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fix various bugs

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add commandline parser for various options
allow cameras to be operated in serial fashion
allow disabeling of quirks
allow changing of Photonfocus quirk timeings
This commit is contained in:
uvos
2021-07-08 11:24:19 +02:00
parent 3a77df6dd5
commit b9b4b0fc2a
10 changed files with 134 additions and 36 deletions
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41
src/cameras.cpp
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@ -6,7 +6,8 @@
#include <unistd.h>
#include <QTimer>
Cameras::Cameras(uvosled* led): led_(led)
Cameras::Cameras(uvosled* led, bool quirks, bool serial):
led_(led), quirks_(quirks), serial_(serial)
{
ledTimer.setSingleShot(true);
cameraFailureTimer.setSingleShot(true);
@ -82,7 +83,7 @@ bool Cameras::addCamera(const cam::Camera::Description& desc)
cameras_.back()->cam()->setExposureTime(exposrueTime_);
if(desc.getVendor().find("Photonfocus") != std::string::npos)
if(quirks_ && desc.getVendor().find("Photonfocus") != std::string::npos)
{
qDebug()<<"Mitiagting broken PhotonFocus single shot mode";
std::shared_ptr<Camera> camera = cameras_.back();
@ -107,7 +108,13 @@ bool Cameras::addCamera(const cam::Camera::Description& desc)
camera->cam()->setAcquisitionMode(cam::Camera::MODE_FREE);
camera->cam()->setFrameRate(10);
camera->cam()->startAcquisition();
QTimer::singleShot(5000, [camera, this](){finishAddCamera(camera);});
if(!serial_)
QTimer::singleShot(quirkTime, this, [this, camera](){finishAddCamera(camera);});
else
{
std::this_thread::sleep_for(std::chrono::microseconds(static_cast<long>(quirkTime*1000)));
finishAddCamera(camera);
}
}
else
{
@ -147,10 +154,23 @@ void Cameras::lightOff()
void Cameras::trigger()
{
lightFor(lighting_, exposrueTime_*1.5);
for(auto& camera : cameras_)
camera->cam()->trigger();
if(serial_)
{
if(captureingCamera == 0)
lightFor(lighting_, exposrueTime_*1.5*cameras_.size());
cameras_[captureingCamera]->cam()->trigger();
++captureingCamera;
if(captureingCamera < cameras_.size())
QTimer::singleShot(exposrueTime_*1000, this, &Cameras::trigger);
else
captureingCamera = 0;
}
else
{
lightFor(lighting_, exposrueTime_*1.5);
for(auto& camera : cameras_)
camera->cam()->trigger();
}
}
bool Cameras::start()
@ -242,7 +262,12 @@ void Cameras::imageRecived(Camera::Image img)
qDebug()<<"Recived"<<images_.size()<<"of"<<cameras_.size()<<"images";
if(images_.size() == 1)
cameraFailureTimer.start(exposrueTime_*1000+1000);
{
if(!serial_)
cameraFailureTimer.start(exposrueTime_*1000+1000);
else
cameraFailureTimer.start(exposrueTime_*1000*(cameras_.size()+1)+2000);
}
if(images_.size() == cameras_.size())
{

7
src/cameras.h
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@ -30,8 +30,11 @@ private:
LightingSetup lighting_;
std::vector<std::shared_ptr<Camera>> cameras_;
std::vector<Camera::Image> images_;
size_t captureingCamera = 0;
QTimer ledTimer;
QTimer cameraFailureTimer;
bool quirks_;
bool serial_;
bool lightFor(const LightingSetup& lighting, double time);
@ -57,7 +60,7 @@ public slots:
void reloadCameras();
public:
Cameras(uvosled* led = nullptr);
Cameras(uvosled* led = nullptr, bool quirks = true, bool serial = false);
~Cameras();
bool setCameras(const std::vector<cam::Camera::Description>& descriptions);
bool addCamera(const cam::Camera::Description& desc);
@ -70,6 +73,8 @@ public:
void load(QSettings& settings);
void store(QSettings& settings);
void disable(bool disable);
inline static float quirkTime = 3;
};
#endif // CAMERAS_H

55
src/imagepipeline.cpp
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@ -8,12 +8,41 @@
#include <algorithm>
#include <opencv2/highgui.hpp>
ImagePipeline::ImagePipeline(Cameras* cameras, QObject *parent): QObject(parent), cameras_(cameras)
ImagePipeline::ImagePipeline(Cameras* cameras, bool simpleStichingAlg, QObject *parent):
QObject(parent), cameras_(cameras), simpleStichingAlg_(simpleStichingAlg)
{
connect(cameras_, &Cameras::newImages, this, &ImagePipeline::apply);
}
cv::Mat ImagePipeline::process(const Profile profile, std::vector<Camera::Image> images)
void ImagePipeline::applyDarkMap(cv::Mat& image, const cv::Mat& darkmap)
{
cv::Mat localDarkMap;
if(image.size() != darkmap.size())
{
qWarning()<<"image and darkmap not of the same size"<<image.size().height<<'x'<<image.size().width<<darkmap.size().height<<'x'<<darkmap.size().width;
return;
}
else if(image.channels() != darkmap.channels())
{
qWarning()<<"image and darkmap do not have the same number of channels";
if(image.channels() == 1 && darkmap.channels() == 3)
cv::cvtColor(darkmap, localDarkMap, cv::COLOR_BGR2GRAY);
else if(image.channels() == 3 && darkmap.channels() == 1)
cv::cvtColor(darkmap, localDarkMap, cv::COLOR_GRAY2BGR);
else
return;
}
else
{
localDarkMap = darkmap;
}
cv::Mat subtracted;
image.copyTo(subtracted);
subtracted = image - localDarkMap;
image = subtracted;
}
cv::Mat ImagePipeline::process(const Profile profile, std::vector<Camera::Image> images, bool simpleStichingAlg)
{
qDebug()<<__func__<<"got"<<images.size()<<"images";
std::vector<RemapedImage> remapedImages;
@ -32,7 +61,7 @@ cv::Mat ImagePipeline::process(const Profile profile, std::vector<Camera::Image>
img.origin.y = 0;
image.mat.copyTo(img.image);
if(profile.cameras[0].darkmap.data)
img.image = img.image - profile.cameras[0].darkmap;
applyDarkMap(img.image, profile.cameras[0].darkmap);
remapedImages.push_back(img);
break;
}
@ -42,7 +71,7 @@ cv::Mat ImagePipeline::process(const Profile profile, std::vector<Camera::Image>
{
for(Camera::Image& image : images)
{
qDebug()<<__FUNCTION__<<"image cam id"<<image.cameraId;
qDebug()<<__func__<<"image cam id"<<image.cameraId;
bool matched = false;
for(auto& camera : profile.cameras)
{
@ -51,13 +80,7 @@ cv::Mat ImagePipeline::process(const Profile profile, std::vector<Camera::Image>
if(!camera.remapMap.xMat.data || !camera.remapMap.yMat.data)
return cv::Mat();
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;
}
applyDarkMap(image.mat, camera.darkmap);
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;
@ -81,7 +104,11 @@ 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 = stich(remapedImages);
cv::Mat output;
if(simpleStichingAlg)
output = simpleStich(remapedImages);
else
output = stich(remapedImages, true);
if(output.depth() != CV_8U)
output.convertTo(output, CV_8U);
@ -125,7 +152,7 @@ void ImagePipeline::apply(std::vector<Camera::Image> images)
connect(futureImageWatchers_.back(), &QFutureWatcher<cv::Mat>::finished, this, &ImagePipeline::imageFinished);
statusMsg("Processing");
QFuture<cv::Mat> futureImage = QtConcurrent::run(&ImagePipeline::process, profile_, images);
QFuture<cv::Mat> futureImage = QtConcurrent::run(&ImagePipeline::process, profile_, images, simpleStichingAlg_);
futureImageWatchers_.back()->setFuture(futureImage);
}
}
@ -141,7 +168,7 @@ void ImagePipeline::setProfile(const Profile& profile)
{
qDebug()<<setup.id;
//TODO: dehardcode this
setup.remapMap.outputCellSize=150;
setup.remapMap.outputCellSize=200;
}
invalid_ = false;
if(!profile_.camerasSufficant(cameras_->getCameras()))

6
src/imagepipeline.h
View File

@ -19,8 +19,10 @@ private:
Profile profile_;
bool invalid_ = true;
std::vector<QFutureWatcher<cv::Mat>*> futureImageWatchers_;
bool simpleStichingAlg_;
static cv::Mat process(const Profile profile, std::vector<Camera::Image> images);
static cv::Mat process(const Profile profile, std::vector<Camera::Image> images, bool simpleStich);
static void applyDarkMap(cv::Mat& image, const cv::Mat &darkmap);
private slots:
@ -36,7 +38,7 @@ public slots:
void setProfile(const Profile& profile);
public:
ImagePipeline(Cameras* cameras, QObject* parent = nullptr);
ImagePipeline(Cameras* cameras, bool simpleStichingAlg = false, QObject* parent = nullptr);
};
#endif // IMAGEPIPELINE_H

31
src/main.cpp
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@ -10,6 +10,7 @@
#include <opencv2/core/mat.hpp>
#include <unistd.h>
#include <uvosunwrap/log.h>
#include <QCommandLineParser>
#include "cameras.h"
#include "./ui/cameradialog.h"
@ -66,9 +67,25 @@ int main(int argc, char *argv[])
QApplication a(argc, argv);
QCoreApplication::setOrganizationName("UVOS");
QCoreApplication::setOrganizationDomain("uvos.xyz");
QCoreApplication::setApplicationName("LubircantThiknessMapperUi");
QCoreApplication::setApplicationName("MAClient");
QCoreApplication::setApplicationVersion("0.1");
//parse comand line
QCommandLineParser parser;
parser.addHelpOption();
parser.addVersionOption();
QCommandLineOption noQuirkOption(QStringList() << "q" << "no-quirk", QCoreApplication::translate("main", "Do not enable camera specific quirks"));
parser.addOption(noQuirkOption);
QCommandLineOption serialOption(QStringList() << "s" << "serial", QCoreApplication::translate("main", "Take images in sequence instead of all at once"));
parser.addOption(serialOption);
QCommandLineOption simpleStichOption(QStringList() << "x" << "simple-stich", QCoreApplication::translate("main", "use simple sticher"));
parser.addOption(simpleStichOption);
QCommandLineOption quirkDurationOption(QStringList() << "d" << "quirk-duration", QCoreApplication::translate("main", "PhotonFocus quirk duration time"), QCoreApplication::translate("main", "time"));
parser.addOption(quirkDurationOption);
QCommandLineOption cameraBootDurationOption(QStringList() << "d" << "quirk-duration", QCoreApplication::translate("main", "Camera boot time"), QCoreApplication::translate("main", "time"));
parser.addOption(cameraBootDurationOption);
parser.process(a);
QSplashScreen splash(QPixmap(":/images/splash.png"));
splash.show();
@ -88,12 +105,18 @@ int main(int argc, char *argv[])
uvosled_poweron(&led);
// Give cameras some time to power on
// TODO: figure out how to do this better
sleep(10);
if(parser.isSet(cameraBootDurationOption))
sleep(parser.value(cameraBootDurationOption).toDouble());
else
sleep(20);
}
Cameras cameras(uvosledRet < 0 ? nullptr : &led);
Cameras cameras(uvosledRet < 0 ? nullptr : &led, !parser.isSet(noQuirkOption), parser.isSet(serialOption));
cameras.setFree(false);
ImagePipeline pipe(&cameras);
ImagePipeline pipe(&cameras, parser.isSet(simpleStichOption));
if(parser.isSet(quirkDurationOption))
cameras.quirkTime = parser.value(quirkDurationOption).toDouble();
MainWindow w;

13
src/ui/configurecameradialog.cpp
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@ -9,11 +9,12 @@
#include <opencv2/imgproc.hpp>
#include <QDebug>
ConfigureCameraDialog::ConfigureCameraDialog(const CameraSetup& setup, std::shared_ptr<Camera> camera, double exposureTime, QWidget *parent):
ConfigureCameraDialog::ConfigureCameraDialog(const CameraSetup& setup, std::shared_ptr<Camera> camera, double exposureTime, bool nodistort, QWidget *parent):
QDialog(parent),
setup_(setup),
camera_(camera),
profileExposure_(exposureTime),
nodistort_(nodistort),
ui(new Ui::ConfigureCameraDialog)
{
ui->setupUi(this);
@ -21,6 +22,14 @@ ConfigureCameraDialog::ConfigureCameraDialog(const CameraSetup& setup, std::shar
ui->doubleSpinBox->setValue(profileExposure_);
setExposure(profileExposure_);
if(nodistort)
{
ui->ledRemap->setHidden(true);
ui->label_2->setHidden(true);
ui->pushButtonRemapClear->setHidden(true);
ui->pushButtonRemapCreate->setHidden(true);
}
switch(setup.bayerMode)
{
case cam::Camera::BAYER_BLUE:
@ -215,5 +224,5 @@ bool ConfigureCameraDialog::checkConfig()
ui->ledDark->setLit(darkMapOK);
ui->ledRemap->setLit(remapMapOk);
return remapMapOk;
return remapMapOk || nodistort_;
}

3
src/ui/configurecameradialog.h
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@ -23,6 +23,7 @@ class ConfigureCameraDialog : public QDialog
int mode_ = MODE_IDLE;
cv::Mat fgImage;
double profileExposure_;
bool nodistort_;
private:
bool checkConfig();
@ -40,7 +41,7 @@ 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);
explicit ConfigureCameraDialog(const CameraSetup& setup, const std::shared_ptr<Camera> camera, double exposureTime = 1.0/60, bool nodistort = false, QWidget *parent = nullptr);
~ConfigureCameraDialog();
CameraSetup getCameraSetup(){return setup_;}

8
src/ui/editprofiledialog.cpp
View File

@ -48,7 +48,7 @@ EditProfileDialog::EditProfileDialog(Cameras* cameras, const Profile profile, QW
ui->ledLightmap->setLit(profile_.lightmap.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; invalidateCameras();});
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);
@ -168,7 +168,7 @@ void EditProfileDialog::configureCamera()
std::shared_ptr<Camera> camera = cameras_->getCamera(profile_.cameras[i].id);
if(camera)
{
ConfigureCameraDialog diag(profile_.cameras[i], camera, profile_.exposureTime, this);
ConfigureCameraDialog diag(profile_.cameras[i], camera, profile_.exposureTime, profile_.nodistort, this);
diag.show();
int ret = diag.exec();
if(ret == QDialog::Accepted)
@ -182,8 +182,10 @@ void EditProfileDialog::configureCamera()
void EditProfileDialog::accept()
{
if(!setConfigured() || profile_.getName() == "Unamed")
if(!setConfigured())
QMessageBox::information(this, "Unfinished", "Can not accept with unconfigured cameras");
else if(profile_.getName().isEmpty() || profile_.getName() == "Unamed")
QMessageBox::information(this, "Unfinished", "A profile name is required");
else
QDialog::accept();
}

5
src/ui/editprofiledialog.ui
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@ -26,7 +26,10 @@
<item>
<widget class="QLineEdit" name="lineEditName">
<property name="text">
<string>Unamed</string>
<string notr="true"/>
</property>
<property name="placeholderText">
<string notr="true">Unamed</string>
</property>
</widget>
</item>

1
src/ui/mainwindow.cpp
View File

@ -151,6 +151,7 @@ QString MainWindow::getProfileName()
void MainWindow::refreshProfiles()
{
QString tmp = ui->comboBox->currentText();
ui->comboBox->clear();
QList<QString> profiles = Profile::avaiableProfiles();
for(const QString& string : profiles)