MAClient/src/imagepipeline.cpp

#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());

	try
	{
		if(profile.nodistort && images.size() > 0)
		{
			for(auto& image : images)
			{
				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();
	}

	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);

		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)
{
	if(!invalid_)
	{
		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);
	}
}

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()
{
	for(size_t i = 0; i < futureImageWatchers_.size(); ++i)
	{
		if(futureImageWatchers_[i]->isFinished())
		{
			cv::Mat result = futureImageWatchers_[i]->result();
			if(result.data)
			{
				sigResult(Camera::Image(result, 0));
				delete futureImageWatchers_[i];
				futureImageWatchers_.erase(futureImageWatchers_.begin()+i);
				i--;
				statusMsg("Finished");
			}
			else
			{
				sigInvalidProfile("Image pipe failure");
			}
		}
	}
}