Index: trunk/MagicSoft/AMC/activemirrorcontrol/activemirrorcontrol/videoframe.cpp =================================================================== --- trunk/MagicSoft/AMC/activemirrorcontrol/activemirrorcontrol/videoframe.cpp (revision 4494) +++ trunk/MagicSoft/AMC/activemirrorcontrol/activemirrorcontrol/videoframe.cpp (revision 4495) @@ -33,9 +33,8 @@ #include #include - -#define HEADERSIZE 15 - -extern int g_iRefX, g_iRefY; - +#include + +extern KApplication* g_theApp; +extern double g_dRefX, g_dRefY; VideoFrame::VideoFrame( QWidget *parent, const char *name, AMCFrameGrabber* p_pFG ) @@ -47,5 +46,6 @@ qDebug("Creating Image arrays"); m_pImage = new QImage( MY_WIDTH, MY_HEIGHT, MY_DEPTH*8 ); - m_darkFrame = new QByteArray( BUFSIZE ); + m_pRawImage = new QImage( MY_WIDTH, MY_HEIGHT, MY_DEPTH*8 ); + m_pDarkFrame = new QByteArray( BUFSIZE ); m_iFrame = 0; @@ -55,8 +55,9 @@ m_ix = m_iy = -1; - m_iRefX = m_iRefY = -1; - m_iCenterX = m_iCenterY = 1; + m_dRefX = m_dRefY = -1.; + m_dCenterX = m_dCenterY = -1.; m_pCalibDlg = 0; -// m_qlSpots.setAutoDelete( true ); + m_qlSpotList.setAutoDelete( true ); + m_qlSpots.setAutoDelete( true ); qDebug("Creating VideoThread"); @@ -64,7 +65,8 @@ m_pVideoThread->init( BUFSIZE ); qDebug("Creating SpotThread"); - m_pSpotThread = new VideoSpotThread( this, m_pImage, (uchar*) m_darkFrame->data() ); + m_pSpotThread = new VideoSpotThread( this, m_pRawImage, (uchar*) m_pDarkFrame->data() ); + qDebug("Starting SpotThread"); + m_pSpotThread->start(); qDebug("Starting VideoThread"); - qDebug("Thread for VideoFrame when starting VideoThread PID: %d - PPID: %d", getpid(), getppid() ); m_pVideoThread->start(); } @@ -72,16 +74,15 @@ VideoFrame::~VideoFrame() { - qDebug("Stoping video thread"); - m_pVideoThread->stop(); - m_pVideoThread->wait( ); + // Stop all runing threads + halt( true ); qDebug("deleting video thread"); delete m_pVideoThread; - qDebug("Stoping spot thread"); - m_pSpotThread->wait(); qDebug("deleting spot thread"); delete m_pSpotThread; - delete m_darkFrame; + + qDebug("Deleting image and dark frame buffers"); + delete m_pDarkFrame; delete m_pImage; - m_qlSpots.clear(); + delete m_pRawImage; } @@ -95,9 +96,9 @@ // Overlay camera center if it was determined from the LEDs - if( m_iCenterX > 1 ) + if( m_dCenterX > 0 ) { windowPainter->setPen( Qt::white ); - windowPainter->drawEllipse( m_iCenterX-2, m_iCenterY-2, 5, 5); - windowPainter->drawEllipse( m_iCenterX-4, m_iCenterY-4, 9, 9); + windowPainter->drawEllipse( m_dCenterX-2., m_dCenterY-2., 5, 5); + windowPainter->drawEllipse( m_dCenterX-4., m_dCenterY-4., 9, 9); } @@ -111,4 +112,18 @@ } + // Overlay Leds + windowPainter->setPen( Qt::yellow ); + for( VideoSpot* pActualSpot = m_qlLEDs.first(); + pActualSpot; pActualSpot = m_qlLEDs.next() ) + { + if( pActualSpot->isValid() ) + windowPainter->drawRect( pActualSpot->getX()-4, pActualSpot->getY()-4, 9, 9); + } + windowPainter->drawEllipse( LED1_X-4, LED1_Y-4, 9, 9); + windowPainter->drawEllipse( LED2_X-4, LED2_Y-4, 9, 9); + windowPainter->drawEllipse( LED3_X-4, LED3_Y-4, 9, 9); + windowPainter->drawEllipse( LED4_X-4, LED4_Y-4, 9, 9); + + // Draw the calibration pointa and the regression fits. if( m_pCalibDlg != 0 ) { @@ -127,7 +142,15 @@ if( pRegression->isValid() ) { - iX1 = (int) (( 0. - pRegression->getAxis()) / pRegression->getSlope()); - iX2 = (int) (( 479. - pRegression->getAxis()) / pRegression->getSlope()); - windowPainter->drawLine( iX1, 0, iX2, 479 ); + if( ! pRegression->getReversed() ) { + iX1 = (int) (( 0. - pRegression->getAxis()) / pRegression->getSlope()); + iX2 = (int) (( 479. - pRegression->getAxis()) / pRegression->getSlope()); + windowPainter->drawLine( iX1, 0, iX2, 479 ); + } + else + { + iX1 = (int) pRegression->getAxis(); + iX2 = (int) ( pRegression->getAxis() + 479 * pRegression->getSlope() ); + windowPainter->drawLine( iX1, 0, iX2, 479 ); + } } @@ -135,7 +158,17 @@ if( pRegression->isValid() ) { - iX1 = (int) (( 0. - pRegression->getAxis() ) / pRegression->getSlope()); - iX2 = (int) (( 479. - pRegression->getAxis() ) / pRegression->getSlope()); - windowPainter->drawLine( iX1, 0, iX2, 479 ); + if( ! pRegression->getReversed() ) + { + iX1 = (int) (( 0. - pRegression->getAxis()) / pRegression->getSlope()); + iX2 = (int) (( 479. - pRegression->getAxis()) / pRegression->getSlope()); + windowPainter->drawLine( iX1, 0, iX2, 479 ); + } + else + { + iX1 = (int) pRegression->getAxis(); + iX2 = (int) ( pRegression->getAxis() + 479 * pRegression->getSlope() ); + windowPainter->drawLine( iX1, 0, iX2, 479 ); +// qDebug( "Drawing line: (%d,%d) - (%d,%d)", iX1, 0, iX2, 479 ); + } } @@ -144,20 +177,20 @@ // Draw a blue cross for the global reference point windowPainter->setPen( Qt::blue ); - windowPainter->drawLine( g_iRefX-4, g_iRefY, g_iRefX+4, g_iRefY); - windowPainter->drawLine( g_iRefX, g_iRefY-4, g_iRefX, g_iRefY+4); + windowPainter->drawLine( g_dRefX-4., g_dRefY, g_dRefX+4., g_dRefY); + windowPainter->drawLine( g_dRefX, g_dRefY-4., g_dRefX, g_dRefY+4.); // Draw a green rectangle showing the reference point for this panel - if( m_iRefX > 0) + if( m_dRefX > 0) { windowPainter->setPen( Qt::green ); - if( m_iCenterX > 1 ) + if( m_dCenterX > 1.0 ) { // Adapt spot for shift of camera center. - int iDx, iDy; - iDx = m_iCenterX - CAMERA_X; - iDy = m_iCenterY - CAMERA_Y; - windowPainter->drawRect( m_iRefX+iDx-4, m_iRefY+iDy-4, 9, 9 ); + double dDx, dDy; + dDx = m_dCenterX - CAMERA_X; + dDy = m_dCenterY - CAMERA_Y; + windowPainter->drawRect( m_dRefX+dDx-4., m_dRefY+dDy-4., 9., 9. ); } else - windowPainter->drawRect( m_iRefX-4, m_iRefY-4, 9, 9 ); + windowPainter->drawRect( m_dRefX-4., m_dRefY-4., 9., 9. ); } @@ -194,5 +227,5 @@ if( pActualSpot->isValid() ) { - str.sprintf("%d %d\n", pActualSpot->getX(), pActualSpot->getY() ); + str.sprintf("%6.2f %6.2f %d\n", pActualSpot->getX(), pActualSpot->getY(), pActualSpot->getNumPixel() ); stream << str; } @@ -206,5 +239,5 @@ if( pActualSpot->isValid() ) { - str.sprintf("%d %d\n", pActualSpot->getX(), pActualSpot->getY() ); + str.sprintf("%6.2f %6.2f %d\n", pActualSpot->getX(), pActualSpot->getY(), pActualSpot->getNumPixel() ); stream << str; } @@ -220,5 +253,5 @@ uchar* pFrame = m_pImage->bits(); m_pVideoThread->getLastFrame( pFrame ); - uchar* pDark = m_darkFrame->data(); + uchar* pDark = m_pDarkFrame->data(); for(int ind=0; ind< (MY_HEIGHT * MY_WIDTH * MY_DEPTH); ind++, pDark++, pFrame++ ) @@ -234,5 +267,5 @@ void VideoFrame::clearDarks() { - m_darkFrame->fill(0); + m_pDarkFrame->fill(0); m_iDarks = 0; } @@ -299,7 +332,7 @@ if( event->button() == RightButton ) { - g_iRefX = event->x(); - g_iRefY = event->y(); - emit gref( g_iRefX, g_iRefY ); + g_dRefX = event->x(); + g_dRefY = event->y(); + emit gref( g_dRefX, g_dRefY ); } } @@ -307,7 +340,12 @@ void VideoFrame::customEvent(QCustomEvent *e) { - if ( e->type() == THREAD_END_EVENT ) - { + if ( e->type() == THREAD_SPOT_EVENT ) + { + g_theApp->processEvents(); + m_pSpotThread->getSpotList( &m_qlSpotList ); + m_pSpotThread->getFrame( m_pImage->bits() ); + m_iGoodFrame++; repaint( FALSE ); + calcCenter(); if( m_qlSpots.count() == 1) @@ -318,16 +356,18 @@ else emit spot( -1, -1 ); + g_theApp->processEvents(); + } if ( e->type() == THREAD_FRAME_EVENT ) { m_iFrame++; - if( ! m_pSpotThread->running() ) - { - m_iGoodFrame++; - m_pVideoThread->getLastFrame( m_pImage->bits() ); - m_pSpotThread->start(); - } -// else -// qDebug("Dropping Frame"); + if( ! m_pSpotThread->isActive() ) + { + m_pVideoThread->getLastFrame( m_pRawImage->bits() ); + m_pSpotThread->wake(); + } +//else +// qDebug("Dropping Frame"); + g_theApp->processEvents(); } } @@ -349,10 +389,19 @@ if ( p_zStop == true ) { + qDebug("Stoping video thread"); m_pVideoThread->stop(); m_pVideoThread->wait(); // Wait for video thread to finish + qDebug("Stoping videospot thread"); + m_pSpotThread->stop(); + m_pSpotThread->wake(); m_pSpotThread->wait(); // Wait for spot thread to finish } else + { + qDebug("Starting video thread"); + m_pSpotThread->start(); + qDebug("Starting videospot thread"); m_pVideoThread->start(); + } } @@ -365,11 +414,10 @@ int iNumLEDs = 0; - m_iCenterX = m_iCenterY = 1; + m_dCenterX = m_dCenterY = -1.; m_qlLEDs.clear(); m_qlSpots.clear(); - QList& qlSpotList = m_pSpotThread->getSpotList(); - for( VideoSpot* pActualSpot = qlSpotList.first(); - pActualSpot; pActualSpot = qlSpotList.next() ) + for( VideoSpot* pActualSpot = m_qlSpotList.first(); + pActualSpot; pActualSpot = m_qlSpotList.next() ) { // Check if this spot is compatible with the spot of the @@ -380,5 +428,5 @@ dY1 = pActualSpot->getY() + (CAMERA_Y - LED1_Y); dX += dX1; dY += dY1; - m_qlLEDs.append( new VideoSpot( pActualSpot->getX(), pActualSpot->getY()) ); + m_qlLEDs.append( new VideoSpot( pActualSpot->getX(), pActualSpot->getY(), pActualSpot->getNumPixel()) ); iNumLEDs++; } @@ -390,5 +438,5 @@ dY2 = pActualSpot->getY() + (CAMERA_Y - LED2_Y); dX += dX2; dY += dY2; - m_qlLEDs.append( new VideoSpot( pActualSpot->getX(), pActualSpot->getY()) ); + m_qlLEDs.append( new VideoSpot( pActualSpot->getX(), pActualSpot->getY(), pActualSpot->getNumPixel()) ); iNumLEDs++; } @@ -400,5 +448,5 @@ dY3 = pActualSpot->getY() + (CAMERA_Y - LED3_Y); dX += dX3; dY += dY3; - m_qlLEDs.append( new VideoSpot( pActualSpot->getX(), pActualSpot->getY()) ); + m_qlLEDs.append( new VideoSpot( pActualSpot->getX(), pActualSpot->getY(), pActualSpot->getNumPixel()) ); iNumLEDs++; } @@ -410,16 +458,16 @@ dY4 = pActualSpot->getY() + (CAMERA_Y - LED4_Y); dX += dX4; dY += dY4; - m_qlLEDs.append( new VideoSpot( pActualSpot->getX(), pActualSpot->getY()) ); + m_qlLEDs.append( new VideoSpot( pActualSpot->getX(), pActualSpot->getY(), pActualSpot->getNumPixel()) ); iNumLEDs++; } else - m_qlSpots.append( new VideoSpot( pActualSpot->getX(), pActualSpot->getY()) ); + m_qlSpots.append( new VideoSpot( pActualSpot->getX(), pActualSpot->getY(), pActualSpot->getNumPixel()) ); } if( iNumLEDs != 0) { - m_iCenterX = (int) rint(dX / iNumLEDs); - m_iCenterY = (int) rint(dY / iNumLEDs); + m_dCenterX = dX / iNumLEDs; + m_dCenterY = dY / iNumLEDs; // qDebug("Center %d %d", m_iCenterX, m_iCenterY); } - qDebug("Center at: %d %d -- with %d LEDs",m_iCenterX, m_iCenterY, iNumLEDs ); -} +// qDebug("Center at: %5.1f %5.1f -- with %d LEDs",m_dCenterX, m_dCenterY, iNumLEDs ); +} Index: trunk/MagicSoft/AMC/activemirrorcontrol/activemirrorcontrol/videoframe.h =================================================================== --- trunk/MagicSoft/AMC/activemirrorcontrol/activemirrorcontrol/videoframe.h (revision 4494) +++ trunk/MagicSoft/AMC/activemirrorcontrol/activemirrorcontrol/videoframe.h (revision 4495) @@ -50,5 +50,5 @@ void saveFrame(); /** Set the reference position */ - void setRef( int p_iX, int p_iY ) { m_iRefX = p_iX; m_iRefY = p_iY; }; + void setRef( double p_dX, double p_dY ) { m_dRefX = p_dX; m_dRefY = p_dY; }; /** Set list of spots used to calibrate panel movement */ void setCalibDlg( CalibratePanelDialog* p_pDlg ) { m_pCalibDlg = p_pDlg; }; @@ -72,5 +72,7 @@ QImage* m_pImage; /** */ - QByteArray* m_darkFrame; + QImage* m_pRawImage; + /** */ + QByteArray* m_pDarkFrame; /** */ CalibratePanelDialog* m_pCalibDlg; @@ -85,4 +87,6 @@ /** */ QPoint m_qpRef; + /** List of spots found in frame. */ + QList m_qlSpotList; /** List of spots found in frame. In this list the spots from the camera LEDs are removed */ QList m_qlSpots; @@ -96,11 +100,11 @@ int m_iy; /** */ - int m_iRefX; + double m_dRefX; /** */ - int m_iRefY; + double m_dRefY; /** */ - int m_iCenterX; + double m_dCenterX; /** */ - int m_iCenterY; + double m_dCenterY; /** */ int m_iFrame; @@ -130,7 +134,7 @@ signals: // Signals /** Signal emitted when we find a spot. */ - void spot( int p_iX, int p_iY ); + void spot( double p_dX, double p_dY ); /** Signal emitted when we set a global reference. */ - void gref( int p_iX, int p_iY ); + void gref( double p_dX, double p_dY ); /** Signal emitted whit the number of grabbed frames per second. */ void framesGrabbed( int p_iFrames );