void CorrectionDialog::updatePreview()
{
PNM tImage(image());
if (ui->previewBox->isChecked())
{
Correction bc(&tImage);
bc.setParameter("shift", shift);
bc.setParameter("factor", multiplier);
bc.setParameter("gamma", gamma);
bc.setParameter("silent", true);
ui->preview->resize(image().size());
PNM* ptr_tImage = bc.transform();
ui->preview->setPixmap(QPixmap::fromImage(ptr_tImage->copy()));
delete ptr_tImage;
}
else
ui->preview->setPixmap(QPixmap::fromImage(image()));
}
void opticsmountGSP::captureAndRectifyImages(cv::Mat& leftImg, cv::Mat& rightImg)
{
cout << "captureAndRectifyImages entered" << endl;
cv::Mat combined_img;
if (cameras.useCameras)
{
GSPretVal = cameras.captureTwoImages(leftImg, rightImg, &cameras.leftImgNum, &cameras.rightImgNum, this->synchCheckFlag);
if (GSPretVal != 0)
{
printf("Capture Two Images Failed\n");
}
this->updateTime();
this->prevImageTimeStamp = this->imageTimeStamp;
this->imageTimeStamp = this->testtime;
double deltaTime = imageTimeStamp - prevImageTimeStamp;
if (deltaTime > 2*(1000.0 / this->cameras.getFrameRate())) {
/// std::cout << "Lrg DeltaTime: " << deltaTime << "at: " << imageTimeStamp << std::endl;
}
/*
if(this->datastorage.unrectifiedImageStorage) {
pthread_mutex_lock(&this->datastorage.storage_mutex);
leftImage.copyTo(this->datastorage.leftStorageImgUnrect);
rightImage.copyTo(this->datastorage.rightStorageImgUnrect);
pthread_mutex_unlock(&this->datastorage.storage_mutex);
}
*/
// rectify images, but only if this->synchCheckFlag == 0, because in this case previous image frames are used, which are already rectified
if (this->synchCheckFlag == 0 && rectifier.rectifierOn)
{
GSPretVal = rectifier.rectifyImages(leftImg, rightImg);
if (GSPretVal != 0)
{
printf("Image rectification failed \n");
}
}
if (videostreaming.videoStreamingOn)
{
//is this code needed if its not being used??
/*
cv::Mat smallLeft, smallRight;
cv::pyrDown(leftImg, smallLeft, cv::Size(leftImg.cols/2, leftImg.rows/2));
cv::pyrDown(rightImg, smallRight, cv::Size(rightImg.cols/2, rightImg.rows/2));
//place two images side by side
combined_img.create( cv::Size(smallLeft.cols + smallRight.cols, smallLeft.rows > smallRight.rows ? smallLeft.rows : smallRight.rows),
CV_MAKETYPE(smallLeft.depth(), 3) );
cv::Mat imgLeft = combined_img( cv::Rect(0, 0, smallLeft.cols, smallLeft.rows) );
cv::Mat imgRight = combined_img( cv::Rect(smallLeft.cols, 0, smallRight.cols, smallRight.rows) );
cv::cvtColor(smallLeft, imgLeft, CV_GRAY2BGR );
cv::cvtColor(smallRight, imgRight, CV_GRAY2BGR );
// update default VideoBuffer with recitifed stereo image pair
printf("Combined Image Size: [%d, %d]\n", combined_img.rows, combined_img.cols);
videostreaming.update_MatVideoBuffer(defaultVideoBuffer, combined_img);
*/
}
}
else
{
stringstream currFileName;
cv::Mat currCombinedImg;
double imgTimestep;
imgTimestep = 1.0E6 / this->cameras.getFrameRate();
this->currentTime;
usleep(imgTimestep);
if(this->camInputImgCounter < this->camInputStartImg)
{
this->camInputImgCounter = this->camInputStartImg;
}
currFileName.str("");
currFileName << this->camInputImgDir << "/LeftRight" << this->camInputImgCounter << ".bmp";
//end if less than 0 or if greater than specified number
if(this->camInputFinalImg > 0 && this->camInputImgCounter > this->camInputFinalImg)
{
std::cout << "Last Image read: " << this->camInputImgCounter << std::endl;
this->shutdownCriterion = true;
}
//std::cout << "Reading Image: " << currFileName.str() << std::endl;
currCombinedImg = cv::imread(currFileName.str());
if (currCombinedImg.empty())
{
std::cout << "Empty Image: " << currFileName.str() << std::endl;
if (this->camInputFinalImg == -1)
{
this->shutdownCriterion = true;
}
else if (this->camInputFinalImg == -10)
{
this->camInputImgCounter = this->camInputStartImg;
currFileName.str("");
currFileName << this->camInputImgDir << "/LeftRight" << this->camInputImgCounter << ".bmp";
std::cout << "Re-Reading Image: " << currFileName.str() << std::endl;
currCombinedImg = cv::imread(currFileName.str());
if (currCombinedImg.empty())
{
std::cout << "Two Empty Images, shutting down: " << currFileName.str();
this->shutdownCriterion = true;
return;
}
}
}
cvtColor(currCombinedImg, currCombinedImg, CV_BGR2GRAY);
cv::Mat imgLeft = currCombinedImg(cv::Rect(0, 0, leftImg.cols, leftImg.rows));
cv::Mat imgRight = currCombinedImg(cv::Rect(leftImg.cols, 0, rightImg.cols, rightImg.rows));
imgLeft.copyTo(leftImg);
imgRight.copyTo(rightImg);
currFileName.str("");
this->camInputImgCounter++;
this->updateTime();
this->prevImageTimeStamp = this->imageTimeStamp;
this->imageTimeStamp = this->testtime;
double deltaTime = imageTimeStamp - prevImageTimeStamp;
if (deltaTime > 2*(1000.0 / this->cameras.getFrameRate()))
{
// std::cout << "Lrg DeltaTime: " << deltaTime << "at: " << imageTimeStamp << std::endl;
}
}
struct timespec timeA, timeB;
clock_gettime(CLOCK_REALTIME, &timeA);
timestampedImage tImage(this->imageTimeStamp, leftImage, rightImage);
pthread_mutex_lock(&storageDeque_mutex);
storageImg_deque.push_front(tImage);
pthread_mutex_unlock(&storageDeque_mutex);
clock_gettime(CLOCK_REALTIME, &timeB);
double save_time_diff = timeDiff(&timeA, &timeB);
//std::cout << "Time to add to deque: " << save_time_diff << std::endl;
}
void dockingportGSP::captureAndRectifySingleImage(cv::Mat& singleImg) //main function for image capture
{
if (camera.useCamera)
{
GSPretVal = camera.captureOneImage(singleImg);
if (GSPretVal != 0)
{
printf("Capture One Image Failed\n");
}
this->updateTime();
this->prevImageTimeStamp = this->imageTimeStamp;
this->imageTimeStamp = this->testtime;
double deltaTime = imageTimeStamp - prevImageTimeStamp;
if (deltaTime > 2*(1000.0 / this->camera.getFrameRate()))
{
///std::cout << "Lrg DeltaTime: " << deltaTime << "at: " << imageTimeStamp << std::endl;
}
}
else
{
stringstream currFileName;
cv::Mat currCombinedImg;
double imgTimestep;
imgTimestep = 1.0E6 / this->camera.getFrameRate();
this->currentTime;
usleep(imgTimestep);
if(this->camInputImgCounter < this->camInputStartImg)
{
this->camInputImgCounter = this->camInputStartImg;
}
currFileName.str("");
currFileName << this->camInputImgDir << "/SingleImage" << this->camInputImgCounter << ".bmp";
//end if less than 0 or if greater than specified number
if(this->camInputFinalImg > 0 && this->camInputImgCounter > this->camInputFinalImg)
{
std::cout << "Last Image read: " << this->camInputImgCounter << std::endl;
this->shutdownCriterion = true;
}
//std::cout << "Reading Image: " << currFileName.str() << std::endl;
singleImg = cv::imread(currFileName.str());
if (singleImg.empty())
{
std::cout << "Empty Image: " << currFileName.str() << std::endl;
if (this->camInputFinalImg == -1)
{
this->shutdownCriterion = true;
}
else if (this->camInputFinalImg == -10)
{
this->camInputImgCounter = this->camInputStartImg;
currFileName.str("");
currFileName << this->camInputImgDir << "/SingleImage" << this->camInputImgCounter << ".bmp";
std::cout << "Re-Reading Image: " << currFileName.str() << std::endl;
singleImg = cv::imread(currFileName.str());
if (singleImg.empty())
{
std::cout << "Two Empty Images, shutting down: " << currFileName.str();
this->shutdownCriterion = true;
return;
}
}
}
//cvtColor( singleImg, singleImg, CV_BGR2GRAY );
currFileName.str("");
this->camInputImgCounter++;
this->updateTime();
this->prevImageTimeStamp = this->imageTimeStamp;
this->imageTimeStamp = this->testtime;
double deltaTime = imageTimeStamp - prevImageTimeStamp;
if (deltaTime > 2*(1000.0 / this->camera.getFrameRate()))
{
//std::cout << "Lrg DeltaTime: " << deltaTime << "at: " << imageTimeStamp << std::endl;
}
}
struct timespec timeA, timeB;
clock_gettime(CLOCK_REALTIME, &timeA);
timestampedsingleImage tImage(this->imageTimeStamp, singleImg);
pthread_mutex_lock(&storageDeque_mutex);
storageImg_deque.push_front(tImage);
pthread_mutex_unlock(&storageDeque_mutex);
clock_gettime(CLOCK_REALTIME, &timeB);
double save_time_diff = timeDiff(&timeA, &timeB);
//std::cout << "Time to add to deque: " << save_time_diff << std::endl;
}
