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Scanner.cpp
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Scanner.cpp
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/*
****************************************************************************
* Copyright (c) 2014 Uriah Liggett <freelaserscanner@gmail.com> *
* This file is part of FreeLSS. *
* *
* FreeLSS is free software: you can redistribute it and/or modify *
* it under the terms of the GNU General Public License as published by *
* the Free Software Foundation, either version 3 of the License, or *
* (at your option) any later version. *
* *
* FreeLSS is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
* GNU General Public License for more details. *
* *
* You should have received a copy of the GNU General Public License *
* along with FreeLSS. If not, see <http://www.gnu.org/licenses/>. *
****************************************************************************
*/
#include "Main.h"
#include "Scanner.h"
#include "PresetManager.h"
#include "Setup.h"
#include "TurnTable.h"
#include "LocationMapper.h"
#include "Laser.h"
#include "Camera.h"
#include "PixelLocationWriter.h"
#include "StlWriter.h"
#include "XyzWriter.h"
#include "LaserResultsMerger.h"
#include "FileWriter.h"
#include "Facetizer.h"
#include "PropertyReaderWriter.h"
#include "ObjectBaseCreator.h"
#include "NoiseRemover.h"
#include "Logger.h"
#include "MountManager.h"
namespace freelss
{
static bool CompareScanResults(const ScanResult& a, const ScanResult& b)
{
return a.getScanDate() > b.getScanDate();
}
static bool CompareScanResultFiles(const ScanResultFile& a, const ScanResultFile& b)
{
return a.extension > b.extension;
}
static bool ComparePseudoSteps(const DataPoint& a, const DataPoint& b)
{
if (a.pseudoFrame != b.pseudoFrame)
{
return a.pseudoFrame < b.pseudoFrame;
}
return a.pixel.y < b.pixel.y;
}
Scanner::Scanner() :
m_laser(NULL),
m_camera(NULL),
m_turnTable(NULL),
m_laserLocations(NULL),
m_imageProcessor(new ImageProcessor()),
m_running(false),
m_range(360),
m_filename(""),
m_progress(),
m_status(),
m_maxNumFrameRetries(5), // TODO: Place this in Database
m_maxNumFailedRows(10), // TODO: Place this in Database
m_numObjectBaseSubdivisions(3),
m_columnPoints(NULL),
m_remainingTime(0),
m_firstRowRightLaserCol(0),
m_firstRowLeftLaserCol(0),
m_maxNumLocations(0),
m_maxFramesPerRevolution(0),
m_radiansBetweenLaserPlanes(0),
m_radiansPerFrame(0),
m_rightLaserLoc(),
m_leftLaserLoc(),
m_cameraLoc(),
m_writeRangeCsvEnabled(false),
m_rangeFout(),
m_numFramesBetweenLaserPlanes(0),
m_laserSelection(Laser::ALL_LASERS),
m_task(GENERATE_SCAN),
m_results(),
m_laserDelaySec(0)
{
// Do nothing
}
Scanner::~Scanner()
{
delete [] m_laserLocations;
delete [] m_columnPoints;
delete m_imageProcessor;
}
void Scanner::setTask(Scanner::Task task)
{
m_task = task;
}
Scanner::Task Scanner::getTask()
{
Scanner::Task task;
m_status.enter();
task = m_task;
m_status.leave();
return task;
}
bool Scanner::isRunning()
{
bool running;
m_status.enter();
running = m_running;
m_status.leave();
return running;
}
Progress& Scanner::getProgress()
{
return m_progress;
}
real Scanner::getRemainingTime()
{
real remainingTime;
m_status.enter();
remainingTime = m_remainingTime;
m_status.leave();
return remainingTime;
}
void Scanner::setRange(real range)
{
if (range > 360)
{
m_range = 360;
}
else if (range < 0.01)
{
m_range = 0.01;
}
else
{
m_range = range;
}
}
void Scanner::prepareScan()
{
m_status.enter();
m_running = true;
m_progress.setPercent(0);
m_remainingTime = 0;
if (m_task == Scanner::GENERATE_SCAN)
{
m_progress.setLabel("Scanning");
}
else if (m_task == Scanner::GENERATE_DEBUG)
{
m_progress.setLabel("Generating debug info");
}
else if (m_task == Scanner::GENERATE_PHOTOS)
{
m_progress.setLabel("Generating photo sequence");
}
else
{
m_progress.setLabel("Unknown");
}
// Reinitialize the image processor
delete m_imageProcessor;
m_imageProcessor = new ImageProcessor();
// Get handles to our hardware devices
m_camera = Camera::getInstance();
m_laser = Laser::getInstance();
m_turnTable = TurnTable::getInstance();
// Initialize data structures
m_maxNumLocations = m_camera->getImageHeight();
delete [] m_laserLocations;
m_laserLocations = new PixelLocation[m_maxNumLocations];
delete [] m_columnPoints;
m_columnPoints = new ColoredPoint[m_camera->getImageWidth()];
// Set the base output file
std::stringstream sstr;
sstr << GetScanOutputDir() << std::string("/") << time(NULL);
m_filename = sstr.str();
m_firstRowRightLaserCol = m_camera->getImageWidth() * 0.5;
m_firstRowLeftLaserCol = m_camera->getImageWidth() * 0.5;
Setup * setup = Setup::get();
Preset& preset = PresetManager::get()->getActivePreset();
// Set the laser delay
switch (preset.cameraMode)
{
case CM_STILL_8MP:
m_laserDelaySec = 0.36;
break;
case CM_STILL_5MP:
m_laserDelaySec = 0.36;
break;
case CM_VIDEO_5MP:
m_laserDelaySec = 0.36;
break;
case CM_VIDEO_HD:
m_laserDelaySec = 0.18;
break;
case CM_VIDEO_1P2MP:
m_laserDelaySec = 0.18;
break;
case CM_VIDEO_VGA:
m_laserDelaySec = 0.09;
break;
case CM_STILL_VGA:
m_laserDelaySec = 0.36;
break;
case CM_STILL_HD:
m_laserDelaySec = 0.36;
break;
default:
throw Exception("Unsupported Camera Mode");
}
// Read the laser selection
m_laserSelection = preset.laserSide;
// Read the location of the lasers and camera
m_rightLaserLoc = setup->rightLaserLocation;
m_leftLaserLoc = setup->leftLaserLocation;
m_cameraLoc = setup->cameraLocation;
m_status.leave();
}
Scanner::LiveData Scanner::getLiveDataLock()
{
m_results.enter();
Scanner::LiveData data;
data.leftLaserResults = &m_leftLaserResults;
data.rightLaserResults = &m_rightLaserResults;
return data;
}
void Scanner::releaseLiveDataLock()
{
m_results.leave();
}
void Scanner::run()
{
try
{
runScan();
}
catch (Exception& ex)
{
ErrorLog << "!! Exception: " << ex << Logger::ENDL;
}
catch (std::exception& ex)
{
ErrorLog << "!! Exception: " << ex.what() << Logger::ENDL;
}
catch (...)
{
ErrorLog << "Unknown Exception Occurred" << Logger::ENDL;
}
}
void Scanner::setPhotoSequencePath(const std::string& pathPrefix)
{
if (!MountManager::get()->isMounted(pathPrefix))
{
throw Exception("Path not mounted: " + pathPrefix);
}
m_photoPathPrefix = pathPrefix + "/photos_" + ToString((int)GetTimeInSeconds());
mkdir(m_photoPathPrefix.c_str(), S_IRWXU | S_IRWXG | S_IROTH | S_IXOTH);
}
void Scanner::setSavePhotoSequenceLaserImages(bool saveLaserImages)
{
m_saveLaserImages = saveLaserImages;
}
void Scanner::runScan()
{
// Prepare to scan
prepareScan();
Setup * setup = Setup::get();
Preset preset = PresetManager::get()->getActivePreset();
LocationMapper leftLocMapper(m_leftLaserLoc, m_cameraLoc);
LocationMapper rightLocMapper(m_rightLaserLoc, m_cameraLoc);
if (setup->haveLaserPlaneNormals)
{
InfoLog << "Using auto-corrected laser plane normals" << Logger::ENDL;
leftLocMapper.setLaserPlaneNormal(setup->leftLaserPlaneNormal);
rightLocMapper.setLaserPlaneNormal(setup->rightLaserPlaneNormal);
}
// Compute the angle between the two laser planes
real leftLaserX = ABS(m_leftLaserLoc.x);
real rightLaserX = ABS(m_rightLaserLoc.x);
real camZ = ABS(m_cameraLoc.z);
// Sanity check to prevent divide by 0. In reality the laser should never be this close to the camera
if (leftLaserX < 0.001)
{
leftLaserX = 0.001;
}
if (rightLaserX < 0.001)
{
rightLaserX = 0.001;
}
//
// tan(theta) = ABS(laserX) / camZ
// theta = atan(ABS(laserX) / camZ)
//
real leftLaserAngle = atan(leftLaserX / camZ);
real rightLaserAngle = atan(rightLaserX / camZ);
m_radiansBetweenLaserPlanes = leftLaserAngle + rightLaserAngle;
// Write the range CSV
if (m_writeRangeCsvEnabled)
{
m_rangeFout.open((m_filename + ".csv").c_str());
if (!m_rangeFout.is_open())
{
throw Exception("Error opening range CSV file");
}
}
// Init the results vectors
m_results.enter();
m_leftLaserResults.clear();
m_rightLaserResults.clear();
m_results.leave();
int numFrames = 0;
m_maxFramesPerRevolution = preset.framesPerRevolution;
if (m_maxFramesPerRevolution < 1)
{
m_maxFramesPerRevolution = 1;
}
int stepsPerRevolution = Setup::get()->stepsPerRevolution;
if (m_maxFramesPerRevolution > stepsPerRevolution)
{
m_maxFramesPerRevolution = stepsPerRevolution;
}
Scanner::TimingStats timingStats;
memset(&timingStats, 0, sizeof(Scanner::TimingStats));
try
{
// Make sure the lasers are off
m_laser->turnOff(Laser::ALL_LASERS);
delayAcquisitionForLaser();
// Enable the turn table motor
m_turnTable->setMotorEnabled(true);
// Wait a second in case the object shakes
Thread::usleep(2000000);
InfoLog << "Enabled motor" << Logger::ENDL;
if (m_laser == NULL)
{
throw Exception("Laser object is NULL");
}
if (m_turnTable == NULL)
{
throw Exception("Laser object is NULL");
}
float rotation = 0;
// Read the number of motor steps per revolution
int stepsPerRevolution = setup->stepsPerRevolution;
float rangeRadians = (m_range / 360) * (2 * PI);
// The number of steps for a single frame
int stepsPerFrame = ceil(stepsPerRevolution / (float)m_maxFramesPerRevolution);
if (stepsPerFrame < 1)
{
stepsPerFrame = 1;
}
// The number of radians a single step takes you
m_radiansPerFrame = ((2 * PI) / (float) stepsPerRevolution);
// The radians to move for a single frame
float frameRadians = stepsPerFrame * m_radiansPerFrame;
numFrames = ceil(rangeRadians / frameRadians);
m_numFramesBetweenLaserPlanes = m_radiansBetweenLaserPlanes / frameRadians;
InfoLog << "Angle between laser planes: " << RADIANS_TO_DEGREES(m_radiansBetweenLaserPlanes)
<< " degrees, radiansPerFrame=" << m_radiansPerFrame
<< ", numFramesBetweenLaserPlanes=" << m_numFramesBetweenLaserPlanes
<< ", numFrames=" << numFrames << Logger::ENDL;
timingStats.startTime = GetTimeInSeconds();
for (int iFrame = 0; iFrame < numFrames; iFrame++)
{
timingStats.numFrames++;
// Stop if the user asked us to
if (m_stopRequested)
{
break;
}
if (m_task == Scanner::GENERATE_SCAN)
{
singleScan(iFrame, rotation, frameRadians, leftLocMapper, rightLocMapper, &timingStats);
}
else if (m_task == Scanner::GENERATE_PHOTOS)
{
writePhotos(iFrame, frameRadians);
}
rotation += frameRadians;
// Update the progress
double progress = (iFrame + 1.0) / numFrames;
double timeElapsed = GetTimeInSeconds() - timingStats.startTime;
double percentComplete = 100.0 * progress;
double fullTimeSec = timeElapsed / progress;
double remainingSec = fullTimeSec - timeElapsed;
m_progress.setPercent(progress * 100);
m_status.enter();
m_remainingTime = remainingSec;
m_status.leave();
std::stringstream sstr;
logTimingStats(sstr, timingStats);
InfoLog << sstr.str() << percentComplete << "% Complete, " << (remainingSec / 60) << " minutes remaining." << Logger::ENDL;
}
}
catch (...)
{
m_turnTable->setMotorEnabled(false);
m_status.enter();
m_running = false;
m_status.leave();
if (m_writeRangeCsvEnabled)
{
m_rangeFout.close();
}
throw;
}
m_rangeFout.close();
m_turnTable->setMotorEnabled(false);
if (m_task == Scanner::GENERATE_SCAN)
{
InfoLog << "Merging laser results..." << Logger::ENDL;
double time1 = GetTimeInSeconds();
// Merge the left and right lasers and sort the results
std::vector<DataPoint> results;
LaserResultsMerger merger;
m_results.enter();
merger.merge(results, m_leftLaserResults, m_rightLaserResults, m_maxFramesPerRevolution,
m_numFramesBetweenLaserPlanes, Camera::getInstance()->getImageHeight(), preset.laserMergeAction, m_progress);
m_results.leave();
// Sort by pseudo-step and row
InfoLog << "Sort 2... " << Logger::ENDL;
std::sort(results.begin(), results.end(), ComparePseudoSteps);
InfoLog << "End Sort 2... " << Logger::ENDL;
m_results.enter();
InfoLog << "Merged " << m_leftLaserResults.size() << " left laser and " << m_rightLaserResults.size() << " right laser results into " << results.size() << " results." << Logger::ENDL;
m_leftLaserResults.clear();
m_rightLaserResults.clear();
m_results.leave();
timingStats.laserMergeTime += GetTimeInSeconds() - time1;
InfoLog << "Constructing mesh..." << Logger::ENDL;
// Mesh the point cloud
FaceMap faces;
if (preset.generatePly || preset.generateStl)
{
Facetizer facetizer;
time1 = GetTimeInSeconds();
m_progress.setLabel("Facetizing Point Cloud");
facetizer.facetize(faces, results, m_range > 359, m_progress, true);
// Add the object base
if (preset.createBaseForObject)
{
ObjectBaseCreator objectBaseCreator;
objectBaseCreator.createBase(faces, results, preset.groundPlaneHeight, m_numObjectBaseSubdivisions, m_progress);
}
timingStats.facetizationTime += GetTimeInSeconds() - time1;
}
// Write the PLY file
if (preset.generatePly)
{
m_progress.setLabel("Generating PLY file");
m_progress.setPercent(0);
std::string plyFilename = m_filename + ".ply";
InfoLog << "Writing PLY file... " << plyFilename << Logger::ENDL;
time1 = GetTimeInSeconds();
FileWriter plyOut(plyFilename.c_str());
if (!plyOut.is_open())
{
throw Exception("Error opening file for writing: " + plyFilename);
}
/** Writes the results to a PLY file */
PlyWriter plyWriter;
plyWriter.setDataFormat(preset.plyDataFormat);
plyWriter.setTotalNumPoints((int)results.size());
plyWriter.setTotalNumFacesFromFaceMap(faces);
plyWriter.begin(&plyOut);
real percent = 0;
for (size_t iRec = 0; iRec < results.size(); iRec++)
{
real newPct = 100.0f * iRec / results.size();
if (newPct - percent > 0.1)
{
m_progress.setPercent(newPct);
percent = newPct;
}
plyWriter.writePoints(&results[iRec].point, 1);
}
plyWriter.writeFaces(faces);
plyWriter.end();
plyOut.close();
timingStats.plyWritingTime += GetTimeInSeconds() - time1;
}
// Generate the XYZ file
if (preset.generateXyz)
{
time1 = GetTimeInSeconds();
XyzWriter xyzWriter;
xyzWriter.write(m_filename, results, m_progress);
timingStats.xyzWritingTime += GetTimeInSeconds() - time1;
}
// Generate the STL file
if (preset.generateStl)
{
time1 = GetTimeInSeconds();
StlWriter stlWriter;
stlWriter.write(m_filename, results, faces, m_progress);
timingStats.stlWritingTime = GetTimeInSeconds() - time1;
}
std::stringstream sstr;
logTimingStats(sstr, timingStats);
InfoLog << sstr.str();
// Generate the log file
std::string txtFilename = m_filename + ".log";
std::ofstream fout (txtFilename.c_str());
if (fout.is_open())
{
// Log the software version
fout << "FreeLSS Version: " << FREELSS_VERSION_MAJOR << "." << FREELSS_VERSION_MINOR << std::endl;
fout << "Preset: " << preset.name << std::endl;
fout << "Range: " << m_range << " degrees" << std::endl;
// Log the timing stats
logTimingStats(fout, timingStats);
// Get the settings that were used to generate this scan
std::vector<Property> properties;
PresetManager::get()->encodeProperties(properties);
Setup::get()->encodeProperties(properties);
// Write the settings and preset properties
PropertyReaderWriter propWriter;
propWriter.writeProperties(fout, properties);
fout << std::endl;
fout.close();
}
else
{
ErrorLog << "Error opening file for writing: " << txtFilename << Logger::ENDL;
}
}
m_progress.setPercent(100);
m_status.enter();
m_running = false;
m_status.leave();
InfoLog << "Done." << Logger::ENDL;
}
void Scanner::generateDebugInfo(Laser::LaserSide laserSide)
{
Setup * setup = Setup::get();
// Prepare for scanning
prepareScan();
std::string debuggingCsv = GetDebugOutputDir() + "/0.csv";
// Make sure the lasers are off
if (m_laser->isOn(Laser::LEFT_LASER) || m_laser->isOn(Laser::RIGHT_LASER))
{
m_laser->turnOff(Laser::ALL_LASERS);
delayAcquisitionForLaser();
}
bool useLeftLaser = m_laserSelection == Laser::LEFT_LASER || m_laserSelection == Laser::ALL_LASERS;
bool useRightLaser = m_laserSelection == Laser::RIGHT_LASER || m_laserSelection == Laser::ALL_LASERS;
// Ensure that the camera images get released
Image * image1 = NULL;
Image * image2 = NULL;
try
{
image1 = acquireImage();
Image rightDebuggingImage;
std::vector<PixelLocation> rightLocations(m_maxNumLocations);
int numRightLocations = 0;
if (useRightLaser)
{
m_laser->turnOn(Laser::RIGHT_LASER);
delayAcquisitionForLaser();
image2 = acquireImage();
m_laser->turnOff(Laser::RIGHT_LASER);
if (useLeftLaser)
{
m_laser->turnOn(Laser::LEFT_LASER);
}
delayAcquisitionForLaser();
int firstRowLaserCol = m_camera->getImageWidth() * 0.5;
int numRowsBadFromColor = 0;
int numRowsBadFromNumRanges = 0;
numRightLocations = m_imageProcessor->process(* image1,
* image2,
&rightDebuggingImage,
&rightLocations.front(),
m_maxNumLocations,
firstRowLaserCol,
numRowsBadFromColor,
numRowsBadFromNumRanges,
debuggingCsv.c_str());
releaseImage(image2);
// If we had major problems with this frame, try it again
InfoLog << "numRowsBadFromColor: " << numRowsBadFromColor << Logger::ENDL;
InfoLog << "numRowsBadFromNumRanges: " << numRowsBadFromNumRanges << Logger::ENDL;
// Map the points so that points below the ground plane and outside the max object size are omitted
int numLocationsMapped = 0;
LocationMapper locMapper(setup->rightLaserLocation, setup->cameraLocation);
if (setup->haveLaserPlaneNormals)
{
locMapper.setLaserPlaneNormal(setup->rightLaserPlaneNormal);
}
locMapper.mapPoints(&rightLocations.front(), image1, m_columnPoints, numRightLocations, numLocationsMapped);
// Remove the noisy points
NoiseRemover().removeNoise(&rightLocations.front(), m_columnPoints, numLocationsMapped, numLocationsMapped);
numRightLocations = numLocationsMapped;
}
std::vector<PixelLocation> leftLocations (m_maxNumLocations);
int numLeftLocations = 0;
Image leftDebuggingImage;
if (useLeftLaser)
{
if (!m_laser->isOn(Laser::LEFT_LASER))
{
m_laser->turnOn(Laser::LEFT_LASER);
delayAcquisitionForLaser();
}
image2 = acquireImage();
m_laser->turnOff(Laser::LEFT_LASER);
delayAcquisitionForLaser();
int firstRowLaserCol = m_camera->getImageWidth() * 0.5;
int numRowsBadFromColor = 0;
int numRowsBadFromNumRanges = 0;
numLeftLocations = m_imageProcessor->process(* image1,
* image2,
&leftDebuggingImage,
&leftLocations.front(),
m_maxNumLocations,
firstRowLaserCol,
numRowsBadFromColor,
numRowsBadFromNumRanges,
debuggingCsv.c_str());
releaseImage(image2);
// If we had major problems with this frame, try it again
InfoLog << "numRowsBadFromColor: " << numRowsBadFromColor << Logger::ENDL;
InfoLog << "numRowsBadFromNumRanges: " << numRowsBadFromNumRanges << Logger::ENDL;
// Map the points so that points below the ground plane and outside the max object size are omitted
int numLocationsMapped = 0;
LocationMapper locMapper(setup->leftLaserLocation, setup->cameraLocation);
if (setup->haveLaserPlaneNormals)
{
locMapper.setLaserPlaneNormal(setup->leftLaserPlaneNormal);
}
locMapper.mapPoints(&leftLocations.front(), image1, m_columnPoints, numLeftLocations, numLocationsMapped);
// Remove the noisy points
NoiseRemover().removeNoise(&rightLocations.front(), m_columnPoints, numLocationsMapped, numLocationsMapped);
numLeftLocations = numLocationsMapped;
}
releaseImage(image1);
//
// Merge the two debugging images
//
Image debuggingImage;
mergeDebuggingImages(debuggingImage, leftDebuggingImage, rightDebuggingImage, laserSide);
std::string baseFilename = GetDebugOutputDir() + "/";
// Show the image center line
std::vector<PixelLocation> centerLocs (debuggingImage.getHeight());
for (size_t iLoc = 0; iLoc < centerLocs.size(); iLoc++)
{
if ((iLoc % 4) != 0 && ((iLoc + 2) % 4) != 0)
{
PixelLocation loc;
loc.x = debuggingImage.getWidth() / 2;
loc.y = static_cast<real>(iLoc);
centerLocs.push_back(loc);
}
}
Image::overlayPixels(debuggingImage, ¢erLocs.front(), (int) centerLocs.size(), 0, 0, 255);
// Overlay the pixels onto the debug image and write that as a new image
PixelLocationWriter locWriter;
Image::overlayPixels(debuggingImage, &rightLocations.front(), numRightLocations, 255, 0, 0);
Image::overlayPixels(debuggingImage, &leftLocations.front(), numLeftLocations, 255, 0, 0);
if (setup->haveLaserPlaneNormals)
{
// Left
std::vector<PixelLocation> left;
PixelLocation leftTop;
leftTop.x = setup->leftLaserCalibrationTop.x * debuggingImage.getWidth();
leftTop.y = setup->leftLaserCalibrationTop.y * debuggingImage.getHeight();
highlightPixel(leftTop, left);
PixelLocation leftBottom;
leftBottom.x = setup->leftLaserCalibrationBottom.x * debuggingImage.getWidth();
leftBottom.y = setup->leftLaserCalibrationBottom.y * debuggingImage.getHeight();
highlightPixel(leftBottom, left);
Image::overlayPixels(debuggingImage, &left.front(), (int) left.size(), 255, 255, 0);
// Right
std::vector<PixelLocation> right;
PixelLocation rightTop;
rightTop.x = setup->rightLaserCalibrationTop.x * debuggingImage.getWidth();
rightTop.y = setup->rightLaserCalibrationTop.y * debuggingImage.getHeight();
highlightPixel(rightTop, right);
PixelLocation rightBottom;
rightBottom.x = setup->rightLaserCalibrationBottom.x * debuggingImage.getWidth();
rightBottom.y = setup->rightLaserCalibrationBottom.y * debuggingImage.getHeight();
highlightPixel(rightBottom, right);
Image::overlayPixels(debuggingImage, &right.front(), (int) right.size(), 0, 255, 0);
InfoLog << "Laser plane data is available" << Logger::ENDL;
}
else
{
InfoLog << "No laser plane normal data is available" << Logger::ENDL;
}
locWriter.writeImage(debuggingImage, debuggingImage.getWidth(), debuggingImage.getHeight(), baseFilename + "5.png");
}
catch (...)
{
releaseImage(image1);
releaseImage(image2);
throw;
}
m_progress.setPercent(100);
m_status.enter();
m_running = false;
m_status.leave();
InfoLog << "Done." << Logger::ENDL;
}
void Scanner::highlightPixel(const PixelLocation& inPixel, std::vector<PixelLocation>& outPixels)
{
PixelLocation pixel = inPixel;
pixel.x = inPixel.x - 5;
for (int i = 0; i <= 10; i++)
{
outPixels.push_back(pixel);
pixel.x++;
}
pixel = inPixel;
pixel.y = inPixel.y - 5;
for (int i = 0; i <= 10; i++)
{
outPixels.push_back(pixel);
pixel.y++;
}
}
void Scanner::mergeDebuggingImages(Image& outImage, Image& leftDebuggingImage, Image& rightDebuggingImage, Laser::LaserSide laserSide)
{
if (laserSide == Laser::RIGHT_LASER)
{
memcpy(outImage.getPixels(), rightDebuggingImage.getPixels(), outImage.getPixelBufferSize());
}
else if (laserSide == Laser::LEFT_LASER)
{
memcpy(outImage.getPixels(), leftDebuggingImage.getPixels(), outImage.getPixelBufferSize());
}
else if (laserSide == Laser::ALL_LASERS)
{
//
// Merge the two images with a MAX operator
//
unsigned char * left = leftDebuggingImage.getPixels();
unsigned char * right = rightDebuggingImage.getPixels();
unsigned numPixels = leftDebuggingImage.getWidth() * leftDebuggingImage.getHeight();
unsigned char * out = outImage.getPixels();
for (unsigned iPx = 0; iPx < numPixels; iPx++)
{
int lr = (int) left[0];
int lg = (int) left[1];
int lb = (int) left[2];
int leftMagSq = lr * lr + lg * lg + lb * lb;
int rr = (int) right[0];
int rg = (int) right[1];
int rb = (int) right[2];
int rightMagSq = rr * rr + rg * rg + rb * rb;
if (leftMagSq > rightMagSq)
{
out[0] = (unsigned char) lr;
out[1] = (unsigned char) lg;
out[2] = (unsigned char) lb;
}
else
{
out[0] = (unsigned char) rr;
out[1] = (unsigned char) rg;
out[2] = (unsigned char) rb;
}
left += 3;
right += 3;
out += 3;
}
}
else
{
throw Exception("Unsupported LaserSide");
}
}
void Scanner::writePhotos(int frame, real frameRotation)
{
m_turnTable->rotate(frameRotation);
bool useLeftLaser = m_saveLaserImages && (m_laserSelection == Laser::LEFT_LASER || m_laserSelection == Laser::ALL_LASERS);
bool useRightLaser = m_saveLaserImages && (m_laserSelection == Laser::RIGHT_LASER || m_laserSelection == Laser::ALL_LASERS);
Image * image = NULL;
std::string fullPathPrefix = m_photoPathPrefix + "/" + ToString(frame + 1);
try
{
image = acquireImage();
std::string filename = fullPathPrefix + ".jpg";
m_progress.setLabel("Writing " + filename + "...");
Image::writeJpeg(* image, filename);
releaseImage(image);
image = NULL;
if (useRightLaser)
{
m_laser->turnOn(Laser::RIGHT_LASER);
delayAcquisitionForLaser();
image = acquireImage();
filename = fullPathPrefix + "_R.jpg";
m_progress.setLabel("Writing " + filename + "...");
Image::writeJpeg(* image, filename);
releaseImage(image);
image = NULL;
m_laser->turnOff(Laser::RIGHT_LASER);
}
if (useLeftLaser)
{
m_laser->turnOn(Laser::LEFT_LASER);
delayAcquisitionForLaser();
image = acquireImage();