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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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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()))