From cc46398d82ce01d290bfaffe75251bd02d36e33c Mon Sep 17 00:00:00 2001 From: guy-martin <107631373+guy-martin@users.noreply.github.com> Date: Tue, 11 Jul 2023 17:03:59 -0400 Subject: [PATCH] SE-2334 added support for RGBd (#8) --- stereo_viewer/inc/gev/pipeline.hpp | 2 +- stereo_viewer/inc/ui/MainWindow.hpp | 2 +- stereo_viewer/src/gev/pipeline.cc | 15 ++++++---- stereo_viewer/src/io/data_thread.cc | 44 +++++++++++++++++++---------- stereo_viewer/src/viewer.cc | 30 ++++++++++++++------ stereo_viewer/stereo_viewer.ui | 21 ++++++++++---- 6 files changed, 78 insertions(+), 36 deletions(-) diff --git a/stereo_viewer/inc/gev/pipeline.hpp b/stereo_viewer/inc/gev/pipeline.hpp index a7d0e26..0ecc4a4 100644 --- a/stereo_viewer/inc/gev/pipeline.hpp +++ b/stereo_viewer/inc/gev/pipeline.hpp @@ -45,7 +45,7 @@ namespace labforge::gev { void run() override; Q_SIGNALS: - void pairReceived(); + void pairReceived(bool is_disparity); void monoReceived(bool is_disparity); void terminated(bool fatal = false); diff --git a/stereo_viewer/inc/ui/MainWindow.hpp b/stereo_viewer/inc/ui/MainWindow.hpp index 4d49fa9..856d09d 100644 --- a/stereo_viewer/inc/ui/MainWindow.hpp +++ b/stereo_viewer/inc/ui/MainWindow.hpp @@ -48,7 +48,7 @@ public Q_SLOTS: void handleConnect(); void handleDisconnect(); void handleRecording(); - void handleData(); + void handleStereoData(bool is_disparity); void handleMonoData(bool is_disparity); void newData(QImage &left, QImage &right, bool stereo=true, bool disparity=true); void onFolderSelect(); diff --git a/stereo_viewer/src/gev/pipeline.cc b/stereo_viewer/src/gev/pipeline.cc index aea90f7..baee769 100644 --- a/stereo_viewer/src/gev/pipeline.cc +++ b/stereo_viewer/src/gev/pipeline.cc @@ -174,22 +174,25 @@ void Pipeline::run() { img0 = lBuffer->GetMultiPartContainer()->GetPart(0)->GetImage(); img1 = lBuffer->GetMultiPartContainer()->GetPart(1)->GetImage(); m_pixformat->GetValue( pixformat ); - if(strcmp(pixformat.GetAscii(), "YUV422_8") != 0){ - break; - } + // Protected image creation { + int cv_pixfmt0 = (img0->GetPixelType() == PvPixelYUV422_8)? CV_8UC2: CV_16UC1; + int cv_pixfmt1 = (img1->GetPixelType() == PvPixelYUV422_8)? CV_8UC2: CV_16UC1; + is_disparity = ((cv_pixfmt0 == CV_16UC1) || (cv_pixfmt1 == CV_16UC1)); + QMutexLocker l(&m_image_lock); // See if there is chunk data attached m_images.push_back( make_tuple( - new Mat(img0->GetHeight(), img0->GetWidth(), CV_8UC2, img0->GetDataPointer()), - new Mat(img1->GetHeight(), img1->GetWidth(), CV_8UC2, img1->GetDataPointer()) + new Mat(img0->GetHeight(), img0->GetWidth(), cv_pixfmt0, img0->GetDataPointer()), + new Mat(img1->GetHeight(), img1->GetWidth(), cv_pixfmt1, img1->GetDataPointer()) ) ); } - emit pairReceived(); + + emit pairReceived(is_disparity); break; case PvPayloadTypeImage: diff --git a/stereo_viewer/src/io/data_thread.cc b/stereo_viewer/src/io/data_thread.cc index 70f4e1d..fdbaac3 100644 --- a/stereo_viewer/src/io/data_thread.cc +++ b/stereo_viewer/src/io/data_thread.cc @@ -51,13 +51,13 @@ void DataThread::process(const QImage &left_image, const QImage &right_image){ QMutexLocker locker(&m_mutex); //-check queue size if(m_queue.size() < MAX_QUEUE_SIZE){ - m_queue.enqueue({left_image, right_image}); + m_queue.enqueue({left_image, right_image}); } if (!isRunning()) { - start(LowPriority); + start(LowPriority); } else { - m_condition.wakeOne(); + m_condition.wakeOne(); } } @@ -83,12 +83,19 @@ bool DataThread::setFolder(QString new_folder){ } if(m_stereo){ - status = getFilename(m_left_fname, m_folder, m_left_subfolder, "left_"); - status = status && getFilename(m_right_fname, m_folder, m_right_subfolder, "right_"); - } else if(m_disparity){ - status = getFilename(m_disparity_fname, m_folder, m_disparity_subfolder, "disparity_"); - } else { - status = getFilename(m_left_fname, m_folder, m_left_subfolder, "mono_"); + if(m_disparity){ + status = getFilename(m_left_fname, m_folder, m_left_subfolder, "left_"); + status = status && getFilename(m_disparity_fname, m_folder, m_disparity_subfolder, "disparity_"); + }else{ + status = getFilename(m_left_fname, m_folder, m_left_subfolder, "left_"); + status = status && getFilename(m_right_fname, m_folder, m_right_subfolder, "right_"); + } + }else{ + if(m_disparity){ + status = getFilename(m_disparity_fname, m_folder, m_disparity_subfolder, "disparity_"); + } else { + status = getFilename(m_left_fname, m_folder, m_left_subfolder, "mono_"); + } } return status; @@ -111,14 +118,21 @@ void DataThread::run() { m_mutex.unlock(); QString suffix = QString::number(m_frame_counter) + ".png"; - if(m_stereo){ + if (m_stereo){ + if(m_disparity){ imdata.left.save(m_left_fname + suffix, "PNG"); - imdata.right.save(m_right_fname + suffix, "PNG"); - } else if(m_disparity){ - imdata.left.save(m_disparity_fname + suffix, "PNG"); + imdata.right.save(m_disparity_fname + suffix, "PNG"); + } else { + imdata.left.save(m_left_fname + suffix, "PNG"); + imdata.right.save(m_right_fname + suffix, "PNG"); + } } else { - imdata.left.save(m_left_fname + suffix, "PNG"); - } + if(m_disparity){ + imdata.left.save(m_disparity_fname + suffix, "PNG"); + } else { + imdata.left.save(m_left_fname + suffix, "PNG"); + } + } m_frame_counter += 1; } diff --git a/stereo_viewer/src/viewer.cc b/stereo_viewer/src/viewer.cc index 8e942c6..bd8b0b9 100644 --- a/stereo_viewer/src/viewer.cc +++ b/stereo_viewer/src/viewer.cc @@ -480,7 +480,7 @@ bool MainWindow::connectGEV(const PvDeviceInfo *info) { connect(m_pipeline.get(), &Pipeline::pairReceived, this, - &MainWindow::handleData, + &MainWindow::handleStereoData, Qt::QueuedConnection); connect(m_pipeline.get(), &Pipeline::monoReceived, @@ -509,12 +509,19 @@ void MainWindow::newData(QImage &left, QImage &right, bool stereo, bool disparit // Set the image cfg.widgetLeftSensor->setImage(left, false); cfg.widgetRightSensor->setVisible(stereo); - cfg.chkColormap->setVisible((!stereo && disparity)); - cfg.labelColormap->setVisible((!stereo && disparity)); - cfg.cbxColormap->setVisible((!stereo && disparity)); + cfg.lblDisplayRight->setVisible(stereo); + + cfg.chkColormap->setVisible(disparity); + cfg.labelColormap->setVisible(disparity); + cfg.cbxColormap->setVisible(disparity); if(stereo){ cfg.widgetRightSensor->setImage(right, false); + QString label = disparity?"Disparity":"Right"; + cfg.lblDisplayRight->setText(label); + }else{ + QString label = disparity?"Disparity":"Display"; + cfg.lblDisplayLeft->setText(label); } // Do we have boundingboxes or feature points @@ -542,17 +549,24 @@ void MainWindow::newData(QImage &left, QImage &right, bool stereo, bool disparit } -void MainWindow::handleData() { +void MainWindow::handleStereoData(bool is_disparity) { if(m_pipeline) { list> images; m_pipeline->GetPairs(images); - m_data_thread->setStereoDisparity(true,false); + m_data_thread->setStereoDisparity(true, is_disparity); // Convert and display for (auto it = images.begin(); it != images.end(); ++it) { QImage q1 = s_yuv2_to_qimage(get<0>(*it)); - QImage q2 = s_yuv2_to_qimage(get<1>(*it)); - newData(q1, q2, true, false); + QImage q2; + + if(is_disparity){ + q2 = s_mono_to_qimage(get<1>(*it), cfg.chkColormap->isChecked(), cfg.cbxColormap->currentIndex()); + }else{ + q2 = s_yuv2_to_qimage(get<1>(*it)); + } + + newData(q1, q2, true, is_disparity); delete get<0>(*it); delete get<1>(*it); } diff --git a/stereo_viewer/stereo_viewer.ui b/stereo_viewer/stereo_viewer.ui index 2883b69..a8c2221 100644 --- a/stereo_viewer/stereo_viewer.ui +++ b/stereo_viewer/stereo_viewer.ui @@ -56,11 +56,22 @@ 5 - - - Display - - + + + + + Left + + + + + + + Right + + + +