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

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This commit is contained in:
uvos 2021-06-18 16:52:39 +02:00
parent 86ec50575b
commit d5af9adec9
12 changed files with 85 additions and 25 deletions
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2
CMakeLists.txt
View file

@ -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)

9
src/cameras.cpp
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@ -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;
}
}

25
src/imagepipeline.cpp
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@ -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()))

1
src/main.cpp
View file

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

6
src/profile.cpp
View file

@ -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()

2
src/profile.h
View file

@ -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_;}

4
src/ui/configurecameradialog.cpp
View file

@ -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);

6
src/ui/configurecameradialog.ui
View file

@ -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>

7
src/ui/cvimageviewer.cpp
View file

@ -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

20
src/ui/editprofiledialog.cpp
View file

@ -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;
if(matf.isOpened() && (!profile_.calcurve.data || profile_.calcurve.type() != CV_32FC1))
matf.release();
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);
}
}

26
src/ui/editprofiledialog.ui
View file

@ -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">
<widget class="QLabel" name="label_8">
<item row="1" column="2">
<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">
<widget class="QPushButton" name="pushButtonLightmapLoad">
<item row="0" column="3">
<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>

2
src/ui/mainwindow.cpp
View file

@ -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)
{