smokeboxidentification/src/CameraControl.cpp

#pragma execution_character_set("utf-8")
#include "CameraControl.h"
#include <QDebug>

CameraControl::CameraControl()
{
	m_calib1 = ILCalibNPointsPtr(__uuidof(LCalibNPoints));
	m_calib1->FixImageMode = LPVFixImageMode::LPVFixImageUndistortAndUntilt;
	m_calib2 = ILCalibNPointsPtr(__uuidof(LCalibNPoints));
	m_calib2->FixImageMode = LPVFixImageMode::LPVFixImageUndistortAndUntilt;

	qRegisterMetaType<QVector<ImageInfo> >("QVector<ImageInfo>");
	m_pobjThread = new QThread;
	moveToThread(m_pobjThread);
	connect(m_pobjThread, &QThread::started, this, &CameraControl::onOpen);
	connect(m_pobjThread, &QThread::finished,
		this, &QObject::deleteLater);
	m_pobjThread->start();
}

CameraControl::~CameraControl()
{
	if (m_pobjThread)
	{
		m_pobjThread->quit();
		m_pobjThread->wait();
		m_pobjThread = nullptr;
	}
	for each (Camera* pCamera in m_vecPCamera)
	{
		DELETE_POINTER(pCamera);
	}
	m_vecPCamera.clear();
}

Q_SLOT void CameraControl::onOpen()
{
	QString filePath = QCoreApplication::applicationDirPath() + CAMERA_CONFIG;
	if (readCameraConfig(filePath))
	{
		m_bCamerasInit = initCamera();
	}
}

bool CameraControl::readCameraConfig(QString filePath)
{
	m_mapIdCameraInfoSide.clear();
	m_mapIdCameraInfoTop.clear();
	exposureRowMap.clear();
	m_mapSerialNumberIdSide.clear();
	m_mapSerialNumberIdTop.clear();

	QFile file(filePath);
	if (!file.open(QIODevice::ReadOnly | QIODevice::Text))
	{
		qWarning() << "打开文件失败！";
		return false;
	}
	QByteArray arr = file.readAll();
	file.close();
	if (arr.isEmpty())
	{
		qWarning() << "内容为空";
		return false;
	}
	QJsonParseError err;
	QJsonDocument doc = QJsonDocument::fromJson(arr, &err);
	if (doc.isEmpty())
	{
		qWarning() <<"[QJsonDocument]: "<< err.errorString(); //打印失败信息
		return false;
	}

	QJsonObject jsonObj = doc.object();
	auto getCameraType = [](int type)-> CameraType
	{
		CameraType cameraType;
		switch (type)
		{
		case 100:
			cameraType = CameraType::Virtual;
			break;
		case 140:
			cameraType = CameraType::Hik;
			break;
		case 190:
			cameraType = CameraType::Basler;
			break;
		case 210:
			cameraType = CameraType::LXTof;
			break;
		default:
			break;
		}
		return cameraType;
	};

	QJsonObject topObj = jsonObj.value("top").toObject();
	int topStartId, topEndId;
	if (!topObj.isEmpty())
	{
		topStartId = topObj.value("startID").toInt();
		topEndId = topObj.value("endID").toInt();
	}
	else
	{
		qWarning() << "top id error";
		return false;
	}

	QJsonObject sideObj = jsonObj.value("side").toObject();
	int sideStartId, sideEndId;
	if (!sideObj.isEmpty())
	{
		sideStartId = sideObj.value("startID").toInt();
		sideEndId = sideObj.value("endID").toInt();
	}
	else
	{
		qWarning() << "side id error";
		return false;
	}
	//根据文档读取，没有则采用默认值如下
	//现在1和2巷道都是用的下三层（1-3层）曝光值250000ms/增益20，
	//中三层（4-6层）曝光值150000ms/增益20，
	//上三层（7-9层）曝光值50000ms/增益20
	
	QJsonObject exposureRowObj = jsonObj.value("exposureRowMap").toObject();
	if (!exposureRowObj.isEmpty())
	{
		for each (QString key in exposureRowObj.keys()) {

			exposureRowMap[key.toInt()] = exposureRowObj.value(key).toInt();
		}
	}
	else
	{
		for (int floor = 1; floor <= 9; floor++) {
			int exposure = 2500;
			if (floor >= 1 && floor <= 3)
			{
				exposure = 250000;
			}
			else if (floor >= 7 && floor <= 9)
			{
				exposure = 50000;
			}
			else
			{
				exposure = 150000;
			}
			exposureRowMap[floor] = exposure;
		}
	}

	QJsonObject devicesObj = jsonObj.value("devices").toObject();
	if (!devicesObj.isEmpty()) {
		QStringList devicesLabelList = devicesObj.keys();
		for each (QString deviceLabel in devicesLabelList)
		{
			CameraInfo cameraInfo;
			cameraInfo.cameraLabel = deviceLabel;
			QStringList strList = deviceLabel.split(' ');
			if (strList.length() != 2)
			{
				qWarning() << "Device label: " << deviceLabel << " syntax error!";
				continue;
			}
			cameraInfo.modelName = strList.at(0);
			cameraInfo.serialNumber = strList.at(1);
			QJsonObject deviceObj = devicesObj.value(deviceLabel).toObject();
			if (!deviceObj.isEmpty())
			{
				cameraInfo.cameraType = getCameraType(deviceObj.value("type").toInt());
				cameraInfo.exposure = deviceObj.value("exposure").toDouble();
				cameraInfo.imageHeight = deviceObj.value("height").toInt();
				cameraInfo.imageWidth = deviceObj.value("width").toInt();
				cameraInfo.location = deviceObj.value("location").toInt();
				m_cameraStockLocation.insert(cameraInfo.serialNumber, cameraInfo.location);
				if (deviceObj.contains("calib_file"))
				{
					cameraInfo.calibFile = deviceObj.value("calib_file").toString();

					if (cameraInfo.location == 1)
					{
						m_calib1->Load(cameraInfo.calibFile.toStdString().c_str());
					}
					else
					{
						m_calib2->Load(cameraInfo.calibFile.toStdString().c_str());
					}
				}

				cameraInfo.saveImgSuffix = deviceObj.value("save_img_suffix").toString();
				int id = deviceObj.value("id").toInt();
				if (deviceObj.contains("rotation_angle"))
				{
					cameraInfo.rotationAngle = deviceObj.value("rotation_angle").toInt();
				}
				if (id >= topStartId && id <= topEndId)
				{
					m_mapIdCameraInfoTop[id] = cameraInfo;
					m_mapSerialNumberIdTop[cameraInfo.serialNumber] = id;
				}
				else if (id >= sideStartId && id <= sideEndId)
				{
					m_mapIdCameraInfoSide[id] = cameraInfo;
					m_mapSerialNumberIdSide.append(qMakePair(cameraInfo.serialNumber,id));
					//m_mapSerialNumberIdSide[cameraInfo.serialNumber] = id;
				}

			}
		}
	}

	return true;
}

bool CameraControl::initCamera()
{
	QList<CameraInfo> cameraInfoList = m_mapIdCameraInfoSide.values();
	cameraInfoList.append(m_mapIdCameraInfoTop.values());
	if (!loadCamera(cameraInfoList))
	{
		qWarning() << "Load camera failed";
		return false;
	}
	else 
	{
		QStringList serialNumberList = m_mapSNIndex.keys();
		for each (const QString& serialNumber in serialNumberList)
		{
			if (!openCamera(serialNumber))
			{
				qWarning() << "Open camera: " << serialNumber << " failed";
				continue;
			}
			else
			{
				qDebug() << "Open camera: " << serialNumber << " successed";
				if (!startCamera(serialNumber))
				{
					qWarning() << "Start camera: " << serialNumber << " failed";
					continue;
				}
				else
				{
					qDebug() << "Start camera: " << serialNumber << " successed";
					if (!setSoftwareTrigger(serialNumber))
					{
						qWarning() << "Set camera: " << serialNumber << " software trigger failed";
					}
					else
					{
						qDebug() << "Set camera: " << serialNumber << " software trigger successed";
					}
				}
			}
		}
	}
	return true;
}

bool CameraControl::loadCamera(const QList<CameraInfo>& cameraInfoList)
{
	bool flag = false;
	for each (Camera* pCamera in m_vecPCamera)
	{
		DELETE_POINTER(pCamera);
	}
	m_vecPCamera.clear();
	m_mapSNIndex.clear();

	for each(CameraInfo cameraInfo in cameraInfoList)
	{
		qDebug() << "serialNumber[" << cameraInfo.serialNumber << "]:" << cameraInfo.cameraType;

		QString serialNumber = cameraInfo.serialNumber;
		CameraType cameraType = cameraInfo.cameraType;
		if (cameraType == CameraType::Hik)
		{
			for (int i = 0; i < 500; i++) {
				Camera* pHikCamera = new HikCamera();
				if (pHikCamera->initCamera(serialNumber))
				{
					m_vecPCamera.push_back(pHikCamera);
					m_mapSNIndex[serialNumber] = m_vecPCamera.size() - 1;
					flag = true;
					break;
				}
				else
				{
					qWarning() << "SerialNumber: " << serialNumber << " init failed ;count " <<i;
					DELETE_POINTER(pHikCamera);
					
					Sleep(1000);
					//flag = false;
				}
			}
		}
		else if (cameraType == CameraType::LXTof)
		{

			for (int i = 0; i < 500; i++) {

				Camera* pLXCamera = new LXCamera();

				if (pLXCamera->initCamera(serialNumber))
				{
					m_vecPCamera.push_back(pLXCamera);
					m_mapSNIndex[serialNumber] = m_vecPCamera.size() - 1;
					flag = true;

					break;
				}
				else
				{
					qWarning() << "SerialNumber: " << serialNumber << " init failed ;count " << i;
					DELETE_POINTER(pLXCamera);

					Sleep(1000);
					//flag = false;
				}
			}
		}
	}
	qDebug() << "m_vecPCamera size: " << m_vecPCamera.size();
	return flag;
}
bool CameraControl::openCamera(const QStringList& serialNumberList)
{
	bool flag = true;
	for each (QString serialNumber in serialNumberList)
	{
		if (!openCamera(serialNumber))
		{
			qWarning() << "Open " << serialNumber << "failed!";
			flag = false;
		}
		else
		{
			qDebug() << "Open " << serialNumber << " successed";
		}
	}
	return flag;
}
bool CameraControl::closeCamera(const QStringList& serialNumberList)
{
	bool flag = true;
	for each (QString serialNumber in serialNumberList)
	{
		if (!closeCamera(serialNumber))
		{
			qWarning() << "Close " << serialNumber << "failed!";
			flag = false;
		}
		else
		{
			qDebug() << "Close " << serialNumber << " successed";
		}
	}
	return flag;
}
bool CameraControl::startCamera(const QStringList& serialNumberList)
{
	bool flag = true;
	for each (QString serialNumber in serialNumberList)
	{
		if (!startCamera(serialNumber))
		{
			qWarning() << "Start " << serialNumber << "failed!";
			flag = false;
		}
		else
		{
			qDebug() << "Start " << serialNumber << " successed";
		}
	}
	return flag;
}

bool CameraControl::stopCamera(const QStringList& serialNumberList)
{
	bool flag = true;
	for each (QString serialNumber in serialNumberList)
	{
		if (!stopCamera(serialNumber))
		{
			qWarning() << "Stop " << serialNumber << "failed!";
			flag = false;
		}
		else
		{
			qDebug() << "Stop " << serialNumber << " successed";
		}
	}
	return flag;
}

bool CameraControl::setSoftwareTrigger(const QStringList& serialNumberList)
{
	bool flag = true;
	for each (QString serialNumber in serialNumberList)
	{
		if (!setSoftwareTrigger(serialNumber))
		{
			qWarning() << "Set " << serialNumber << " software trigger failed!";
			flag = false;
		}
		else
		{
			qDebug() << "Set " << serialNumber << " software trigger successed";
		}
	}
	return flag;
}

bool CameraControl::openCamera(const QString& serialNumber)
{
	QMap<QString, int>::iterator iter = m_mapSNIndex.find(serialNumber);
	qInfo() << "openCamera sid: " << serialNumber << "  index:" << iter.value();
	if (iter == m_mapSNIndex.end())
	{
		qWarning() << "Do not find " << serialNumber;
		return false;
	}
	int index = iter.value();
	return m_vecPCamera[index]->openCamera();
}

bool CameraControl::closeCamera(const QString& serialNumber)
{
	QMap<QString, int>::iterator iter = m_mapSNIndex.find(serialNumber);
	if (iter == m_mapSNIndex.end())
	{
		qWarning() << "Do not find " << serialNumber;
		return false;
	}
	int index = iter.value();
	return m_vecPCamera[index]->closeCamera();
}

bool CameraControl::startCamera(const QString& serialNumber)
{
	QMap<QString, int>::iterator iter = m_mapSNIndex.find(serialNumber);
	if (iter == m_mapSNIndex.end())
	{
		qWarning() << "Do not find " << serialNumber;
		return false;
	}
	int index = iter.value();
	return m_vecPCamera[index]->startCamera();
}

bool CameraControl::stopCamera(const QString& serialNumber)
{
	QMap<QString, int>::iterator iter = m_mapSNIndex.find(serialNumber);
	if (iter == m_mapSNIndex.end())
	{
		qWarning() << "Do not find " << serialNumber;
		return false;
	}
	int index = iter.value();
	return m_vecPCamera[index]->stopCamera();
}

bool CameraControl::setSoftwareTrigger(const QString& serialNumber)
{
	QMap<QString, int>::iterator iter = m_mapSNIndex.find(serialNumber);
	if (iter == m_mapSNIndex.end())
	{
		qWarning() << "Do not find " << serialNumber;
		return false;
	}
	int index = iter.value();
	return m_vecPCamera[index]->setTriggerSource(SOFTWARE);
}
int CameraControl::getDeviceId(const QString& serialNumber) {
	for (int i = 0; i < m_mapSerialNumberIdSide.size(); ++i) {
		if (m_mapSerialNumberIdSide[i].first == serialNumber) {
			return i;
		}
	}
	//return -1;
	//return m_mapSerialNumberIdSide.value(serialNumber);
}

bool CameraControl::setExposure(const QString& serialNumber, int exposure)
{
	QMap<QString, int>::iterator iter = m_mapSNIndex.find(serialNumber);
	if (iter == m_mapSNIndex.end())
	{
		qWarning() << "Do not find " << serialNumber;
		return false;
	}
	int index = iter.value();
	return m_vecPCamera[index]->setExposure(exposure);
}

bool CameraControl::capture(const QString& serialNumber, cv::Mat& img, cv::Mat& img3D, int exposure)
{
	QMap<QString, int>::iterator iter = m_mapSNIndex.find(serialNumber);
	if (iter == m_mapSNIndex.end())
	{
		qWarning() << "Do not find " << serialNumber;
		return false;
	}
	int index = iter.value();
	m_vecPCamera[index]->setExposure(exposure);
	int localMap = m_cameraStockLocation.find(serialNumber).value();
	m_vecPCamera[index]->takeAPic(img, img3D, localMap);
	if (img.empty())
	{
		qWarning() << serialNumber << " capture empty";
	}
	return true;
}

bool CameraControl::getSaveImgNameInfo(QString serialNumber, FileInfo& fileInfo)
{
	QString imgSaveBaseName;
	//auto iter = getDeviceId(serialNumber);
	//auto iter = m_mapSerialNumberIdSide.find(serialNumber);

// 查找serialNumber在m_listSerialNumberIdSide中的位置
	auto iter = std::find_if(m_mapSerialNumberIdSide.begin(), m_mapSerialNumberIdSide.end(),
		[&](const QPair<QString, int>& pair) { return pair.first == serialNumber; });
	if (iter == m_mapSerialNumberIdSide.end())
	{
		/*iter = m_mapSerialNumberIdTop.find(serialNumber);
		if (iter != m_mapSerialNumberIdTop.end())
		{
			int id = iter.value();
			QString suffix = m_mapIdCameraInfoTop.value(id).saveImgSuffix;
			fileInfo.suffix = suffix;
			fileInfo.strId = QString::number(id);
			fileInfo.name = fileInfo.strId + suffix;
		}
		else
		{
			qWarning() << "Can not find " << serialNumber;
			return false;
		}*/
	}
	else
	{
		int id = iter->second;
		QString suffix = m_mapIdCameraInfoSide.value(id).saveImgSuffix;
		fileInfo.suffix = suffix;
		fileInfo.strId = QString::number(id);
		fileInfo.name = fileInfo.strId + suffix;
	}
	return true;
}

Q_SLOT void CameraControl::onCapture(int cameraLocation,int location, int floor)
{
	QStringList serialNumList;
	switch (cameraLocation)
	{
	case eCameraLocation::emTop:
		m_eCameraLocation = emTop;
#if IMAGEDRAWING == LPV
		for (auto iter = m_mapSerialNumberIdTop.begin(); iter != m_mapSerialNumberIdTop.end(); iter++)
		{
			if (m_cameraStockLocation[iter.key()] == location)
			{
				serialNumList << iter.key();
			}
		}
#elif IMAGEDRAWING == OPENCV
		serialNumList = m_mapSerialNumberIdTop.keys();
#endif 
		break;
	case eCameraLocation::emSide:
		m_eCameraLocation = emSide;
#if IMAGEDRAWING == LPV
		for (auto iter = m_mapSerialNumberIdSide.begin(); iter != m_mapSerialNumberIdSide.end(); iter++)
		{
			//if (m_cameraStockLocation[iter->first] == location)
			//直接保存所有图片
			{
				serialNumList << iter->first;
			}
		}
#elif IMAGEDRAWING == OPENCV
		serialNumList = m_mapSerialNumberIdSide.keys();
#endif // IMAGEDRAWING == LPV

		break;
	default:
		break;
	}

	if (serialNumList.length() != 0)
	{
		qInfo() << "Captured SerialNumList = " << serialNumList;
		//进行拍照
		capture(serialNumList, location, floor);
	}
}

void CameraControl::capture(const QStringList& serialNumberList, int location, int floor)
{
	int len = serialNumberList.length();
	//qDebug() << "start capture, length: " << len;
	QVector<ImageInfo> vecImageInfo;
	for (int i = 0; i < len; ++i)
	{
		QString serialNumber = serialNumberList.at(i);
		if (!m_mapSNIndex.contains(serialNumber))
		{
			qWarning() << "m_vecPCamera does not have camera: " << serialNumber;
			continue;
		}
		ImageInfo imgInfo;
		FileInfo saveImgInfo;
		saveImgInfo.location = location;
		getSaveImgNameInfo(serialNumber, saveImgInfo);
		imgInfo.saveImgInfo = saveImgInfo;
		int id = saveImgInfo.strId.toInt();
		int rotationAngle = 0;
		if (m_mapIdCameraInfoTop.contains(id))
		{
			rotationAngle = m_mapIdCameraInfoTop.value(id).rotationAngle;
		}
		else if (m_mapIdCameraInfoSide.contains(id))
		{
			rotationAngle = m_mapIdCameraInfoSide.value(id).rotationAngle;
		}

		//现在1和2巷道都是用的下三层（1-3层）曝光值250000ms/增益20，
		//中三层（4-6层）曝光值150000ms/增益20，
		//上三层（7-9层）曝光值50000ms/增益20
		int exposure = exposureRowMap[floor];
		
		setExposure(serialNumber, exposure);

		if (!capture(serialNumber, imgInfo.image, imgInfo.image3D, location))
		{
			vecImageInfo.push_back(imgInfo);
			continue;
		}
		flipImg(imgInfo.image, imgInfo.image, rotationAngle);
		imgInfo.cameraSn = serialNumber;

		// 2D相机操作
		if (imgInfo.imageOrigin == nullptr)
		{
			imgInfo.imageOrigin = ILImagePtr(__uuidof(LImage));
			imgInfo.imageFixed = ILImagePtr(__uuidof(LImage));
		}
		imgInfo.imageOrigin->SetImageData(imgInfo.image.cols, imgInfo.image.rows, (void*)imgInfo.image.data, imgInfo.image.step, 0);

		//if (serialNumber == "00787720450")
		//{
		//	imgInfo.imageOrigin->Load("C:/Users/LENOVO/Downloads/0108/310102.bmp");
		//}
		//else if (serialNumber == "00J49540865")
		//{
		//	imgInfo.imageOrigin->Load("C:/Users/LENOVO/Downloads/0108/320111.bmp");
		//}
		//else
		//{
		//	imgInfo.imageOrigin->SetImageData(imgInfo.image.cols, imgInfo.image.rows, (void*)imgInfo.image.data, imgInfo.image.step, 0);
		//}


		if (imgInfo.image3D.empty()) //表面用的是2D相机
		{
			imgInfo.bIs2D = true;
			if (location == 1 && m_calib1->IsCalibrated())
			{
				m_calib1->FixImage(imgInfo.imageOrigin, imgInfo.imageFixed);
			}
			else if (location == 2 && m_calib2->IsCalibrated())
			{
				
				m_calib2->FixImage(imgInfo.imageOrigin, imgInfo.imageFixed);
			}
		}
		else
		{
			imgInfo.bIs2D = false;
		}

		vecImageInfo.push_back(imgInfo);
	}

	emit sgCapturedImage(vecImageInfo, m_eCameraLocation);
}

void CameraControl::flipImg(const cv::Mat& imgSrc, cv::Mat& imgDst, int rotationAngle)
{
	if (imgSrc.empty())
	{
		qWarning() << "imgSrc is empty";
		return;
	}
	switch (rotationAngle)
	{
	case 90:
		cv::transpose(imgSrc, imgDst);
		cv::flip(imgDst, imgDst, 1);
		qDebug() << " 旋转90度";
		break;
	case 180:
		cv::flip(imgSrc, imgDst, -1);
		qDebug() << " 旋转180度";
		break;
	case 270:
		cv::transpose(imgSrc, imgDst);
		cv::flip(imgDst, imgDst, 0);
		qDebug() << " 旋转270度";
		break;
	default:
		imgDst = imgSrc;
		qDebug() << " 不旋转";
		break;
	}
}