feat(CameraEngine.h/.cpp, cameras/): new features.

1. new coding stripe cropping function added. 2. the Save Point Cloud feature will save both texture and depth maps simultaneously.
Practice3DVision · Apr 1, 2024 · edd2ea2 · edd2ea2
1 parent 3144550
commit edd2ea2
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Showing 11 changed files with 601 additions and 421 deletions.
diff --git a/gui/qml/res/config/binocularCameraConfig.json b/gui/qml/res/config/binocularCameraConfig.json
@@ -58,12 +58,12 @@
             "type" : "number"
          },
          {
-            "data" : 32.0,
+            "data" : 64.0,
             "title" : "Cycles",
             "type" : "number"
          },
          {
-            "data" : 18.0,
+            "data" : 19.0,
             "title" : "Total Fringes",
             "type" : "number"
          },
@@ -106,7 +106,7 @@
             "type" : "bool"
          },
          {
-            "data" : 1,
+            "data" : 0,
             "title" : "Gpu Accelerate",
             "type" : "bool"
          },

diff --git a/gui/qml/res/config/monocularCameraConfig.json b/gui/qml/res/config/monocularCameraConfig.json
@@ -81,7 +81,7 @@
             "type" : "bool"
          },
          {
-            "data" : 1,
+            "data" : 0,
             "title" : "Gpu Accelerate",
             "type" : "bool"
          },

diff --git a/gui/qml/ui/global/Lang.qml b/gui/qml/ui/global/Lang.qml
@@ -258,6 +258,8 @@ QtObject {
     property string height
     property string length
     property string inverse
+    property string clip_width
+    property string clip_height
 
     function zh() {
         settings = "设置";
@@ -515,6 +517,8 @@ QtObject {
         height = "高度";
         length = "长度";
         inverse = "翻转特征方向";
+        clip_width = "裁剪宽度";
+        clip_height = "裁剪高度";
     }
 
     function en() {
@@ -566,6 +570,8 @@ QtObject {
         error_diffusion_method = "Error Diffusion Method";
         img_width = "IMG Width";
         img_height = "IMG Height";
+        clip_width = "Clip Width";
+        clip_height = "Clip Height";
         cycles = "Cycles";
         shift_time = "Shift Time";
         stripe_img = "Stripe IMG";

diff --git a/gui/qml/ui/page/Page_Device.qml b/gui/qml/ui/page/Page_Device.qml
@@ -28,6 +28,8 @@ FluContentPage{
     property int defocus_encoding: pixel_depth ? AppType.Disable : AppType.OptimalPlusWithModulation
     property int img_width: Number(CameraEngine.getStringAttribute("DLP Width"))
     property int img_height: Number(CameraEngine.getStringAttribute("DLP Height"))
+    property int clip_width: img_width
+    property int clip_height: img_height
     property int cycles: CameraEngine.getNumberAttribute("Cycles")
     property int shiftTime: CameraEngine.getNumberAttribute("Phase Shift Times")
     property int connect_state : AppType.Disconnect
@@ -688,6 +690,42 @@ FluContentPage{
                                                 }
                                             }
 
+                                            FluText {
+                                                Layout.fillWidth: true
+                                                text: Lang.clip_width
+                                                font: FluTextStyle.BodyStrong
+                                            }
+
+                                            FluText {
+                                                Layout.fillWidth: true
+                                                text: Lang.clip_height
+                                                font: FluTextStyle.BodyStrong
+                                            }
+
+                                            FluSpinBox {
+                                                id: clip_width_spbox
+                                                editable: true
+                                                value: root.clip_width
+                                                from: 0
+                                                to: 9999999
+
+                                                onValueChanged: {
+                                                    root.clip_width = value;
+                                                }
+                                            }
+
+                                            FluSpinBox {
+                                                id: clip_height_spbox
+                                                editable: true
+                                                value: root.clip_height
+                                                from: 0
+                                                to: 9999999
+
+                                                onValueChanged: {
+                                                    root.clip_height = value;
+                                                }
+                                            }
+
                                             FluText {
                                                 Layout.fillWidth: true
                                                 text: Lang.cycles
@@ -763,7 +801,7 @@ FluContentPage{
                                         text: Lang.encode
 
                                         onClicked: {
-                                            var num_of_stripes = CameraEngine.createStripe(root.pixel_depth, root.stripe_direction, root.stripe_type, root.defocus_encoding, root.img_width, root.img_height, root.cycles, root.shiftTime, root.isKeepAdd);
+                                            var num_of_stripes = CameraEngine.createStripe(root.pixel_depth, root.stripe_direction, root.stripe_type, root.defocus_encoding, root.img_width, root.img_height, root.clip_width, root.clip_height, root.cycles, root.shiftTime, root.isKeepAdd);
                                             stripe_index_indicator.pageCurrent = 1;
                                             CameraEngine.displayStripe(1);
                                             root.enableBurningStripe = true;

diff --git a/gui/qml/ui/page/Page_Scan.qml b/gui/qml/ui/page/Page_Scan.qml
@@ -545,6 +545,7 @@ FluContentPage {
 
         onAccepted: {
             VTKProcessEngine.saveCloud(currentFile.toString());
+            CameraEngine.saveFrame(currentFile.toString());
         }
     }
 

diff --git a/gui/src/CameraEngine.cpp b/gui/src/CameraEngine.cpp
@@ -64,6 +64,7 @@ CameraEngine::~CameraEngine() {
 int CameraEngine::createStripe(const int pixelDepth, const int direction,
                                const int stripeType, const int defocusMethod,
                                const int imgWidth, const int imgHeight,
+                               const int clipWidth, const int clipHeight,
                                const int cycles, const int shiftTime,
                                const bool isKeepAdd) {
     qInfo() << "start create stripe...";
@@ -99,18 +100,24 @@ int CameraEngine::createStripe(const int pixelDepth, const int direction,
                             AppType::DefocusEncoding(defocusMethod));
     }
 
+    if(clipWidth < imgWidth || clipHeight < imgHeight) {
+        for (auto& img : imgs) {
+            img(cv::Rect(0, 0, clipWidth, clipHeight)).copyTo(img);
+        }
+    }
+
     auto formatType =
         AppType::PixelDepth(pixelDepth) == AppType::PixelDepth::OneBit
             ? QImage::Format_Mono
             : QImage::Format_Grayscale8;
 
     std::vector<QImage> tempStripes(imgs.size(),
-                                    QImage(imgWidth, imgHeight, formatType));
+                                    QImage(clipWidth, clipHeight, formatType));
     cv::parallel_for_(cv::Range(0, imgs.size()), [&](const cv::Range &range) {
         for (int i = range.start; i < range.end; ++i) {
-            for (int j = 0; j < imgHeight; ++j) {
+            for (int j = 0; j < clipHeight; ++j) {
                 auto imgPtr = imgs[i].ptr(j);
-                for (int k = 0; k < imgWidth; ++k) {
+                for (int k = 0; k < clipWidth; ++k) {
                     formatType == QImage::Format_Mono
                         ? tempStripes[i].setPixel(k, j, imgPtr[k])
                         : tempStripes[i].setPixel(
@@ -966,3 +973,14 @@ void CameraEngine::tenLine() {
 
     workThread_ = std::thread(&CameraEngine::createTenLine, this);
 }
+
+bool CameraEngine::saveFrame(const QString& path) {
+    auto fileName = path.mid(8, path.size() - 12);
+
+    qDebug() << QString("save frame, frame path is : %s").arg(fileName);
+
+    cv::imwrite(fileName.toStdString() + ".bmp", frame_.textureMap_);
+    cv::imwrite(fileName.toStdString() + ".tiff", frame_.depthMap_);
+
+    return true;
+}
diff --git a/gui/src/CameraEngine.h b/gui/src/CameraEngine.h
@@ -1,29 +1,31 @@
 /**
  * @file CameraEngine.h
  * @author Evans Liu (1369215984@qq.com)
- * @brief 
+ * @brief
  * @version 0.1
  * @date 2024-03-19
- * 
+ *
  * @copyright Copyright (c) 2024
- * 
+ *
  */
 
 #ifndef __CAMERA_ENGINE_H_
 #define __CAMERA_ENGINE_H_
 
-#include <vector>
 #include <thread>
+#include <vector>
+
 
 #include <QObject>
 #include <QThread>
 
 #include <opencv2/opencv.hpp>
 
 #include "AppType.h"
+#include "CameraModel.h"
 #include "ImagePaintItem.h"
 #include "typeDef.h"
-#include "CameraModel.h"
+
 
 #include <slmaster.h>
 
@@ -33,28 +35,42 @@ class CameraEngine : public QObject {
     Q_PROPERTY_AUTO(bool, isConnected)
     Q_PROPERTY_AUTO(bool, isBurnWorkFinish)
   public:
-    static CameraEngine* instance();
+    static CameraEngine *instance();
     struct OrderTableRecord {
         OrderTableRecord() {}
-        OrderTableRecord(const int patternsNum, const int shiftTime, const bool isVertical) : patternsNum_(patternsNum), shiftTime_(shiftTime), isVertical_(isVertical) {}
+        OrderTableRecord(const int patternsNum, const int shiftTime,
+                         const bool isVertical)
+            : patternsNum_(patternsNum), shiftTime_(shiftTime),
+              isVertical_(isVertical) {}
         int patternsNum_;
         int shiftTime_;
         bool isVertical_;
     };
-    //Device page
+    // Device page
     Q_INVOKABLE void startDetectCameraState();
-    Q_INVOKABLE int createStripe(const int pixelDepth, const int direction, const int stripeType, const int defocusMethod, const int imgWidth, const int imgHeight, const int cycles, const int shiftTime, const bool isKeepAdd);
+    Q_INVOKABLE int createStripe(const int pixelDepth, const int direction,
+                                 const int stripeType, const int defocusMethod,
+                                 const int imgWidth, const int imgHeight,
+                                 const int clipWidth, const int clipHeight,
+                                 const int cycles, const int shiftTime,
+                                 const bool isKeepAdd);
     Q_INVOKABLE void displayStripe(const int stripeIndex);
     Q_INVOKABLE void selectCamera(const int cameraType);
     Q_INVOKABLE void setCameraJsonPath(const std::string jsonPath);
     Q_INVOKABLE bool connectCamera();
     Q_INVOKABLE bool disConnectCamera();
     Q_INVOKABLE void burnStripe();
-    Q_INVOKABLE void bindStripePaintItem(ImagePaintItem* stripePaintItem) { stripePaintItem_ = stripePaintItem; }
-    //offlineScan page
-    Q_INVOKABLE void bindOfflineCamPaintItem(ImagePaintItem* camPaintItem) { offlineCamPaintItem_ = camPaintItem; }
-    //scan page
-    Q_INVOKABLE void setScanMode(const int scanMode) { scanMode_ = AppType::ScanModeType(scanMode); }
+    Q_INVOKABLE void bindStripePaintItem(ImagePaintItem *stripePaintItem) {
+        stripePaintItem_ = stripePaintItem;
+    }
+    // offlineScan page
+    Q_INVOKABLE void bindOfflineCamPaintItem(ImagePaintItem *camPaintItem) {
+        offlineCamPaintItem_ = camPaintItem;
+    }
+    // scan page
+    Q_INVOKABLE void setScanMode(const int scanMode) {
+        scanMode_ = AppType::ScanModeType(scanMode);
+    }
     Q_INVOKABLE void projectOnce();
     Q_INVOKABLE void projectContinues();
     Q_INVOKABLE void pauseProject(const bool isResume);
@@ -64,50 +80,70 @@ class CameraEngine : public QObject {
     Q_INVOKABLE void startScan();
     Q_INVOKABLE void continuesScan();
     Q_INVOKABLE void pauseScan();
-    Q_INVOKABLE void bindOfflineLeftCamModel(CameraModel* model) { leftCamModel_ = model; }
-    Q_INVOKABLE void bindOfflineRightCamModel(CameraModel* model) { rightCamModel_ = model; }
-    Q_INVOKABLE void bindOfflineColorCamModel(CameraModel* model) { colorCamModel_ = model; }
-    Q_INVOKABLE void bindScanTexturePaintItem(ImagePaintItem* paintItem) { scanTexturePaintItem_ = paintItem; }
-    Q_INVOKABLE void updateDisplayImg(const QString& imgPath);
-    Q_INVOKABLE void saveStripe(const QString& path);
+    Q_INVOKABLE void bindOfflineLeftCamModel(CameraModel *model) {
+        leftCamModel_ = model;
+    }
+    Q_INVOKABLE void bindOfflineRightCamModel(CameraModel *model) {
+        rightCamModel_ = model;
+    }
+    Q_INVOKABLE void bindOfflineColorCamModel(CameraModel *model) {
+        colorCamModel_ = model;
+    }
+    Q_INVOKABLE void bindScanTexturePaintItem(ImagePaintItem *paintItem) {
+        scanTexturePaintItem_ = paintItem;
+    }
+    Q_INVOKABLE void updateDisplayImg(const QString &imgPath);
+    Q_INVOKABLE void saveStripe(const QString &path);
     Q_INVOKABLE void setPatternType(const int patternType);
-    Q_INVOKABLE bool setNumberAttribute(const QString& attributeName,
-                                    const double val);
-    Q_INVOKABLE bool setBooleanAttribute(const QString& attributeName, const bool val);
-    Q_INVOKABLE double getNumberAttribute(const QString& attributeName);
-    Q_INVOKABLE bool getBooleanAttribute(const QString& attributeName);
-    Q_INVOKABLE QString getStringAttribute(const QString& attributeName);
-    Q_INVOKABLE const slmaster::cameras::FrameData& getCurFrame() { return frame_; }
-    std::shared_ptr<slmaster::cameras::SLCamera> getSLCamera() { return slCameraFactory_.getCamera(slmaster::cameras::CameraType(cameraType_)); }
-    std::vector<OrderTableRecord> getOrderTableRecord() { return orderTableRecord_; }
+    Q_INVOKABLE bool setNumberAttribute(const QString &attributeName,
+                                        const double val);
+    Q_INVOKABLE bool setBooleanAttribute(const QString &attributeName,
+                                         const bool val);
+    Q_INVOKABLE double getNumberAttribute(const QString &attributeName);
+    Q_INVOKABLE bool getBooleanAttribute(const QString &attributeName);
+    Q_INVOKABLE QString getStringAttribute(const QString &attributeName);
+    Q_INVOKABLE const slmaster::cameras::FrameData &getCurFrame() {
+        return frame_;
+    }
+    Q_INVOKABLE bool saveFrame(const QString &path);
+    std::shared_ptr<slmaster::cameras::SLCamera> getSLCamera() {
+        return slCameraFactory_.getCamera(
+            slmaster::cameras::CameraType(cameraType_));
+    }
+    std::vector<OrderTableRecord> getOrderTableRecord() {
+        return orderTableRecord_;
+    }
   signals:
     void stripeImgsChanged(const int num);
     void frameCaptured();
+
   private:
     CameraEngine();
     ~CameraEngine();
-    CameraEngine(const CameraEngine&) = delete;
-    const CameraEngine& operator=(const CameraEngine&) = delete;
-    void defocusStripeCreate(std::vector<cv::Mat>& imgs, const int direction, const int cycles, const int shiftTime, AppType::DefocusEncoding method);
-    void realTimeRenderImg(const QImage& img);
+    CameraEngine(const CameraEngine &) = delete;
+    const CameraEngine &operator=(const CameraEngine &) = delete;
+    void defocusStripeCreate(std::vector<cv::Mat> &imgs, const int direction,
+                             const int cycles, const int shiftTime,
+                             AppType::DefocusEncoding method);
+    void realTimeRenderImg(const QImage &img);
     void createTenLine();
     void switchTrigMode(const bool isTrigLine, const int exposureTime);
     std::vector<OrderTableRecord> orderTableRecord_;
     std::vector<QImage> stripeImgs_;
     AppType::ScanModeType scanMode_;
     AppType::CameraType cameraType_;
     AppType::PatternMethod patternType_;
-    static CameraEngine* engine_;
-    ImagePaintItem* stripePaintItem_ = nullptr;
-    ImagePaintItem* offlineCamPaintItem_ = nullptr;
-    ImagePaintItem* scanTexturePaintItem_ = nullptr;
+    static CameraEngine *engine_;
+    ImagePaintItem *stripePaintItem_ = nullptr;
+    ImagePaintItem *offlineCamPaintItem_ = nullptr;
+    ImagePaintItem *scanTexturePaintItem_ = nullptr;
     std::thread onlineDetectThread_;
     std::thread workThread_;
     slmaster::cameras::SLCameraFactory slCameraFactory_;
     std::shared_ptr<slmaster::cameras::Pattern> pattern_ = nullptr;
-    CameraModel* leftCamModel_ = nullptr;
-    CameraModel* rightCamModel_ = nullptr;
-    CameraModel* colorCamModel_ = nullptr;
+    CameraModel *leftCamModel_ = nullptr;
+    CameraModel *rightCamModel_ = nullptr;
+    CameraModel *colorCamModel_ = nullptr;
     slmaster::cameras::FrameData frame_;
     std::thread test_thread_;
     std::atomic_bool appExit_;
@@ -116,4 +152,4 @@ class CameraEngine : public QObject {
     std::atomic_bool isContinusStop_;
 };
 
-#endif// !__CAMERA_ENGINE_H_
+#endif // !__CAMERA_ENGINE_H_
-Original file line number
+Diff line change
@@ Expand Up / @@ -545,6 +545,7 @@ FluContentPage { @@
             onAccepted: {
                 VTKProcessEngine.saveCloud(currentFile.toString());
+                CameraEngine.saveFrame(currentFile.toString());
             }
         }
@@ Expand Down @@