1 | /***************************************************************************
|
---|
2 | videoframe.cpp - description
|
---|
3 | -------------------
|
---|
4 | begin : Fri Nov 22 2002
|
---|
5 | copyright : (C) 2002 by
|
---|
6 | email :
|
---|
7 | ***************************************************************************/
|
---|
8 |
|
---|
9 | /***************************************************************************
|
---|
10 | * *
|
---|
11 | * This program is free software; you can redistribute it and/or modify *
|
---|
12 | * it under the terms of the GNU General Public License as published by *
|
---|
13 | * the Free Software Foundation; either version 2 of the License, or *
|
---|
14 | * (at your option) any later version. *
|
---|
15 | * *
|
---|
16 | ***************************************************************************/
|
---|
17 |
|
---|
18 | #include "amcdefs.h"
|
---|
19 | #include "amcframegrabber.h"
|
---|
20 | #include "calibratepaneldialog.h"
|
---|
21 | #include "linearregression.h"
|
---|
22 | #include "threadevent.h"
|
---|
23 | #include "videoframe.h"
|
---|
24 | #include "videospot.h"
|
---|
25 | #include "videospotthread.h"
|
---|
26 | #include "videothread.h"
|
---|
27 | #include <math.h>
|
---|
28 | #include <qframe.h>
|
---|
29 | #include <qfile.h>
|
---|
30 | #include <qpainter.h>
|
---|
31 | #include <qdatetime.h>
|
---|
32 | #include <qtextstream.h>
|
---|
33 | #include <qtimer.h>
|
---|
34 | #include <qimage.h>
|
---|
35 |
|
---|
36 | #define HEADERSIZE 15
|
---|
37 |
|
---|
38 | extern int g_iRefX, g_iRefY;
|
---|
39 |
|
---|
40 |
|
---|
41 | VideoFrame::VideoFrame( QWidget *parent, const char *name, AMCFrameGrabber* p_pFG )
|
---|
42 | : QFrame( parent, name )
|
---|
43 | {
|
---|
44 |
|
---|
45 | qDebug("Thread for VideoFrame PID: %d - PPID: %d", getpid(), getppid() );
|
---|
46 |
|
---|
47 | qDebug("Creating Image arrays");
|
---|
48 | m_pImage = new QImage( MY_WIDTH, MY_HEIGHT, MY_DEPTH*8 );
|
---|
49 | m_darkFrame = new QByteArray( BUFSIZE );
|
---|
50 |
|
---|
51 | m_iFrame = 0;
|
---|
52 | m_iGoodFrame = 0;
|
---|
53 | m_iDarks = 0;
|
---|
54 | m_iFrameNum = 0;
|
---|
55 |
|
---|
56 | m_ix = m_iy = -1;
|
---|
57 | m_iRefX = m_iRefY = -1;
|
---|
58 | m_iCenterX = m_iCenterY = 1;
|
---|
59 | m_pCalibDlg = 0;
|
---|
60 | // m_qlSpots.setAutoDelete( true );
|
---|
61 |
|
---|
62 | qDebug("Creating VideoThread");
|
---|
63 | m_pVideoThread = new VideoThread( this, p_pFG );
|
---|
64 | m_pVideoThread->init( BUFSIZE );
|
---|
65 | qDebug("Creating SpotThread");
|
---|
66 | m_pSpotThread = new VideoSpotThread( this, m_pImage, (uchar*) m_darkFrame->data() );
|
---|
67 | qDebug("Starting VideoThread");
|
---|
68 | qDebug("Thread for VideoFrame when starting VideoThread PID: %d - PPID: %d", getpid(), getppid() );
|
---|
69 | m_pVideoThread->start();
|
---|
70 | }
|
---|
71 |
|
---|
72 | VideoFrame::~VideoFrame()
|
---|
73 | {
|
---|
74 | qDebug("Stoping video thread");
|
---|
75 | m_pVideoThread->stop();
|
---|
76 | m_pVideoThread->wait( );
|
---|
77 | qDebug("deleting video thread");
|
---|
78 | delete m_pVideoThread;
|
---|
79 | qDebug("Stoping spot thread");
|
---|
80 | m_pSpotThread->wait();
|
---|
81 | qDebug("deleting spot thread");
|
---|
82 | delete m_pSpotThread;
|
---|
83 | delete m_darkFrame;
|
---|
84 | delete m_pImage;
|
---|
85 | m_qlSpots.clear();
|
---|
86 | }
|
---|
87 |
|
---|
88 | /** overridden painter for the frame */
|
---|
89 | void VideoFrame::drawContents( QPainter* windowPainter )
|
---|
90 | {
|
---|
91 | // qDebug("In drawContents");
|
---|
92 | // Draw image
|
---|
93 | QRect rect = contentsRect();
|
---|
94 | windowPainter->drawImage( 0,0, *m_pImage );
|
---|
95 |
|
---|
96 | // Overlay camera center if it was determined from the LEDs
|
---|
97 | if( m_iCenterX > 1 )
|
---|
98 | {
|
---|
99 | windowPainter->setPen( Qt::white );
|
---|
100 | windowPainter->drawEllipse( m_iCenterX-2, m_iCenterY-2, 5, 5);
|
---|
101 | windowPainter->drawEllipse( m_iCenterX-4, m_iCenterY-4, 9, 9);
|
---|
102 | }
|
---|
103 |
|
---|
104 | // Overlay Spots
|
---|
105 | windowPainter->setPen( Qt::red );
|
---|
106 | for( VideoSpot* pActualSpot = m_qlSpots.first();
|
---|
107 | pActualSpot; pActualSpot = m_qlSpots.next() )
|
---|
108 | {
|
---|
109 | if( pActualSpot->isValid() )
|
---|
110 | windowPainter->drawEllipse( pActualSpot->getX()-4, pActualSpot->getY()-4, 9, 9);
|
---|
111 | }
|
---|
112 |
|
---|
113 | if( m_pCalibDlg != 0 )
|
---|
114 | {
|
---|
115 | QList<VideoSpot>* pLineList = m_pCalibDlg->getLineList();
|
---|
116 | windowPainter->setPen( Qt::magenta );
|
---|
117 | for( VideoSpot* pActualSpot = pLineList->first();
|
---|
118 | pActualSpot; pActualSpot = pLineList->next() )
|
---|
119 | {
|
---|
120 | if( pActualSpot->isValid() )
|
---|
121 | windowPainter->drawEllipse( pActualSpot->getX()-4, pActualSpot->getY()-4, 9, 9);
|
---|
122 | }
|
---|
123 |
|
---|
124 | int iX1, iX2;
|
---|
125 | windowPainter->setPen( Qt::yellow );
|
---|
126 | LinearRegression* pRegression = m_pCalibDlg->getXRegression();
|
---|
127 | if( pRegression->isValid() )
|
---|
128 | {
|
---|
129 | iX1 = (int) (( 0. - pRegression->getAxis()) / pRegression->getSlope());
|
---|
130 | iX2 = (int) (( 479. - pRegression->getAxis()) / pRegression->getSlope());
|
---|
131 | windowPainter->drawLine( iX1, 0, iX2, 479 );
|
---|
132 | }
|
---|
133 |
|
---|
134 | pRegression = m_pCalibDlg->getYRegression();
|
---|
135 | if( pRegression->isValid() )
|
---|
136 | {
|
---|
137 | iX1 = (int) (( 0. - pRegression->getAxis() ) / pRegression->getSlope());
|
---|
138 | iX2 = (int) (( 479. - pRegression->getAxis() ) / pRegression->getSlope());
|
---|
139 | windowPainter->drawLine( iX1, 0, iX2, 479 );
|
---|
140 | }
|
---|
141 |
|
---|
142 | }
|
---|
143 |
|
---|
144 | // Draw a blue cross for the global reference point
|
---|
145 | windowPainter->setPen( Qt::blue );
|
---|
146 | windowPainter->drawLine( g_iRefX-4, g_iRefY, g_iRefX+4, g_iRefY);
|
---|
147 | windowPainter->drawLine( g_iRefX, g_iRefY-4, g_iRefX, g_iRefY+4);
|
---|
148 |
|
---|
149 | // Draw a green rectangle showing the reference point for this panel
|
---|
150 | if( m_iRefX > 0)
|
---|
151 | {
|
---|
152 | windowPainter->setPen( Qt::green );
|
---|
153 | if( m_iCenterX > 1 )
|
---|
154 | {
|
---|
155 | // Adapt spot for shift of camera center.
|
---|
156 | int iDx, iDy;
|
---|
157 | iDx = m_iCenterX - CAMERA_X;
|
---|
158 | iDy = m_iCenterY - CAMERA_Y;
|
---|
159 | windowPainter->drawRect( m_iRefX+iDx-4, m_iRefY+iDy-4, 9, 9 );
|
---|
160 | } else
|
---|
161 | windowPainter->drawRect( m_iRefX-4, m_iRefY-4, 9, 9 );
|
---|
162 | }
|
---|
163 |
|
---|
164 | // Draw a blue rectangle showing the Region Of Interest (ROI)
|
---|
165 | // which is used to find the spot
|
---|
166 | if( ! m_qrROI.isEmpty() )
|
---|
167 | {
|
---|
168 | windowPainter->setPen( Qt::blue );
|
---|
169 | windowPainter->drawRect( m_qrROI );
|
---|
170 | }
|
---|
171 |
|
---|
172 | }
|
---|
173 |
|
---|
174 | /** No descriptions */
|
---|
175 | void VideoFrame::saveFrame()
|
---|
176 | {
|
---|
177 | QString fileName;
|
---|
178 | fileName.sprintf("Frame%02d.png",m_iFrameNum);
|
---|
179 | m_pImage->save( fileName, "PNG");
|
---|
180 |
|
---|
181 | fileName.sprintf("Spots%02d.txt",m_iFrameNum++);
|
---|
182 | QFile file( fileName );
|
---|
183 | if( file.open( IO_WriteOnly ) )
|
---|
184 | {
|
---|
185 | QTextStream stream( &file );
|
---|
186 |
|
---|
187 | QString str;
|
---|
188 |
|
---|
189 | str.sprintf("LEDs\n" );
|
---|
190 | stream << str;
|
---|
191 | for( VideoSpot* pActualSpot = m_qlLEDs.first();
|
---|
192 | pActualSpot; pActualSpot = m_qlLEDs.next() )
|
---|
193 | {
|
---|
194 | if( pActualSpot->isValid() )
|
---|
195 | {
|
---|
196 | str.sprintf("%d %d\n", pActualSpot->getX(), pActualSpot->getY() );
|
---|
197 | stream << str;
|
---|
198 | }
|
---|
199 | }
|
---|
200 |
|
---|
201 | str.sprintf("\nSpots\n" );
|
---|
202 | stream << str;
|
---|
203 | for( VideoSpot* pActualSpot = m_qlSpots.first();
|
---|
204 | pActualSpot; pActualSpot = m_qlSpots.next() )
|
---|
205 | {
|
---|
206 | if( pActualSpot->isValid() )
|
---|
207 | {
|
---|
208 | str.sprintf("%d %d\n", pActualSpot->getX(), pActualSpot->getY() );
|
---|
209 | stream << str;
|
---|
210 | }
|
---|
211 | }
|
---|
212 |
|
---|
213 | }
|
---|
214 | }
|
---|
215 |
|
---|
216 | /** Save a dark frame */
|
---|
217 | void VideoFrame::takeDark()
|
---|
218 | {
|
---|
219 | qDebug("Taking dark frame");
|
---|
220 | uchar* pFrame = m_pImage->bits();
|
---|
221 | m_pVideoThread->getLastFrame( pFrame );
|
---|
222 | uchar* pDark = m_darkFrame->data();
|
---|
223 |
|
---|
224 | for(int ind=0; ind< (MY_HEIGHT * MY_WIDTH * MY_DEPTH); ind++, pDark++, pFrame++ )
|
---|
225 | {
|
---|
226 | int help = *pDark;
|
---|
227 | help = (help * m_iDarks) + (int) *pFrame;
|
---|
228 | *pDark = (uchar) (help / (m_iDarks+1));
|
---|
229 | }
|
---|
230 | m_iDarks++;
|
---|
231 | }
|
---|
232 |
|
---|
233 | /** Clear dark frames */
|
---|
234 | void VideoFrame::clearDarks()
|
---|
235 | {
|
---|
236 | m_darkFrame->fill(0);
|
---|
237 | m_iDarks = 0;
|
---|
238 | }
|
---|
239 |
|
---|
240 | /** No descriptions */
|
---|
241 | void VideoFrame::timerDone()
|
---|
242 | {
|
---|
243 | // qDebug("Frames per second %d %d", m_iFrame, m_iGoodFrame);
|
---|
244 | emit framesGrabbed( m_iFrame );
|
---|
245 | emit framesProcessed( m_iGoodFrame );
|
---|
246 | m_iFrame = 0;
|
---|
247 | m_iGoodFrame=0;
|
---|
248 | }
|
---|
249 |
|
---|
250 | /** No descriptions */
|
---|
251 | void VideoFrame::mouseMoveEvent( QMouseEvent* event )
|
---|
252 | {
|
---|
253 | if( (event->state() & LeftButton) == 0 )
|
---|
254 | return;
|
---|
255 |
|
---|
256 | int x = event->x();
|
---|
257 | int y = event->y();
|
---|
258 | if( x > m_qrROI.left() )
|
---|
259 | m_qrROI.setRight( x );
|
---|
260 | else
|
---|
261 | {
|
---|
262 | if( x == m_qrROI.left() )
|
---|
263 | m_qrROI.setRight( event->x() -1 );
|
---|
264 | else
|
---|
265 | m_qrROI.setLeft( x );
|
---|
266 | }
|
---|
267 | if( y > m_qrROI.top() )
|
---|
268 | m_qrROI.setBottom( y );
|
---|
269 | else
|
---|
270 | {
|
---|
271 | if( y == m_qrROI.bottom() )
|
---|
272 | m_qrROI.setBottom( event->y() -1 );
|
---|
273 | else
|
---|
274 | m_qrROI.setTop( y );
|
---|
275 | }
|
---|
276 | if ( m_qrROI.isValid() );
|
---|
277 | m_pSpotThread->setROI( m_qrROI );
|
---|
278 | }
|
---|
279 |
|
---|
280 | /** No descriptions */
|
---|
281 | void VideoFrame::mousePressEvent( QMouseEvent* event )
|
---|
282 | {
|
---|
283 | if( event->button() == LeftButton )
|
---|
284 | {
|
---|
285 | m_qrROI.setLeft( event->x() );
|
---|
286 | m_qrROI.setRight( event->x() -1 );
|
---|
287 | m_qrROI.setTop( event->y() );
|
---|
288 | m_qrROI.setBottom( event->y() -1 );
|
---|
289 | m_pSpotThread->setROI( m_qrROI );
|
---|
290 | }
|
---|
291 | if( event->button() == MidButton )
|
---|
292 | {
|
---|
293 | m_qrROI.setLeft( 0 );
|
---|
294 | m_qrROI.setRight( -1 );
|
---|
295 | m_qrROI.setTop( 0 );
|
---|
296 | m_qrROI.setBottom( -1 );
|
---|
297 | m_pSpotThread->setROI( m_qrROI );
|
---|
298 | }
|
---|
299 | if( event->button() == RightButton )
|
---|
300 | {
|
---|
301 | g_iRefX = event->x();
|
---|
302 | g_iRefY = event->y();
|
---|
303 | emit gref( g_iRefX, g_iRefY );
|
---|
304 | }
|
---|
305 | }
|
---|
306 |
|
---|
307 | void VideoFrame::customEvent(QCustomEvent *e)
|
---|
308 | {
|
---|
309 | if ( e->type() == THREAD_END_EVENT )
|
---|
310 | {
|
---|
311 | repaint( FALSE );
|
---|
312 | calcCenter();
|
---|
313 | if( m_qlSpots.count() == 1)
|
---|
314 | {
|
---|
315 | VideoSpot* pSpot = m_qlSpots.first();
|
---|
316 | emit spot( pSpot->getX(), pSpot->getY() );
|
---|
317 | }
|
---|
318 | else
|
---|
319 | emit spot( -1, -1 );
|
---|
320 | }
|
---|
321 | if ( e->type() == THREAD_FRAME_EVENT )
|
---|
322 | {
|
---|
323 | m_iFrame++;
|
---|
324 | if( ! m_pSpotThread->running() )
|
---|
325 | {
|
---|
326 | m_iGoodFrame++;
|
---|
327 | m_pVideoThread->getLastFrame( m_pImage->bits() );
|
---|
328 | m_pSpotThread->start();
|
---|
329 | }
|
---|
330 | // else
|
---|
331 | // qDebug("Dropping Frame");
|
---|
332 | }
|
---|
333 | }
|
---|
334 |
|
---|
335 | /** No descriptions */
|
---|
336 | void VideoFrame::threshold( int p_iValue )
|
---|
337 | {
|
---|
338 | m_pSpotThread->setSigmas( p_iValue );
|
---|
339 | }
|
---|
340 |
|
---|
341 | /** No descriptions */
|
---|
342 | void VideoFrame::scaleValue( int p_iValue )
|
---|
343 | {
|
---|
344 | m_pSpotThread->setScalingMax( p_iValue );
|
---|
345 | }
|
---|
346 |
|
---|
347 | void VideoFrame::halt( bool p_zStop )
|
---|
348 | {
|
---|
349 | if ( p_zStop == true )
|
---|
350 | {
|
---|
351 | m_pVideoThread->stop();
|
---|
352 | m_pVideoThread->wait(); // Wait for video thread to finish
|
---|
353 | m_pSpotThread->wait(); // Wait for spot thread to finish
|
---|
354 | }
|
---|
355 | else
|
---|
356 | m_pVideoThread->start();
|
---|
357 | }
|
---|
358 |
|
---|
359 | /** Calculate the location of the central pixel. We do this by identifiying the
|
---|
360 | position of the camera LEDs and getting the relative offsets. */
|
---|
361 | void VideoFrame::calcCenter()
|
---|
362 | {
|
---|
363 | double dX = 0.0, dX1 = 0.0, dX2 = 0.0, dX3 = 0.0, dX4 = 0.0;
|
---|
364 | double dY = 0.0, dY1 = 0.0, dY2 = 0.0, dY3 = 0.0, dY4 = 0.0;
|
---|
365 | int iNumLEDs = 0;
|
---|
366 |
|
---|
367 | m_iCenterX = m_iCenterY = 1;
|
---|
368 | m_qlLEDs.clear();
|
---|
369 | m_qlSpots.clear();
|
---|
370 |
|
---|
371 | QList<VideoSpot>& qlSpotList = m_pSpotThread->getSpotList();
|
---|
372 | for( VideoSpot* pActualSpot = qlSpotList.first();
|
---|
373 | pActualSpot; pActualSpot = qlSpotList.next() )
|
---|
374 | {
|
---|
375 | // Check if this spot is compatible with the spot of the
|
---|
376 | // upper left LED
|
---|
377 | if ( pActualSpot->contains2( LED1_X, LED1_Y ) )
|
---|
378 | {
|
---|
379 | dX1 = pActualSpot->getX() + (CAMERA_X - LED1_X);
|
---|
380 | dY1 = pActualSpot->getY() + (CAMERA_Y - LED1_Y);
|
---|
381 | dX += dX1; dY += dY1;
|
---|
382 | m_qlLEDs.append( new VideoSpot( pActualSpot->getX(), pActualSpot->getY()) );
|
---|
383 | iNumLEDs++;
|
---|
384 | }
|
---|
385 | // Check if this spot is compatible with the spot of the
|
---|
386 | // upper right LED
|
---|
387 | else if ( pActualSpot->contains2( LED2_X, LED2_Y ) )
|
---|
388 | {
|
---|
389 | dX2 = pActualSpot->getX() + (CAMERA_X - LED2_X);
|
---|
390 | dY2 = pActualSpot->getY() + (CAMERA_Y - LED2_Y);
|
---|
391 | dX += dX2; dY += dY2;
|
---|
392 | m_qlLEDs.append( new VideoSpot( pActualSpot->getX(), pActualSpot->getY()) );
|
---|
393 | iNumLEDs++;
|
---|
394 | }
|
---|
395 | // Check if this spot is compatible with the spot of the
|
---|
396 | // lower left LED
|
---|
397 | else if ( pActualSpot->contains2( LED3_X, LED3_Y ) )
|
---|
398 | {
|
---|
399 | dX3 = pActualSpot->getX() + (CAMERA_X - LED3_X);
|
---|
400 | dY3 = pActualSpot->getY() + (CAMERA_Y - LED3_Y);
|
---|
401 | dX += dX3; dY += dY3;
|
---|
402 | m_qlLEDs.append( new VideoSpot( pActualSpot->getX(), pActualSpot->getY()) );
|
---|
403 | iNumLEDs++;
|
---|
404 | }
|
---|
405 | // Check if this spot is compatible with the spot of the
|
---|
406 | // lower right LED
|
---|
407 | else if ( pActualSpot->contains2( LED4_X, LED4_Y ) )
|
---|
408 | {
|
---|
409 | dX4 = pActualSpot->getX() + (CAMERA_X - LED4_X);
|
---|
410 | dY4 = pActualSpot->getY() + (CAMERA_Y - LED4_Y);
|
---|
411 | dX += dX4; dY += dY4;
|
---|
412 | m_qlLEDs.append( new VideoSpot( pActualSpot->getX(), pActualSpot->getY()) );
|
---|
413 | iNumLEDs++;
|
---|
414 | }
|
---|
415 | else
|
---|
416 | m_qlSpots.append( new VideoSpot( pActualSpot->getX(), pActualSpot->getY()) );
|
---|
417 | }
|
---|
418 | if( iNumLEDs != 0)
|
---|
419 | {
|
---|
420 | m_iCenterX = (int) rint(dX / iNumLEDs);
|
---|
421 | m_iCenterY = (int) rint(dY / iNumLEDs);
|
---|
422 | // qDebug("Center %d %d", m_iCenterX, m_iCenterY);
|
---|
423 | }
|
---|
424 | qDebug("Center at: %d %d -- with %d LEDs",m_iCenterX, m_iCenterY, iNumLEDs );
|
---|
425 | }
|
---|