ImageAcquisition.cpp 12.7 KB
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#include "ImageAcquisition.h"

#include <QThread>

static bool isMaster(string str)
{
    if (settings.value("eyeCam/name").toString().toStdString().compare(str) == 0)
        return true;
    else
        return false;
}

static bool isSlave(string str)
{
    if (settings.value("fieldCam/name").toString().toStdString().compare(str) == 0)
        return true;
    else
        return false;
}

// This is a workaround to videoman getFrame not respecting the wait parameter.
// As a result, some eye trackers will block while no new image is available whereas others won't.
// Basicaly, we pool the slave camera on a separate thread as not to block the master callback.
static void updateSlave(ImageAcquisition *imageAcquisition)
{
    QElapsedTimer counter;
    Q_ASSERT(counter.isMonotonic());
    double period = 1000/imageAcquisition->slave->format.fps;

    while (imageAcquisition->running) {
        imageAcquisition->slave->buffer.imageData = imageAcquisition->videoManControl.getFrame(imageAcquisition->slave->id, true);
        counter.start();
        Mat tmp;
        if (imageAcquisition->slave->buffer.imageData != NULL) {
            tmp = cvarrToMat(&imageAcquisition->slave->buffer, true);
            flip(tmp, tmp, settings.value("fieldCam/flip").toInt()); // flip before undistorting
            remap(tmp, tmp, imageAcquisition->map1, imageAcquisition->map2, cv::INTER_CUBIC);
            if ( settings.value("fieldCam/outResX").toInt() != tmp.cols ||
                 settings.value("fieldCam/outResY").toInt() != tmp.rows ) {
                resize(
                    tmp,
                    tmp,
                    Size(settings.value("fieldCam/outResX").toInt(), settings.value("fieldCam/outResY").toInt()),
                    INTER_CUBIC
                    );
            }
        }
        imageAcquisition->videoManControl.releaseFrame( imageAcquisition->slave->id );
        imageAcquisition->slaveMutex.lock();
        tmp.copyTo(imageAcquisition->latestSlaveFrame);
        imageAcquisition->slaveMutex.unlock();
        double sleepPeriod = period - counter.elapsed();
        if (sleepPeriod > 0)
            QThread::msleep(sleepPeriod);
    }
}

void ImageAcquisition::onThreadStarted(){
    running = true;
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    if (slave)
        slaveThread = QtConcurrent::run(updateSlave, this);
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}

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void ImageAcquisition::onThreadFinishing()
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{
    running = false;
    slaveThread.waitForFinished();
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    qDebug() << QThread::currentThread()->objectName() << " done.";
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}

ImageAcquisition::ImageAcquisition(QObject *parent) : QObject(parent),
    videoManControl(VideoManControl::NO_RENDERER)
{
    running = false;
    ready = false;
    master = NULL;
    slave = NULL;

    VMInputIdentification *devList;
    int devCount;

    PerfCounter perfCounter;

    vector<Camera> tmpList;

    // Update the device list
    videoManControl.getAvailableDevices( &devList, devCount );
    qDebug() << "Found "  << devCount << " devices.";

    cameras.clear();
    tmpList.clear();
    for (int i=0; i<devCount; i++) {
        Camera camera;

        qDebug() << devList[i].friendlyName;

        // OpenCV can't enumerate devices and VideoMan can't get the camera format
        // so we have to mix them.
        // IMPORTANT: we assume the OpenCV enumeration is identic to VideoMan's
        VideoCapture cap(i);
        if( ! cap.isOpened() )
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            continue;
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        int width = cap.get(CAP_PROP_FRAME_WIDTH);
        int height = cap.get(CAP_PROP_FRAME_HEIGHT);
        cap.release();

        camera.name = devList[i].friendlyName;
        camera.format.SetFormat(
            width,
            height,
            0,
            VM_UNKNOWN,
            VM_RGB24 // always assume we have a color image
        );
        camera.format.showDlg = false;
        tmpList.push_back(camera);

        if ( isMaster(devList[i].friendlyName) || isSlave(devList[i].friendlyName)) {
            camera.id = videoManControl.addVideoInput( devList[i], &camera.format );
            videoManControl.getFormat(camera.id, camera.format);

            if (camera.id != -1)
                cameras.push_back(camera);
        }
    }

    videoManControl.freeAvailableDevicesList( &devList, devCount );

    master = NULL;
    slave = NULL;
    for (unsigned int i=0; i<cameras.size(); i++) {
        Camera* camera = &cameras[i];

        // Let OpenCV describe the image
        IplImage *tmp = cvCreateImage(
                        cvSize( camera->format.width, camera->format.height),
                        camera->format.depth,
                        camera->format.nChannels
                    );
        tmp->origin = 0;
        camera->buffer = *tmp;
        cvReleaseImage(&tmp);

        if ( isMaster(camera->name) )
            master = camera;

        if ( isSlave(camera->name ))
            slave = camera;
    }

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    if ( !master || (!slave && !isSlave("dummy")) ) {
        QString masterName = settings.value("eyeCam/name").toString();
        if (masterName.isEmpty())
            masterName = "Empty";
        QString tmp(QString("Current master: %1\n").arg(masterName));

        QString slaveName = settings.value("fieldCam/name").toString();
        if (slaveName.isEmpty())
            slaveName = "Empty";
        tmp.append(QString("Current slave: %1\n").arg(slaveName));

        tmp.append("\nThese are the cameras I found:\n\n");
        for (unsigned int i=0; i<tmpList.size(); i++)
            tmp.append(camToStr(tmpList[i])).append("\n");
        tmp.append("\nPossible solutions:\n");
        tmp.append("1) Check your config file.\n");
        tmp.append("2) Make sure no other program is using the cameras.\n");
        tmp.append("3) Turn off the cameras and replug.\n");
        tmp.append("4) Reboot your computer.\n");
        QMessageBox::critical(NULL, "Failed to open cameras.", tmp, QMessageBox::Ok, QMessageBox::NoButton);
        return;
    }

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    if (slave) {
        qDebug() << "Slave is " << camToStr(*slave);
        setUndistortionMaps( Size( slave->format.width, slave->format.height) );
        latestSlaveFrame = Mat::zeros(slave->format.width, slave->format.height, CV_8UC3);
        putText(latestSlaveFrame, "No valid frame so far...", Point(40,latestSlaveFrame.cols/2), FONT_HERSHEY_SIMPLEX, 1, Scalar(255,255,255), 2);
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    } else {
        qDebug() << "Using dummy slave";
        latestSlaveFrame = Mat::zeros(settings.value("fieldCam/outResY").toInt(), settings.value("fieldCam/outResX").toInt(), CV_8UC3);
        putText(latestSlaveFrame, "No valid frame so far...", Point(40,latestSlaveFrame.cols/2), FONT_HERSHEY_SIMPLEX, 1, Scalar(255,255,255), 2);
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    }

    if (master) {
        qDebug() << "Master is " << camToStr(*master);

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        dropCountWhenStarting = master->format.fps; // drop first second worth of frames

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        // support frame callback does not work properly so we test the callback ourselves
        // if( videoManControl.supportFrameCallback(master->id) )
        //videoManControl.setFrameCallback(master->id, &ImageAcquisition::frameCallback, this);
        videoManControl.setFrameCallback(master->id, this->frameCallback, (void*)this);

        qDebug() << "Testing callback...";

        QElapsedTimer timer;
        timer.start();
        while (!ready && !timer.hasExpired(settings.value("eyeCam/callbackMilliSecondTimeout").toInt()) )
            QThread::msleep(100);

        if (ready)
            qDebug() << "Callback works!";
        else {
            qDebug() << "Callback seems broken!";
            QString tmp;
            tmp.append(QString("The master camera callback did not function properly within %1 milliseconds.").arg(settings.value("eyeCam/callbackMilliSecondTimeout").toInt()));
            tmp.append("\nPossible solutions:\n");
            tmp.append("1) Turn off the cameras and replug.\n");
            tmp.append("2) Reboot your computer.\n");
            tmp.append("3) Try a different master.\n");
            tmp.append("4) Increase the callbackMilliSecondTimeout parameter.\n");
            QMessageBox::critical(NULL, "Master callback failed.", tmp, QMessageBox::Ok, QMessageBox::NoButton);
        }
    }
}

ImageAcquisition::~ImageAcquisition()
{
    if (master) {
        videoManControl.setFrameCallback(master->id, NULL, NULL);
        QThread::msleep(100); // Just in case a frame callback was being processed while we are finishing, give it some time to finish
    }
    videoManControl.deleteInputs();
    cameras.clear();
}

void ImageAcquisition::frameCallback(char *pixelBuffer, size_t input, double timestamp, void *data)
{
    ImageAcquisition* imageAcquisition = static_cast<ImageAcquisition*>(data);
    imageAcquisition->frameCallbackInternal(pixelBuffer, input, timestamp);
}

void ImageAcquisition::frameCallbackInternal(char *pixelBuffer, size_t input, double timestamp)
{
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    static double initial;

    if (!ready)
        ready = true;

    if ( dropCountWhenStarting == 0) {
        recordingStarted = GetTickCount64() - 1e3*timestamp; // i.e., when the camera timestamp was 0
        gTimer.setOffset(recordingStarted + 1e3*timestamp); // synchronize timer with current timestamp
        initial = 1e3*timestamp;
    }

    if (dropCountWhenStarting >= 0) {
        dropCountWhenStarting--;
        videoManControl.releaseFrame( master->id );
        return;
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    }
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    if (running && pixelBuffer != NULL) {
        JournalEntry entry(recordingStarted+timestamp*1e3);
        entry.perfCounter.start();

        master->buffer.imageData = pixelBuffer;
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        Mat tmp = cvarrToMat(&master->buffer, false);
        if ( settings.value("eyeCam/deinterlace").toBool() )
            naiveDeinterlace(tmp);
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        resize(
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                tmp,
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                entry.leftEyeFrame,
                Size(settings.value("eyeCam/outResX").toInt(), settings.value("eyeCam/outResY").toInt()),
                INTER_CUBIC
            );
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        cvtColor(entry.leftEyeFrame, entry.leftEyeFrame, CV_RGB2GRAY); // Assumes the pupil detection uses a grayscale input, may have to be changed later on
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        flip(entry.leftEyeFrame, entry.leftEyeFrame, settings.value("eyeCam/flip").toInt());

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        // videoMan getFrame function does not respect the wait=false parameter, so we have to update the image on another thread (see updateSlave)
        slaveMutex.lock();
        latestSlaveFrame.copyTo(entry.fieldFrame);
        slaveMutex.unlock();
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        entry.incIdx();
        emit imageAcquisitionDone(entry);
    }

    videoManControl.releaseFrame( master->id );
}

void ImageAcquisition::setUndistortionMaps( Size size )
{
    /* Reference: http://docs.opencv.org/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html
         *
         * | Fx,  0, Cx |
         * |  0, Fy, Cy |
         * |  0.  0, 1  |
         *
         * Fx and Fy are the focal lengths (in pixels)
         * ( Cx , Cy ) is the principal point.
         *
         */
    Mat cameraCalibration = (Mat_<float>(3,3) <<
                             settings.value("fieldCam/Fx").toFloat()	,	0.0					,	settings.value("fieldCam/Cx").toFloat()	,
                             0.0				,	settings.value("fieldCam/Fy").toFloat()	,	settings.value("fieldCam/Cy").toFloat()	,
                             0.0				,	0.0					, 	1.0
                             );

    /* Reference: http://docs.opencv.org/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html
         *
         * (k1, k2, p1, p2, k3, k4, k5, k6)
         *
         * k1, k2, k3, k4, k5 and k6 are radial distortion coeficients
         * p1 and p2 are tangential distortion coeficients
         *
         */
    Mat cameraDistortion  = (Mat_<double>(1,8) <<
                             settings.value("fieldCam/k1").toFloat(),
                             settings.value("fieldCam/k2").toFloat(),
                             settings.value("fieldCam/p1").toFloat(),
                             settings.value("fieldCam/p2").toFloat(),
                             settings.value("fieldCam/k3").toFloat(),
                             settings.value("fieldCam/k4").toFloat(),
                             settings.value("fieldCam/k5").toFloat(),
                             settings.value("fieldCam/k6").toFloat()
                             );

    initUndistortRectifyMap(
                            cameraCalibration,
                            cameraDistortion,
                            Mat(),
                            cameraCalibration,
                            size,
                            CV_32FC1,
                            map1,
                            map2
                            );
}

QString ImageAcquisition::camToStr(Camera cam)
{
    QString fps = cam.format.fps == 0 ? "unknown" : QString::number(cam.format.fps);
    return QString("'%1' %2x%3 @ %4 fps").arg(cam.name.c_str()).arg(cam.format.width).arg(cam.format.height).arg(fps);
}

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void ImageAcquisition::naiveDeinterlace(Mat &in)
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{
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    for (int i=2; i<in.rows-1; i+=2)
        in.row(i).copyTo(in.row(i+1));
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}