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mainny ui improcements

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This commit is contained in:
uvos 2021-06-17 18:39:47 +02:00
parent 50777fe056
commit 86ec50575b
25 changed files with 819 additions and 264 deletions
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110
src/imagepipeline.cpp
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@ -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)
image.mat = image.mat - camera.darkmap;
remapedImages.push_back(applyRemap(image.mat, camera.remapMap));
break;
if(profile.cameras[0].id == image.cameraId)
{
RemapedImage img;
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);
output.convertTo(output, CV_32FC1, 1.0/255.0, 0);
if(remapedImages.size() > 0)
{
cv::Mat output = simpleStich(remapedImages);
output.convertTo(output, CV_32FC1, 1.0/255.0, 0);
if(profile.lightmap.data)
normalize(output, profile.lightmap);
return output;
if(profile.lightmap.data)
normalize(output, profile.lightmap);
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));
delete futureImageWatchers_[i];
futureImageWatchers_.erase(futureImageWatchers_.begin()+i);
i--;
if(result.data)
{
sigResult(Camera::Image(result, 0));
delete futureImageWatchers_[i];
futureImageWatchers_.erase(futureImageWatchers_.begin()+i);
i--;
statusMsg("Finished");
}
else
{
sigInvalidProfile("Image pipe failure");
}
}
}
}