");
+		return;
+	}
+
+	QString fileName = QFileDialog::getSaveFileName(this, "Save Image", "./", "*.mat");
+	if(!fileName.isEmpty())
+	{
+		QStringList tokens = fileName.split('.');
+		if(tokens.back() != "mat")
+			fileName.append(".mat");
+		cv::FileStorage matf(fileName.toStdString(), cv::FileStorage::WRITE);
+		matf<<"image"<<ui->mainViewer->getImage();
+		matf.release();
+	}
+}
+
+void MainWindow::openImage()
+{
+	QString fileName = QFileDialog::getOpenFileName(this, "Open Image", "./", "*.mat");
+	if(!fileName.isEmpty())
+	{
+		cv::Mat image;
+		cv::FileStorage matf(fileName.toStdString(), cv::FileStorage::READ);
+		matf["image"]>>image;
+
+		if(matf.isOpened() && (!image.data || image.type() != CV_32FC1))
+		{
+			image.release();
+			QMessageBox::warning(this, "Invalid file", "File selected dose not contain a valid lightmap");
+		}
+		else if(!image.data)
+		{
+			QMessageBox::warning(this, "Can no open", "Can not open file selected");
+		}
+		matf.release();
+		ui->mainViewer->setImage(Camera::Image(image, 0));
+	}
+}
+
 void MainWindow::addCamera(std::shared_ptr<Camera> camera)
 {
 	viewers_.push_back(new CvImageViewer(this, camera->id()));
@@ -28,6 +82,11 @@ void MainWindow::addCamera(std::shared_ptr<Camera> camera)
 	ui->viewerLayout->addWidget(viewers_.back());
 }
 
+void MainWindow::statusMsg(QString msg)
+{
+	ui->statusbar->showMessage(msg);
+}
+
 void MainWindow::removeCamera(std::shared_ptr<Camera> camera)
 {
 	for(size_t i = 0; i < viewers_.size(); ++i)
@@ -93,4 +152,3 @@ MainWindow::~MainWindow()
 		delete viewer;
 	delete ui;
 }
-

src/ui/mainwindow.h

@@ -16,6 +16,11 @@ class MainWindow : public QMainWindow
 private:
 	std::vector<CvImageViewer*> viewers_;
 
+private slots:
+	void setImageValue(size_t x, size_t y, double value);
+	void saveImage();
+	void openImage();
+
 signals:
 	void sigCapture();
 	void sigProfile(QString profileName);
@@ -30,6 +35,7 @@ public slots:
 	void removeCamera(std::shared_ptr<Camera> camera);
 	bool setProfile(const QString& profileName);
 	QString getProfileName();
+	void statusMsg(QString msg);
 
 public:
 	MainWindow(QWidget *parent = nullptr);

src/ui/mainwindow.ui

@@ -11,7 +11,11 @@
    </rect>
   </property>
   <property name="windowTitle">
-   <string>MainWindow</string>
+   <string>Lubricant Detector</string>
+  </property>
+  <property name="windowIcon">
+   <iconset resource="../../res/resources.qrc">
+    <normaloff>:/images/icon.png</normaloff>:/images/icon.png</iconset>
   </property>
   <widget class="QWidget" name="centralwidget">
    <layout class="QVBoxLayout" name="verticalLayout_4">
@@ -27,6 +31,9 @@
        <layout class="QVBoxLayout" name="verticalLayout_3">
         <item>
          <widget class="QScrollArea" name="scrollArea">
+          <property name="verticalScrollBarPolicy">
+           <enum>Qt::ScrollBarAsNeeded</enum>
+          </property>
           <property name="widgetResizable">
            <bool>true</bool>
           </property>
@@ -68,7 +75,7 @@
                 <x>0</x>
                 <y>0</y>
                 <width>467</width>
-                <height>353</height>
+                <height>313</height>
                </rect>
               </property>
               <layout class="QVBoxLayout" name="verticalLayout_6">
@@ -79,6 +86,55 @@
              </widget>
             </widget>
            </item>
+           <item>
+            <layout class="QHBoxLayout" name="horizontalLayout_2">
+             <property name="topMargin">
+              <number>10</number>
+             </property>
+             <item>
+              <widget class="QLabel" name="label_2">
+               <property name="layoutDirection">
+                <enum>Qt::LeftToRight</enum>
+               </property>
+               <property name="text">
+                <string>X</string>
+               </property>
+               <property name="alignment">
+                <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+               </property>
+              </widget>
+             </item>
+             <item>
+              <widget class="QLCDNumber" name="lcdNumber_3"/>
+             </item>
+             <item>
+              <widget class="QLabel" name="label_3">
+               <property name="text">
+                <string>Y</string>
+               </property>
+               <property name="alignment">
+                <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+               </property>
+              </widget>
+             </item>
+             <item>
+              <widget class="QLCDNumber" name="lcdNumber_2"/>
+             </item>
+             <item>
+              <widget class="QLabel" name="label_4">
+               <property name="text">
+                <string>Value</string>
+               </property>
+               <property name="alignment">
+                <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+               </property>
+              </widget>
+             </item>
+             <item>
+              <widget class="QLCDNumber" name="lcdNumber"/>
+             </item>
+            </layout>
+           </item>
           </layout>
          </widget>
         </item>
@@ -146,7 +202,8 @@
     <property name="title">
      <string>File</string>
     </property>
-    <addaction name="actionSave"/>
+    <addaction name="actionOpen"/>
+    <addaction name="actionSave_2"/>
     <addaction name="actionQuit"/>
    </widget>
    <widget class="QMenu" name="menuSetup">
@@ -164,6 +221,9 @@
    <property name="text">
     <string>Quit</string>
    </property>
+   <property name="shortcut">
+    <string>Ctrl+Q</string>
+   </property>
   </action>
   <action name="actionCameras">
    <property name="text">
@@ -180,6 +240,22 @@
     <string>Save</string>
    </property>
   </action>
+  <action name="actionSave_2">
+   <property name="text">
+    <string>Save</string>
+   </property>
+   <property name="shortcut">
+    <string>Ctrl+S</string>
+   </property>
+  </action>
+  <action name="actionOpen">
+   <property name="text">
+    <string>Open</string>
+   </property>
+   <property name="shortcut">
+    <string>Ctrl+O</string>
+   </property>
+  </action>
  </widget>
  <customwidgets>
   <customwidget>
@@ -189,6 +265,8 @@
    <container>1</container>
   </customwidget>
  </customwidgets>
- <resources/>
+ <resources>
+  <include location="../../res/resources.qrc"/>
+ </resources>
  <connections/>
 </ui>

src/ui/profiledialog.cpp

@@ -34,7 +34,7 @@ void ProfileDialog::editProfile()
 			QMessageBox::critical(this, "Profile Incompatible", "Not all cameras need for this profile are available");
 			return;
 		}
-		EditProfileDialog dialog(cameras_, profile);
+		EditProfileDialog dialog(cameras_, profile, this);
 		dialog.show();
 		int ret = dialog.exec();
 		if(ret == QDialog::Accepted)

src/ui/profiledialog.ui

@@ -13,6 +13,10 @@
   <property name="windowTitle">
    <string>Profiles</string>
   </property>
+  <property name="windowIcon">
+   <iconset resource="../../res/resources.qrc">
+    <normaloff>:/images/icon.png</normaloff>:/images/icon.png</iconset>
+  </property>
   <layout class="QVBoxLayout" name="verticalLayout">
    <item>
     <widget class="QLabel" name="label">
@@ -61,7 +65,9 @@
    </item>
   </layout>
  </widget>
- <resources/>
+ <resources>
+  <include location="../../res/resources.qrc"/>
+ </resources>
  <connections>
   <connection>
    <sender>buttonBox</sender>