fix various bugs

add commandline parser for various options
allow cameras to be operated in serial fashion
allow disabeling of quirks
allow changing of Photonfocus quirk timeings

src/cameras.cpp

@@ -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()
 {
+	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)
+		{
+			if(!serial_)
 				cameraFailureTimer.start(exposrueTime_*1000+1000);
+			else
+				cameraFailureTimer.start(exposrueTime_*1000*(cameras_.size()+1)+2000);
+		}
 
 		if(images_.size() == cameras_.size())
 		{

src/cameras.h

@@ -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

src/imagepipeline.cpp

@@ -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)
-						{
+							applyDarkMap(image.mat, camera.darkmap);
-							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;
@@ -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()))

src/imagepipeline.h

@@ -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

src/main.cpp

@@ -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;
 

src/ui/configurecameradialog.cpp

@@ -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_;
 }

src/ui/configurecameradialog.h

@@ -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_;}
 

src/ui/editprofiledialog.cpp

@@ -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();
 }

src/ui/editprofiledialog.ui

@@ -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>

src/ui/mainwindow.cpp

@@ -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)