various bug fixes around free trigger mode, display strings and image pipe robustness

CMakeLists.txt

@@ -52,6 +52,6 @@ set(PROJECT_SOURCES
 
 
 add_executable(MAClient ${PROJECT_SOURCES})
-
+target_compile_options(MAClient PRIVATE "-std=gnu++17" "-Wall" "-O2" "-fno-strict-aliasing")
 target_link_libraries(MAClient PRIVATE Qt${QT_VERSION_MAJOR}::Widgets Qt${QT_VERSION_MAJOR}::Concurrent ${OpenCV_LIBS} -luvoscam -luvosled -luvosunwrap)
 target_include_directories(${PROJECT_NAME} PRIVATE ${OpenCV_INCLUDE_DIRS} src src/ui)

src/cameras.cpp

@@ -111,7 +111,7 @@ bool Cameras::start()
 			ret = false;
 	}
 
-	if(free_)
+	if(free_ && led_)
 		uvosled_set_current(led_, lighting_.mask, lighting_.brightness);
 
 	return ret;
@@ -146,9 +146,11 @@ bool Cameras::setFree(bool free)
 	{
 		if(!camera->cam()->setAcquisitionMode(free ? cam::Camera::MODE_FREE : cam::Camera::MODE_SINGLE))
 		{
-			qDebug()<<"failed to set single on camera"<<camera->id();
+			qDebug()<<"failed to set acquisition mode on camera"<<camera->id();
 			ret = false;
 		}
+		if(ret)
+			camera->cam()->setTriggerMode(free ? cam::Camera::TRIGGER_FREE : cam::Camera::TRIGGER_SOFTWARE);
 	}
 	return ret;
 }
@@ -173,13 +175,14 @@ void Cameras::imageRecived(Camera::Image img)
 {
 	if(!disable_)
 	{
+		qDebug()<<"free"<<free_;
 		bool allreadyUpdated = false;
 		for(auto& image : images_)
 		{
 			if(image.cameraId == img.cameraId)
 			{
 				allreadyUpdated = true;
-				break;;
+				break;
 			}
 		}
 

src/imagepipeline.cpp

@@ -1,10 +1,11 @@
-#include "imagepipeline.h"
+#include "imagepipeline.h"
 #include <uvosunwrap/unwrap.h>
 #include <uvosunwrap/normalize.h>
 #include <uvosunwrap/curve.h>
 #include <QtConcurrent/QtConcurrentRun>
 #include <QFuture>
 #include <QDebug>
+#include <algorithm>
 
 ImagePipeline::ImagePipeline(Cameras* cameras, QObject *parent): QObject(parent), cameras_(cameras)
 {
@@ -46,6 +47,8 @@ cv::Mat ImagePipeline::process(const Profile profile, std::vector<Camera::Image>
 				{
 					if(camera.id == image.cameraId)
 					{
+						if(!camera.remapMap.xMat.data || !camera.remapMap.yMat.data)
+							return cv::Mat();
 						if(camera.darkmap.data)
 						{
 							cv::Mat subtracted;
@@ -67,7 +70,7 @@ cv::Mat ImagePipeline::process(const Profile profile, std::vector<Camera::Image>
 			}
 		}
 	}
-	catch(cv::Exception ex)
+	catch(cv::Exception& ex)
 	{
 		qDebug()<<ex.err.c_str();
 		qDebug()<<"Image pipe failure";
@@ -76,11 +79,25 @@ 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);
 		output.convertTo(output, CV_32FC1, 1.0/255.0, 0);
 
 		if(profile.lightmap.data)
-			normalize(output, profile.lightmap);
+		{
+			qDebug()<<"output"<<output.type()<<output.cols<<output.rows;
+			qDebug()<<"profile.lightmap"<<profile.lightmap.type()<<profile.lightmap.cols<<profile.lightmap.rows;
+			try
+			{
+				output = output.mul(profile.lightmap);
+			}
+			catch(cv::Exception& ex)
+			{
+				qDebug()<<ex.err.c_str();
+				qDebug()<<"Image pipe failure";
+				return cv::Mat();
+			}
+		}
 
 		if(profile.calcurve.data)
 			applyCurve(output, profile.calcurve);
@@ -116,7 +133,7 @@ void ImagePipeline::setProfile(const Profile& profile)
 	{
 		qDebug()<<setup.id;
 		//TODO: dehardcode this
-		setup.remapMap.outputCellSize=200;
+		setup.remapMap.outputCellSize=150;
 	}
 	invalid_ = false;
 	if(!profile_.camerasSufficant(cameras_->getCameras()))

src/main.cpp

@@ -90,6 +90,7 @@ int main(int argc, char *argv[])
 	}
 
 	Cameras cameras(uvosledRet < 0 ? nullptr : &led);
+	cameras.setFree(false);
 	ImagePipeline pipe(&cameras);
 
 	MainWindow w;

src/profile.cpp

@@ -57,6 +57,7 @@ void LightingSetup::load(const QSettings& settings)
 
 void Profile::store(QSettings& settings) const
 {
+	deleteProfile();
 	qDebug()<<"storing to "<<settings.fileName();
 	lighting.store(settings);
 	settings.setValue(GROUP + QString("/id"), static_cast<unsigned long long>(id));
@@ -143,9 +144,12 @@ void Profile::store()
 	store(name_);
 }
 
-void Profile::deleteProfile()
+void Profile::deleteProfile() const
 {
 	QFile::remove(profileLocation() + name_ + ".profile.ini");
+	QFile::remove(profileLocation() + name_ + ".lightmap.mat");
+	QFile::remove(profileLocation() + name_ + ".calcurve.mat");
+	QFile::remove(profileLocation() + name_ + ".profile.mat");
 }
 
 QList<QString> Profile::avaiableProfiles()

src/profile.h

@@ -54,7 +54,7 @@ public:
 	void load(QSettings& settings);
 	void load(const QString& name);
 	void load();
-	void deleteProfile();
+	void deleteProfile() const;
 	void setName(const QString name){name_=name;}
 	void setCamerasSetupsFromDescription(const std::vector<cam::Camera::Description>& desc);
 	QString getName() const {return name_;}

src/ui/configurecameradialog.cpp

@@ -35,6 +35,8 @@ ConfigureCameraDialog::ConfigureCameraDialog(const CameraSetup& setup, std::shar
 	connect(ui->pushButtonDarkImageCreate, &QPushButton::clicked, this, &ConfigureCameraDialog::captureDark);
 	connect(ui->pushButtonCapture, &QPushButton::clicked, this, &ConfigureCameraDialog::takeImage);
 	connect(camera_.get(), &Camera::newImage, this, &ConfigureCameraDialog::gotImage);
+	connect(ui->pushButtonBgShow, &QPushButton::clicked, [this](){if(setup_.bgmask.data) ui->widget_4->setImage(Camera::Image(setup_.bgmask, 0));});
+	connect(ui->pushButtonDarkImageShow, &QPushButton::clicked, [this](){if(setup_.darkmap.data) ui->widget_4->setImage(Camera::Image(setup_.darkmap, 0));});
 
 	checkConfig();
 }
@@ -157,6 +159,8 @@ bool ConfigureCameraDialog::checkConfig()
 	ui->pushButtonBgClear->setEnabled(bgOk);
 	ui->pushButtonDarkImageClear->setEnabled(darkMapOK);
 	ui->pushButtonRemapClear->setEnabled(remapMapOk);
+	ui->pushButtonDarkImageShow->setEnabled(darkMapOK);
+	ui->pushButtonBgShow->setEnabled(bgOk);
 
 	ui->ledBg->setLit(bgOk);
 	ui->ledDark->setLit(darkMapOK);

src/ui/configurecameradialog.ui

@@ -97,6 +97,9 @@
      </item>
      <item row="2" column="2">
       <widget class="QPushButton" name="pushButtonDarkImageShow">
+       <property name="enabled">
+        <bool>false</bool>
+       </property>
        <property name="text">
         <string>Show</string>
        </property>
@@ -120,6 +123,9 @@
      </item>
      <item row="3" column="2">
       <widget class="QPushButton" name="pushButtonBgShow">
+       <property name="enabled">
+        <bool>false</bool>
+       </property>
        <property name="text">
         <string>Show</string>
        </property>

src/ui/cvimageviewer.cpp

@@ -65,7 +65,12 @@ void CvImageViewer::setImage(Camera::Image img)
 	}
 	else if(image_.type() == CV_32FC1 || image_.type() == CV_64FC1)
 	{
-		img.mat.convertTo(image_, CV_8UC1, 255, 0);
+		double min, max;
+		cv::minMaxIdx(img.mat, &min, &max);
+		double a = 255.0/(max - min);
+		double b = 0-(min*a);
+		qDebug()<<min<<max<<a<<b;
+		img.mat.convertTo(image_, CV_8UC1, a, b);
 		qimage_ = QImage(image_.data, image_.cols, image_.rows, image_.step, QImage::Format_Grayscale8);
 	}
 	else

src/ui/editprofiledialog.cpp

@@ -4,6 +4,7 @@
 #include <QDebug>
 #include <QMessageBox>
 #include <QFileDialog>
+#include <opencv2/imgproc.hpp>
 
 #include "configurecameradialog.h"
 
@@ -44,6 +45,7 @@ EditProfileDialog::EditProfileDialog(Cameras* cameras, const Profile profile, QW
 	}
 
 	ui->calLed->setLit(profile_.calcurve.data);
+	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();});
@@ -53,9 +55,11 @@ EditProfileDialog::EditProfileDialog(Cameras* cameras, const Profile profile, QW
 	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->checkBoxNodistort, &QCheckBox::stateChanged, [this](int state){profile_.nodistort = state == Qt::Checked; setConfigured();});
 	connect(ui->pushButtonCalLoad, &QPushButton::clicked, this, &EditProfileDialog::loadCalcurve);
-	connect(ui->pushButtonLightmapLoad, &QPushButton::clicked, this, &EditProfileDialog::loadCalcurve);
+	connect(ui->pushButtonLightmapLoad, &QPushButton::clicked, this, &EditProfileDialog::loadLightmap);
+	connect(ui->pushButtonCalClear,  &QPushButton::clicked, [this](){profile_.calcurve.release(); ui->calLed->setLit(profile_.calcurve.data);});
+	connect(ui->pushButtonLightmapClear,  &QPushButton::clicked, [this](){profile_.lightmap.release(); ui->ledLightmap->setLit(profile_.lightmap.data);});
 	ui->listView->setCameras(cameras_->getCameras());
 	ui->listView->setSelectionMode(QAbstractItemView::SingleSelection);
 	setConfigured();
@@ -66,20 +70,22 @@ void EditProfileDialog::loadLightmap()
 	QString fileName = QFileDialog::getOpenFileName(this, "Open Lightmap", "./", "*.mat");
 	if(!fileName.isEmpty())
 	{
-		profile_.calcurve.release();
+		profile_.lightmap.release();
 		cv::FileStorage matf(fileName.toStdString(), cv::FileStorage::READ);
 		matf["image"]>>profile_.lightmap;
-
+		matf.release();
-		if(matf.isOpened() && (!profile_.calcurve.data || profile_.calcurve.type() != CV_32FC1))
+		if(matf.isOpened() && (!profile_.lightmap.data || profile_.lightmap.type() != CV_32FC1))
 		{
 			profile_.lightmap.release();
 			QMessageBox::warning(this, "Invalid file", "File selected dose not contain a valid lightmap");
 		}
-		else if(!profile_.calcurve.data)
+		else if(!profile_.lightmap.data)
 		{
 			QMessageBox::warning(this, "Can no open", "Can not open file selected");
 		}
-		matf.release();
+		profile_.lightmap = cv::mean(profile_.lightmap)/profile_.lightmap;
+		cv::GaussianBlur(profile_.lightmap, profile_.lightmap, cv::Size(51,51), 8);
+
 		ui->ledLightmap->setLit(profile_.lightmap.data);
 	}
 }

src/ui/editprofiledialog.ui

@@ -201,6 +201,13 @@
        </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="0" column="1">
       <widget class="Led" name="calLed" native="true">
        <property name="sizePolicy">
@@ -230,10 +237,10 @@
        </property>
       </widget>
      </item>
-     <item row="1" column="0">
+     <item row="1" column="2">
-      <widget class="QLabel" name="label_8">
+      <widget class="QPushButton" name="pushButtonLightmapLoad">
        <property name="text">
-        <string>Lightmap:</string>
+        <string>Load</string>
        </property>
       </widget>
      </item>
@@ -253,10 +260,17 @@
        </property>
       </widget>
      </item>
-     <item row="1" column="2">
+     <item row="0" column="3">
-      <widget class="QPushButton" name="pushButtonLightmapLoad">
+      <widget class="QPushButton" name="pushButtonCalClear">
        <property name="text">
-        <string>Load</string>
+        <string>Clear</string>
+       </property>
+      </widget>
+     </item>
+     <item row="1" column="3">
+      <widget class="QPushButton" name="pushButtonLightmapClear">
+       <property name="text">
+        <string>Clear</string>
        </property>
       </widget>
      </item>

src/ui/mainwindow.cpp

@@ -63,7 +63,7 @@ void MainWindow::openImage()
 		if(matf.isOpened() && (!image.data || image.type() != CV_32FC1))
 		{
 			image.release();
-			QMessageBox::warning(this, "Invalid file", "File selected dose not contain a valid lightmap");
+			QMessageBox::warning(this, "Invalid file", "File selected dose not contain a valid image");
 		}
 		else if(!image.data)
 		{