Compare commits
15 Commits
master
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| Author | SHA1 | Date | |
|---|---|---|---|
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772bf4e9ae | ||
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c7be57824a |
14
.drone.yml
14
.drone.yml
@ -1,14 +0,0 @@
|
||||
kind: pipeline
|
||||
name: default
|
||||
|
||||
steps:
|
||||
- name: build
|
||||
image: rust
|
||||
commands:
|
||||
- cargo build --verbose --all
|
||||
|
||||
- name: fmt-check
|
||||
image: rust
|
||||
commands:
|
||||
- rustup component add rustfmt
|
||||
- cargo fmt --all -- --check
|
||||
4
.gitignore
vendored
4
.gitignore
vendored
@ -1,3 +1 @@
|
||||
/target
|
||||
.undodir
|
||||
|
||||
CSV.pro.user
|
||||
|
||||
50
CSV.pro
Normal file
50
CSV.pro
Normal file
@ -0,0 +1,50 @@
|
||||
#-------------------------------------------------
|
||||
#
|
||||
# Project created by QtCreator 2014-07-10T12:35:18
|
||||
#
|
||||
#-------------------------------------------------
|
||||
|
||||
QT += core gui qml quick widgets
|
||||
TEMPLATE = app
|
||||
|
||||
TARGET = CSV
|
||||
CONFIG += c++11
|
||||
CONFIG += j4
|
||||
CONFIG -= console
|
||||
|
||||
SOURCES += main.cpp \
|
||||
svimage.cpp \
|
||||
svworker.cpp \
|
||||
svprocessor.cpp \
|
||||
svimageprovider.cpp \
|
||||
svpoint.cpp \
|
||||
svcurve.cpp \
|
||||
svsimplepoint.cpp \
|
||||
svfigure.cpp \
|
||||
svobject.cpp \
|
||||
svpointcloud.cpp \
|
||||
svkernel.cpp \
|
||||
svpointcloudviewer.cpp \
|
||||
svapplicationcontext.cpp
|
||||
|
||||
HEADERS += \
|
||||
svimage.h \
|
||||
svworker.h \
|
||||
svprocessor.h \
|
||||
svimageprovider.h \
|
||||
svpoint.h \
|
||||
svcurve.h \
|
||||
svsimplepoint.h \
|
||||
svfigure.h \
|
||||
svobject.h \
|
||||
svpointcloud.h \
|
||||
svdefs.h \
|
||||
svkernel.h \
|
||||
svpointcloudviewer.h \
|
||||
svapplicationcontext.h
|
||||
|
||||
RESOURCES += \
|
||||
resource.qrc
|
||||
|
||||
OTHER_FILES += \
|
||||
Main.qml
|
||||
339
Cargo.lock
generated
339
Cargo.lock
generated
@ -1,339 +0,0 @@
|
||||
# This file is automatically @generated by Cargo.
|
||||
# It is not intended for manual editing.
|
||||
version = 3
|
||||
|
||||
[[package]]
|
||||
name = "adler"
|
||||
version = "1.0.2"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
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|
||||
|
||||
[[package]]
|
||||
name = "adler32"
|
||||
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|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
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|
||||
|
||||
[[package]]
|
||||
name = "anyhow"
|
||||
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|
||||
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|
||||
checksum = "8b26702f315f53b6071259e15dd9d64528213b44d61de1ec926eca7715d62203"
|
||||
|
||||
[[package]]
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||||
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|
||||
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|
||||
|
||||
[[package]]
|
||||
name = "bitflags"
|
||||
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|
||||
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|
||||
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|
||||
|
||||
[[package]]
|
||||
name = "bytemuck"
|
||||
version = "1.7.2"
|
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source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "72957246c41db82b8ef88a5486143830adeb8227ef9837740bdec67724cf2c5b"
|
||||
|
||||
[[package]]
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||||
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||||
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||||
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|
||||
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|
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[[package]]
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||||
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[[package]]
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|
||||
|
||||
[[package]]
|
||||
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|
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|
||||
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|
||||
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|
||||
dependencies = [
|
||||
"cfg-if",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "crossbeam-channel"
|
||||
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|
||||
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|
||||
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|
||||
dependencies = [
|
||||
"cfg-if",
|
||||
"crossbeam-utils",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "crossbeam-deque"
|
||||
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|
||||
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|
||||
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|
||||
dependencies = [
|
||||
"cfg-if",
|
||||
"crossbeam-epoch",
|
||||
"crossbeam-utils",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "crossbeam-epoch"
|
||||
version = "0.9.5"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
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|
||||
dependencies = [
|
||||
"cfg-if",
|
||||
"crossbeam-utils",
|
||||
"lazy_static",
|
||||
"memoffset",
|
||||
"scopeguard",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "crossbeam-utils"
|
||||
version = "0.8.5"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "d82cfc11ce7f2c3faef78d8a684447b40d503d9681acebed6cb728d45940c4db"
|
||||
dependencies = [
|
||||
"cfg-if",
|
||||
"lazy_static",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "deflate"
|
||||
version = "0.8.6"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "73770f8e1fe7d64df17ca66ad28994a0a623ea497fa69486e14984e715c5d174"
|
||||
dependencies = [
|
||||
"adler32",
|
||||
"byteorder",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "dispmap"
|
||||
version = "0.1.0"
|
||||
dependencies = [
|
||||
"anyhow",
|
||||
"image",
|
||||
"rayon",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "either"
|
||||
version = "1.6.1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "e78d4f1cc4ae33bbfc157ed5d5a5ef3bc29227303d595861deb238fcec4e9457"
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|
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[[package]]
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name = "gif"
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source = "registry+https://github.com/rust-lang/crates.io-index"
|
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|
||||
dependencies = [
|
||||
"color_quant",
|
||||
"weezl",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "hermit-abi"
|
||||
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|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "62b467343b94ba476dcb2500d242dadbb39557df889310ac77c5d99100aaac33"
|
||||
dependencies = [
|
||||
"libc",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "image"
|
||||
version = "0.23.14"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "24ffcb7e7244a9bf19d35bf2883b9c080c4ced3c07a9895572178cdb8f13f6a1"
|
||||
dependencies = [
|
||||
"bytemuck",
|
||||
"byteorder",
|
||||
"color_quant",
|
||||
"gif",
|
||||
"jpeg-decoder",
|
||||
"num-iter",
|
||||
"num-rational",
|
||||
"num-traits",
|
||||
"png",
|
||||
"scoped_threadpool",
|
||||
"tiff",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "jpeg-decoder"
|
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|
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|
||||
dependencies = [
|
||||
"rayon",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "lazy_static"
|
||||
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|
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source = "registry+https://github.com/rust-lang/crates.io-index"
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||||
|
||||
[[package]]
|
||||
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|
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[[package]]
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dependencies = [
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"autocfg",
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|
||||
[[package]]
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||||
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||||
dependencies = [
|
||||
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||||
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||||
|
||||
[[package]]
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||||
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dependencies = [
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]
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|
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[[package]]
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|
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]
|
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|
||||
[[package]]
|
||||
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|
||||
[[package]]
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|
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|
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|
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|
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|
||||
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|
||||
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|
||||
"libc",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "png"
|
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|
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|
||||
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|
||||
"bitflags",
|
||||
"crc32fast",
|
||||
"deflate",
|
||||
"miniz_oxide 0.3.7",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
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|
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|
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|
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|
||||
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|
||||
"autocfg",
|
||||
"crossbeam-deque",
|
||||
"either",
|
||||
"rayon-core",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
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|
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|
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|
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|
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dependencies = [
|
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"crossbeam-channel",
|
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"crossbeam-deque",
|
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"crossbeam-utils",
|
||||
"lazy_static",
|
||||
"num_cpus",
|
||||
]
|
||||
|
||||
[[package]]
|
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|
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|
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|
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[[package]]
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|
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|
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|
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|
||||
|
||||
[[package]]
|
||||
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|
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|
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|
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16
Cargo.toml
16
Cargo.toml
@ -1,16 +0,0 @@
|
||||
[package]
|
||||
name = "dispmap"
|
||||
version = "0.1.0"
|
||||
edition = "2021"
|
||||
|
||||
# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
|
||||
|
||||
[[bin]]
|
||||
name = "run"
|
||||
path = "./bin/run.rs"
|
||||
|
||||
|
||||
[dependencies]
|
||||
anyhow = "1.0.51"
|
||||
image = "0.23.14"
|
||||
rayon = "1.5.1"
|
||||
210
Main.qml
Normal file
210
Main.qml
Normal file
@ -0,0 +1,210 @@
|
||||
import QtQuick 2.2
|
||||
import QtQuick.Window 2.1
|
||||
import QtQuick.Controls 1.1
|
||||
import SvPCV 1.0
|
||||
|
||||
ApplicationWindow {
|
||||
id: mainWindow
|
||||
visible: true
|
||||
width: 800
|
||||
height: 600
|
||||
|
||||
statusBar: StatusBar {
|
||||
Row {
|
||||
Label {
|
||||
id: statusBarState
|
||||
text: "In Progress"
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
Connections {
|
||||
target: processor
|
||||
onFinished: {
|
||||
statusBarState.text = "Ready " + elapsedTime;
|
||||
}
|
||||
}
|
||||
|
||||
Item {
|
||||
anchors.fill: parent
|
||||
|
||||
Item {
|
||||
id: leftColumn
|
||||
width: 200
|
||||
|
||||
anchors.bottom: parent.bottom
|
||||
anchors.top: parent.top
|
||||
anchors.right: rightColumn.left
|
||||
anchors.left: parent.left
|
||||
|
||||
Component {
|
||||
id: slider
|
||||
|
||||
Item {
|
||||
property alias title: sliderTitle.text
|
||||
property alias from: sliderSlider.minimumValue
|
||||
property alias to: sliderSlider.maximumValue
|
||||
property alias step: sliderSlider.stepSize
|
||||
property string name: ''
|
||||
|
||||
height: 50
|
||||
|
||||
Text {
|
||||
id: sliderTitle
|
||||
anchors.left: parent.left
|
||||
anchors.right: parent.right
|
||||
anchors.top: parent.top
|
||||
anchors.leftMargin: 15
|
||||
anchors.rightMargin: 10
|
||||
anchors.topMargin: 10
|
||||
text: ""
|
||||
}
|
||||
|
||||
Text {
|
||||
id: sliderValue
|
||||
anchors.horizontalCenter: parent.horizontalCenter
|
||||
anchors.bottom: sliderSlider.top
|
||||
text: sliderSlider.value
|
||||
}
|
||||
|
||||
Slider {
|
||||
id: sliderSlider
|
||||
anchors.left: parent.left
|
||||
anchors.bottom: parent.bottom
|
||||
anchors.right: parent.right
|
||||
anchors.leftMargin: 10
|
||||
anchors.rightMargin: 10
|
||||
stepSize: 1
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
Column {
|
||||
anchors.bottom: renderButton.top
|
||||
anchors.top: parent.top
|
||||
anchors.right: parent.right
|
||||
anchors.left: parent.left
|
||||
|
||||
Loader {
|
||||
id: windowSize
|
||||
sourceComponent: slider
|
||||
anchors.left: parent.left
|
||||
anchors.right: parent.right
|
||||
onLoaded: {
|
||||
windowSize.item.title = "Window Size"
|
||||
windowSize.item.from = 0;
|
||||
windowSize.item.to = 10;
|
||||
windowSize.item.step = 1;
|
||||
}
|
||||
}
|
||||
|
||||
Loader {
|
||||
id: matchSize
|
||||
sourceComponent: slider
|
||||
anchors.left: parent.left
|
||||
anchors.right: parent.right
|
||||
onLoaded: {
|
||||
matchSize.item.title = "Match Size"
|
||||
matchSize.item.from = 0;
|
||||
matchSize.item.to = 10;
|
||||
matchSize.item.step = 1;
|
||||
}
|
||||
}
|
||||
|
||||
Loader {
|
||||
id: errorLevel
|
||||
sourceComponent: slider
|
||||
anchors.left: parent.left
|
||||
anchors.right: parent.right
|
||||
onLoaded: {
|
||||
errorLevel.item.title = "Error Level"
|
||||
errorLevel.item.from = 0;
|
||||
errorLevel.item.to = 10;
|
||||
errorLevel.item.step = 1;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
Button {
|
||||
id: renderButton
|
||||
//anchors.bottom: parent.bottom
|
||||
anchors.horizontalCenter: parent.horizontalCenter
|
||||
anchors.bottom: parent.bottom
|
||||
anchors.bottomMargin: 10
|
||||
Text {
|
||||
anchors.centerIn: parent
|
||||
text: "Render"
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
Item {
|
||||
id: rightColumn
|
||||
anchors.bottom: parent.bottom
|
||||
anchors.top: parent.top
|
||||
anchors.right: parent.right
|
||||
anchors.left: leftColumn.right
|
||||
TabView {
|
||||
anchors.fill: parent
|
||||
Tab {
|
||||
id: imageView
|
||||
title: "PointCloud View"
|
||||
Item {
|
||||
anchors.fill: parent
|
||||
SvPointCloudViewer {
|
||||
id: pointCloudViewer1
|
||||
pointCloud: app.pointCloud()
|
||||
anchors.fill: parent
|
||||
}
|
||||
}
|
||||
}
|
||||
Tab {
|
||||
id: leftImageView
|
||||
title: "Left Image"
|
||||
|
||||
Item {
|
||||
Flickable {
|
||||
anchors.fill: parent
|
||||
contentWidth: image.width
|
||||
contentHeight: image.height
|
||||
interactive: true
|
||||
anchors.margins: 2
|
||||
clip: true
|
||||
|
||||
Item {
|
||||
Image {
|
||||
id: leftImage
|
||||
source: "image://images/left"
|
||||
smooth: false
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
Tab {
|
||||
id: rightImageView
|
||||
title: "Right Image"
|
||||
|
||||
Item {
|
||||
Flickable {
|
||||
anchors.fill: parent
|
||||
contentWidth: image.width
|
||||
contentHeight: image.height
|
||||
interactive: true
|
||||
anchors.margins: 2
|
||||
clip: true
|
||||
|
||||
Item {
|
||||
Image {
|
||||
id: rightImage
|
||||
source: "image://images/right"
|
||||
smooth: false
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
@ -1,3 +0,0 @@
|
||||
# Simple Disparity Map Algorithm
|
||||
|
||||
|
||||
20
bin/run.rs
20
bin/run.rs
@ -1,20 +0,0 @@
|
||||
use dispmap::compute;
|
||||
|
||||
fn main() -> anyhow::Result<()> {
|
||||
let mut args = std::env::args();
|
||||
let _ = args.next();
|
||||
|
||||
let left_path = args.next().unwrap();
|
||||
let right_path = args.next().unwrap();
|
||||
|
||||
println!("disparity for {} {}", left_path, right_path);
|
||||
|
||||
let left = image::open(left_path)?.to_rgb8();
|
||||
let right = image::open(right_path)?.to_rgb8();
|
||||
|
||||
let disp = compute(&left, &right);
|
||||
|
||||
disp.save("disp.png")?;
|
||||
|
||||
Ok(())
|
||||
}
|
||||
14
cl/kernel.cl
Normal file
14
cl/kernel.cl
Normal file
@ -0,0 +1,14 @@
|
||||
__kernel void ProcessLine(__global const float* a, __global const float* b, __global float* c, int iNumElements)
|
||||
{
|
||||
// get index into global data array
|
||||
int iGID = get_global_id(0);
|
||||
|
||||
// bound check (equivalent to the limit on a 'for' loop for standard/serial C code
|
||||
if (iGID >= iNumElements)
|
||||
{
|
||||
return;
|
||||
}
|
||||
|
||||
// add the vector elements
|
||||
c[iGID] = a[iGID] + b[iGID];
|
||||
}
|
||||
BIN
img/left1.png
Normal file
BIN
img/left1.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 222 KiB |
BIN
img/left4.png
BIN
img/left4.png
Binary file not shown.
|
Before Width: | Height: | Size: 2.3 MiB After Width: | Height: | Size: 2.1 MiB |
BIN
img/right1.png
Normal file
BIN
img/right1.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 215 KiB |
BIN
img/right4.png
BIN
img/right4.png
Binary file not shown.
|
Before Width: | Height: | Size: 2.3 MiB After Width: | Height: | Size: 2.1 MiB |
49
main.cpp
Normal file
49
main.cpp
Normal file
@ -0,0 +1,49 @@
|
||||
#include <QApplication>
|
||||
#include <QQmlApplicationEngine>
|
||||
#include <QQmlComponent>
|
||||
#include <QQmlContext>
|
||||
|
||||
#include "svimage.h"
|
||||
#include "svprocessor.h"
|
||||
#include "svimageprovider.h"
|
||||
#include "svpointcloudviewer.h"
|
||||
#include "svapplicationcontext.h"
|
||||
|
||||
int main(int argc, char *argv[])
|
||||
{
|
||||
QGuiApplication a(argc, argv);
|
||||
|
||||
qmlRegisterType<SvPointCloudViewer>("SvPCV", 1, 0, "SvPointCloudViewer");
|
||||
qmlRegisterUncreatableType<SvPointCloud>("SvPCV", 1, 0, "SvApplicationContext", "c++ only");
|
||||
|
||||
QQmlApplicationEngine engine;
|
||||
SvImageProvider imageProvider;
|
||||
|
||||
QImage imgLeft("../CSV/img/left3.png");
|
||||
//QImage imgLeft("../CSV/img/right1.png");
|
||||
QImage imgRight("../CSV/img/right1.png");
|
||||
|
||||
SvImage left(imgLeft);
|
||||
SvImage right(imgRight);
|
||||
|
||||
SvPointCloud pointCloud(imgLeft.width(), imgLeft.height());
|
||||
SvApplicationContext applicationContext;
|
||||
|
||||
applicationContext.setPointCloud(&pointCloud);
|
||||
|
||||
SvProcessor proc(4);
|
||||
|
||||
proc.enqueueImage(&pointCloud, &left);
|
||||
|
||||
imageProvider.addImage("left", &left);
|
||||
imageProvider.addImage("right", &right);
|
||||
|
||||
engine.addImageProvider("images", &imageProvider);
|
||||
engine.rootContext()->setContextProperty("processor", &proc);
|
||||
engine.rootContext()->setContextProperty("app", &applicationContext);
|
||||
engine.load(QUrl(QStringLiteral("qrc:///Main.qml")));
|
||||
|
||||
proc.start();
|
||||
|
||||
return a.exec();
|
||||
}
|
||||
7
resource.qrc
Normal file
7
resource.qrc
Normal file
@ -0,0 +1,7 @@
|
||||
<RCC>
|
||||
<qresource prefix="/">
|
||||
<file>Main.qml</file>
|
||||
<file>img/left4.png</file>
|
||||
<file>img/right4.png</file>
|
||||
</qresource>
|
||||
</RCC>
|
||||
134
src/lib.rs
134
src/lib.rs
@ -1,134 +0,0 @@
|
||||
use image::{buffer::PixelsMut, GenericImageView, GrayImage, Luma, Rgb, RgbImage};
|
||||
|
||||
fn diff(left: Rgb<u8>, right: Rgb<u8>) -> i32 {
|
||||
let r = (left[0] as i32 - right[0] as i32).abs();
|
||||
let g = (left[1] as i32 - right[1] as i32).abs();
|
||||
let b = (left[2] as i32 - right[2] as i32).abs();
|
||||
|
||||
let color = (g - r).abs() + (b - g).abs();
|
||||
|
||||
(r + g + b) + color * 4
|
||||
}
|
||||
|
||||
fn match_box(left: [Rgb<u8>; 16], right: [Rgb<u8>; 16]) -> i32 {
|
||||
let mut sqr_sum = 0;
|
||||
|
||||
for (l, r) in left.into_iter().zip(right.into_iter()) {
|
||||
sqr_sum += diff(l, r);
|
||||
}
|
||||
|
||||
sqr_sum
|
||||
}
|
||||
|
||||
fn px(img: &RgbImage, x: u32, y: u32) -> Rgb<u8> {
|
||||
if x >= img.width() || y >= img.height() {
|
||||
return Rgb([0, 0, 0]);
|
||||
}
|
||||
|
||||
img.get_pixel(x, y).clone()
|
||||
}
|
||||
|
||||
fn match_pixels(left: &RgbImage, right: &RgbImage, x: u32, y: u32, j: u32) -> i32 {
|
||||
let lx = x;
|
||||
let rx = x + j;
|
||||
|
||||
match_box(
|
||||
[
|
||||
px(left, lx, y),
|
||||
px(left, lx + 1, y),
|
||||
px(left, lx + 2, y),
|
||||
px(left, lx + 3, y),
|
||||
px(left, lx, y + 1),
|
||||
px(left, lx + 1, y + 1),
|
||||
px(left, lx + 2, y + 1),
|
||||
px(left, lx + 3, y + 1),
|
||||
px(left, lx, y + 2),
|
||||
px(left, lx + 1, y + 2),
|
||||
px(left, lx + 2, y + 2),
|
||||
px(left, lx + 3, y + 2),
|
||||
px(left, lx, y + 3),
|
||||
px(left, lx + 1, y + 3),
|
||||
px(left, lx + 2, y + 3),
|
||||
px(left, lx + 3, y + 3),
|
||||
],
|
||||
[
|
||||
px(right, rx, y),
|
||||
px(right, rx + 1, y),
|
||||
px(right, rx + 2, y),
|
||||
px(right, rx + 3, y),
|
||||
px(right, rx, y + 1),
|
||||
px(right, rx + 1, y + 1),
|
||||
px(right, rx + 2, y + 1),
|
||||
px(right, rx + 3, y + 1),
|
||||
px(right, rx, y + 2),
|
||||
px(right, rx + 1, y + 2),
|
||||
px(right, rx + 2, y + 2),
|
||||
px(right, rx + 3, y + 2),
|
||||
px(right, rx, y + 3),
|
||||
px(right, rx + 1, y + 3),
|
||||
px(right, rx + 2, y + 3),
|
||||
px(right, rx + 3, y + 3),
|
||||
],
|
||||
)
|
||||
}
|
||||
|
||||
fn get_pixel_color(image: &RgbImage, cursor: i32) -> f32 {
|
||||
if cursor == 0 {
|
||||
return 0.0;
|
||||
}
|
||||
|
||||
(10 * image.width()) as f32 / (2.0 * 0.9 * cursor as f32)
|
||||
}
|
||||
|
||||
fn get_pixel_hue(image: &RgbImage, x: u32, y: u32) -> i32 {
|
||||
let pixel = image.get_pixel(x, y);
|
||||
|
||||
(pixel[1] as i32 - pixel[0] as i32).abs() + (pixel[2] as i32 - pixel[1] as i32).abs()
|
||||
}
|
||||
|
||||
fn exec<'a>(res: PixelsMut<'a, Luma<u8>>, left: &RgbImage, right: &RgbImage, line: u32) {
|
||||
let mut cursor = 0i32;
|
||||
|
||||
let window_size = 128u32;
|
||||
|
||||
for (x, res) in res.enumerate() {
|
||||
let mut closest = -1i32;
|
||||
let mut min_error = -1i32;
|
||||
let mut matched = 0;
|
||||
|
||||
let _val = get_pixel_hue(left, x as _, line);
|
||||
|
||||
for i in 1..window_size {
|
||||
let _dist = (cursor - i as i32).abs();
|
||||
let tmp = match_pixels(left, right, x as _, line as _, i as _);
|
||||
let tmp_smoothed = tmp; // + (dist) * (1.0 / diff);
|
||||
|
||||
if tmp_smoothed < min_error || min_error == -1 {
|
||||
min_error = tmp_smoothed;
|
||||
closest = i as i32;
|
||||
matched = 1;
|
||||
} else if tmp_smoothed == min_error
|
||||
&& ((cursor - i as i32).abs() < (cursor - closest).abs())
|
||||
{
|
||||
closest = i as i32;
|
||||
matched += 1;
|
||||
}
|
||||
}
|
||||
|
||||
if matched == 1 {
|
||||
cursor = closest;
|
||||
}
|
||||
|
||||
*res = Luma([get_pixel_color(left, cursor) as u8]);
|
||||
}
|
||||
}
|
||||
|
||||
pub fn compute(left: &RgbImage, right: &RgbImage) -> GrayImage {
|
||||
let mut out = GrayImage::new(left.width(), right.height());
|
||||
|
||||
out.rows_mut()
|
||||
.enumerate()
|
||||
.for_each(|(y, row)| exec(row, left, right, y as _));
|
||||
|
||||
out
|
||||
}
|
||||
6
svapplicationcontext.cpp
Normal file
6
svapplicationcontext.cpp
Normal file
@ -0,0 +1,6 @@
|
||||
#include "svapplicationcontext.h"
|
||||
|
||||
SvApplicationContext::SvApplicationContext(QObject *parent) :
|
||||
QObject(parent)
|
||||
{
|
||||
}
|
||||
22
svapplicationcontext.h
Normal file
22
svapplicationcontext.h
Normal file
@ -0,0 +1,22 @@
|
||||
#ifndef SVPOINTCLOUDVIEWMODEL_H
|
||||
#define SVPOINTCLOUDVIEWMODEL_H
|
||||
|
||||
#include <QObject>
|
||||
|
||||
#include "svpointcloud.h"
|
||||
|
||||
class SvApplicationContext : public QObject
|
||||
{
|
||||
Q_OBJECT
|
||||
|
||||
public:
|
||||
explicit SvApplicationContext(QObject *parent = 0);
|
||||
|
||||
void setPointCloud(SvPointCloud *pointCloud) { m_pointCloud = pointCloud; }
|
||||
Q_INVOKABLE SvPointCloud* pointCloud() { return m_pointCloud; }
|
||||
|
||||
private:
|
||||
SvPointCloud *m_pointCloud;
|
||||
};
|
||||
|
||||
#endif // SVPOINTCLOUDVIEWMODEL_H
|
||||
26
svcurve.cpp
Normal file
26
svcurve.cpp
Normal file
@ -0,0 +1,26 @@
|
||||
#include "svcurve.h"
|
||||
|
||||
SvCurve::SvCurve()
|
||||
{
|
||||
}
|
||||
|
||||
void SvCurve::addPoint(SvPoint *point)
|
||||
{
|
||||
m_points.push_back(point);
|
||||
}
|
||||
|
||||
bool SvCurve::hasPoint(SvPoint *point)
|
||||
{
|
||||
foreach (SvPoint *item, m_points) {
|
||||
if (point == item) {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
SvCurve *SvCurve::cut(SvPoint *point)
|
||||
{
|
||||
|
||||
}
|
||||
34
svcurve.h
Normal file
34
svcurve.h
Normal file
@ -0,0 +1,34 @@
|
||||
#ifndef SVCURVE_H
|
||||
#define SVCURVE_H
|
||||
|
||||
#include "svdefs.h"
|
||||
#include "svpoint.h"
|
||||
#include "svsimplepoint.h"
|
||||
|
||||
class SvPoint;
|
||||
class SvFigure;
|
||||
|
||||
class SvCurve
|
||||
{
|
||||
protected:
|
||||
SvFigure *m_inner;
|
||||
SvFigure *m_outer;
|
||||
|
||||
QList<SvPoint*> m_points;
|
||||
QList<SvSimplePoint*> m_keyPoints;
|
||||
|
||||
private:
|
||||
SvCurve();
|
||||
|
||||
public:
|
||||
QList<SvPoint*> &points() {return m_points; }
|
||||
SvPoint* head() {return m_points.first(); }
|
||||
SvPoint* tail() {return m_points.last(); }
|
||||
void setInner(SvFigure *figure) {m_inner = figure; }
|
||||
void setOuter(SvFigure *figure) {m_outer = figure; }
|
||||
void addPoint(SvPoint *point);
|
||||
bool hasPoint(SvPoint *point);
|
||||
SvCurve *cut(SvPoint *point);
|
||||
};
|
||||
|
||||
#endif // SVCURVE_H
|
||||
25
svdefs.h
Normal file
25
svdefs.h
Normal file
@ -0,0 +1,25 @@
|
||||
#ifndef SVDEFS_H
|
||||
#define SVDEFS_H
|
||||
|
||||
#include <QDebug>
|
||||
#include <QRgb>
|
||||
|
||||
typedef unsigned int SvPointId;
|
||||
typedef unsigned int uint;
|
||||
|
||||
#include "svpointcloud.h"
|
||||
#include "svimage.h"
|
||||
|
||||
class SvPointCloud;
|
||||
|
||||
typedef struct {
|
||||
SvPointCloud *pointCloud;
|
||||
SvImage *image;
|
||||
int line;
|
||||
} SvProcessorTask;
|
||||
|
||||
#define sign(a) (a == 0 ? 0 : (a > 0 ? 1 : -1))
|
||||
#define max(a,b,c) (a > b ? (a > c ? a : c) : (b > c ? b : c))
|
||||
#define min(a,b,c) (a < b ? (a < c ? a : c) : (b < c ? b : c))
|
||||
|
||||
#endif // SVDEFS_H
|
||||
41
svfigure.cpp
Normal file
41
svfigure.cpp
Normal file
@ -0,0 +1,41 @@
|
||||
#include "svfigure.h"
|
||||
|
||||
SvFigure::SvFigure(SvCurve *curve)
|
||||
{
|
||||
addCurve(curve);
|
||||
}
|
||||
|
||||
SvFigure::SvFigure()
|
||||
{
|
||||
}
|
||||
|
||||
SvCurve *SvFigure::findCurveByPoint(SvPoint *point)
|
||||
{
|
||||
foreach(SvCurve* curve, m_curves) {
|
||||
if (curve->hasPoint(point)) {
|
||||
return curve;
|
||||
}
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
SvFigure SvFigure::split(SvPoint *point)
|
||||
{
|
||||
SvCurve *curve = findCurveByPoint(point);
|
||||
SvFigure figure;
|
||||
|
||||
if (curve) {
|
||||
figure.addCurve(curve->cut(point));
|
||||
SvCurve *item = m_curves.last();
|
||||
|
||||
while(item != curve) {
|
||||
figure.addCurve(item);
|
||||
|
||||
m_curves.removeLast();
|
||||
item = m_curves.last();
|
||||
}
|
||||
}
|
||||
|
||||
return figure;
|
||||
}
|
||||
26
svfigure.h
Normal file
26
svfigure.h
Normal file
@ -0,0 +1,26 @@
|
||||
#ifndef SVFIGURE_H
|
||||
#define SVFIGURE_H
|
||||
|
||||
#include <QColor>
|
||||
|
||||
#include "svpoint.h"
|
||||
#include "svcurve.h"
|
||||
|
||||
class SvFigure
|
||||
{
|
||||
protected:
|
||||
QRgb m_color;
|
||||
QList<SvCurve*> m_curves;
|
||||
|
||||
public:
|
||||
SvFigure();
|
||||
SvFigure(SvCurve *curve);
|
||||
|
||||
QRgb color() {return m_color;}
|
||||
void addCurve(SvCurve *curve){m_curves.push_back(curve); }
|
||||
QList<SvCurve*> &curves() { return m_curves; }
|
||||
SvCurve *findCurveByPoint(SvPoint *point);
|
||||
SvFigure split(SvPoint *point);
|
||||
};
|
||||
|
||||
#endif // SVFIGURE_H
|
||||
148
svimage.cpp
Normal file
148
svimage.cpp
Normal file
@ -0,0 +1,148 @@
|
||||
#include "svimage.h"
|
||||
|
||||
int SvImage::getPixel(int x, int y, int channel) {
|
||||
if (y >= m_image->height() ||
|
||||
y < 0 ||
|
||||
x >= m_image->width()
|
||||
|| x < 0) {
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
QRgb rgb = m_image->pixel(x, y);
|
||||
|
||||
switch (channel) {
|
||||
case 0:
|
||||
return qRed(rgb);
|
||||
case 1:
|
||||
return qGreen(rgb);
|
||||
case 2:
|
||||
return qBlue(rgb);
|
||||
default:
|
||||
return qGray(rgb);
|
||||
}
|
||||
}
|
||||
|
||||
int SvImage::getPixelNormalizedHue(int x, int y) {
|
||||
if (y >= m_image->height() ||
|
||||
y < 0 ||
|
||||
x >= m_image->width()
|
||||
|| x < 0) {
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
QRgb rgb = m_image->pixel(x, y);
|
||||
QColor color(rgb);
|
||||
|
||||
return (color.hsvHue() * getPixelSaturation(x, y)) / 255;
|
||||
}
|
||||
|
||||
int SvImage::getPixelHue(int x, int y) {
|
||||
if (y >= m_image->height() ||
|
||||
y < 0 ||
|
||||
x >= m_image->width()
|
||||
|| x < 0) {
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
QRgb rgb = m_image->pixel(x, y);
|
||||
QColor color(rgb);
|
||||
|
||||
return color.hsvHue();
|
||||
}
|
||||
|
||||
int SvImage::getPixelValue(int x, int y) {
|
||||
if (y >= m_image->height() ||
|
||||
y < 0 ||
|
||||
x >= m_image->width()
|
||||
|| x < 0) {
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
QRgb rgb = m_image->pixel(x, y);
|
||||
QColor color(rgb);
|
||||
|
||||
return color.value();
|
||||
}
|
||||
|
||||
int SvImage::getPixelSaturation(int x, int y)
|
||||
{
|
||||
if (y >= m_image->height() ||
|
||||
y < 0 ||
|
||||
x >= m_image->width()
|
||||
|| x < 0) {
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
QRgb rgb = m_image->pixel(x, y);
|
||||
QColor color(rgb);
|
||||
|
||||
return color.saturation();
|
||||
}
|
||||
|
||||
QRgb SvImage::getPixelRGB(int x, int y)
|
||||
{
|
||||
if (y >= m_image->height() ||
|
||||
y < 0 ||
|
||||
x >= m_image->width()
|
||||
|| x < 0) {
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
return m_image->pixel(x, y);
|
||||
}
|
||||
|
||||
void SvImage::putGrayPixel(int x, int y, int value)
|
||||
{
|
||||
if (y >= m_image->height() ||
|
||||
y < 0 ||
|
||||
x >= m_image->width()
|
||||
|| x < 0) {
|
||||
|
||||
return;
|
||||
}
|
||||
|
||||
if (value > 255) {
|
||||
value = 255;
|
||||
}
|
||||
|
||||
m_image->setPixel(x, y, qRgb(value, value, value));
|
||||
}
|
||||
|
||||
void SvImage::putPixel(int x, int y, int red, int green, int blue)
|
||||
{
|
||||
if (y >= m_image->height() ||
|
||||
y < 0 ||
|
||||
x >= m_image->width()
|
||||
|| x < 0) {
|
||||
|
||||
return;
|
||||
}
|
||||
|
||||
m_image->setPixel(x, y, qRgb(red, green, blue));
|
||||
}
|
||||
|
||||
unsigned int SvImage::getHeight() {
|
||||
return m_image->height();
|
||||
}
|
||||
|
||||
unsigned int SvImage::getWidth() {
|
||||
return m_image->width();
|
||||
}
|
||||
|
||||
QImage& SvImage::getImage() {
|
||||
return *m_image;
|
||||
}
|
||||
|
||||
SvImage::SvImage(QImage& image) {
|
||||
m_image = ℑ
|
||||
}
|
||||
|
||||
SvImage::~SvImage() {
|
||||
|
||||
}
|
||||
32
svimage.h
Normal file
32
svimage.h
Normal file
@ -0,0 +1,32 @@
|
||||
#ifndef SVIMAGE_H
|
||||
#define SVIMAGE_H
|
||||
|
||||
#include <QImage>
|
||||
#include <QColor>
|
||||
#include <QRgb>
|
||||
|
||||
class SvImage
|
||||
{
|
||||
protected:
|
||||
QImage* m_image;
|
||||
|
||||
public:
|
||||
int getPixel(int x, int y, int channel = -1);
|
||||
int getPixelHue(int x, int y);
|
||||
int getPixelNormalizedHue(int x, int y);
|
||||
int getPixelValue(int x, int y);
|
||||
int getPixelSaturation(int x, int y);
|
||||
QRgb getPixelRGB(int x, int y);
|
||||
void putGrayPixel(int x, int y, int val);
|
||||
void putPixel(int x, int y, int red, int green, int blue);
|
||||
|
||||
unsigned int getHeight();
|
||||
unsigned int getWidth();
|
||||
|
||||
QImage& getImage();
|
||||
|
||||
SvImage(QImage& image);
|
||||
virtual ~SvImage();
|
||||
};
|
||||
|
||||
#endif // SVIMAGE_H
|
||||
27
svimageprovider.cpp
Normal file
27
svimageprovider.cpp
Normal file
@ -0,0 +1,27 @@
|
||||
#include "svimageprovider.h"
|
||||
|
||||
SvImageProvider::SvImageProvider():
|
||||
QQuickImageProvider(QQuickImageProvider::Image)
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
QImage SvImageProvider::requestImage(const QString &id, QSize *size, const QSize &requestedSize)
|
||||
{
|
||||
Q_UNUSED(requestedSize)
|
||||
|
||||
SvImage* image = m_images[id];
|
||||
|
||||
if (image) {
|
||||
*size = QSize(image->getWidth(), image->getHeight());
|
||||
|
||||
return image->getImage();
|
||||
}
|
||||
|
||||
return QImage(0, 0, QImage::Format_RGB32);
|
||||
}
|
||||
|
||||
void SvImageProvider::addImage(const QString &name, SvImage *image)
|
||||
{
|
||||
m_images[name] = image;
|
||||
}
|
||||
22
svimageprovider.h
Normal file
22
svimageprovider.h
Normal file
@ -0,0 +1,22 @@
|
||||
#ifndef SVIMAGEPROVIDER_H
|
||||
#define SVIMAGEPROVIDER_H
|
||||
|
||||
#include <QtQuick/QQuickImageProvider>
|
||||
#include <QHash>
|
||||
|
||||
#include "svimage.h"
|
||||
|
||||
#include <QDebug>
|
||||
|
||||
class SvImageProvider : public QQuickImageProvider
|
||||
{
|
||||
protected:
|
||||
QHash<QString, SvImage*> m_images;
|
||||
|
||||
public:
|
||||
SvImageProvider();
|
||||
virtual QImage requestImage(const QString &id, QSize *size, const QSize& requestedSize);
|
||||
void addImage(const QString &name, SvImage* image);
|
||||
};
|
||||
|
||||
#endif // SVIMAGEPROVIDER_H
|
||||
112
svkernel.cpp
Normal file
112
svkernel.cpp
Normal file
@ -0,0 +1,112 @@
|
||||
#include "svkernel.h"
|
||||
|
||||
SvKernel::SvKernel()
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
SvKernel::~SvKernel()
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
int SvKernel::rgbDiff(QRgb left, QRgb right)
|
||||
{
|
||||
QColor cLeft(left);
|
||||
QColor cRight(right);
|
||||
|
||||
int leftDiff = max(qBlue(left), qRed(left), qGreen(left)) -
|
||||
min(qBlue(left), qRed(left), qGreen(left));
|
||||
|
||||
int rightDiff = max(qBlue(right), qRed(right), qGreen(right)) -
|
||||
min(qBlue(right), qRed(right), qGreen(right));
|
||||
|
||||
int minDiff= leftDiff < rightDiff ? rightDiff : leftDiff;
|
||||
|
||||
int diff = qGray(left) - qGray(right);
|
||||
int hsvDiff = minDiff > 70 ? abs(cLeft.hsvHue() - cRight.hsvHue()) : 0;
|
||||
if (hsvDiff > 180) {
|
||||
hsvDiff = 360 - hsvDiff;
|
||||
}
|
||||
|
||||
int dsign = sign(diff);
|
||||
dsign = dsign == 0 ? 1 : dsign;
|
||||
|
||||
return /*dsign * (abs(rightDiff - leftDiff)>>2) + */diff /*+ (hsvDiff > 5 ? dsign * 10 : 0)*/;
|
||||
}
|
||||
|
||||
void SvKernel::exec(SvPointCloud *pc, SvImage *image, int line)
|
||||
{
|
||||
SvPoint p;
|
||||
QRgb vtop, top, right, bottom, vbottom, center;
|
||||
QRgb rTop, lTop;
|
||||
|
||||
int __dX, _dX, dX, dX_,
|
||||
__dY, _dY, dY, dY_;
|
||||
|
||||
int hDiff, vDiff;
|
||||
|
||||
for (int x = 0; x < image->getWidth(); x++) {
|
||||
hDiff = 0; vDiff = 0;
|
||||
|
||||
top = image->getPixelRGB(x - 1, line - 2);
|
||||
right = image->getPixelRGB(x, line - 1);
|
||||
bottom = image->getPixelRGB(x - 1, line);
|
||||
vtop = image->getPixelRGB(x - 1, line - 3);
|
||||
|
||||
dX_ = rgbDiff(center, right);
|
||||
dY_ = rgbDiff(vtop, top);
|
||||
dY = rgbDiff(top, center);
|
||||
_dY = rgbDiff(center, bottom);
|
||||
|
||||
if ( dX >= _dX && dX > dX_ ||
|
||||
dX <= _dX && dX < dX_) {
|
||||
if (dX == _dX) {
|
||||
if (dX > dX_ && _dX > __dX ||
|
||||
dX < dX_ && _dX < __dX) {
|
||||
|
||||
hDiff = abs(dX);
|
||||
}
|
||||
} else {
|
||||
hDiff = abs(dX);
|
||||
}
|
||||
}
|
||||
|
||||
if ( dY >= _dY && dY > dY_ ||
|
||||
dY <= _dY && dY < dY_) {
|
||||
|
||||
if (dY == _dY) {
|
||||
vbottom = image->getPixelRGB(x - 1, line + 1);
|
||||
__dY = rgbDiff(bottom, vbottom);
|
||||
|
||||
if (dY > dY_ && _dY > __dY ||
|
||||
dY < dY_ && _dY < __dY) {
|
||||
|
||||
vDiff = abs(dY);
|
||||
}
|
||||
} else {
|
||||
vDiff = abs(dY);
|
||||
}
|
||||
}
|
||||
|
||||
if (hDiff > 0 || vDiff > 0) {
|
||||
if (x > 1 && line > 1){
|
||||
lTop = image->getPixelRGB(x - 2, line - 2);
|
||||
rTop = image->getPixelRGB(x, line - 2);
|
||||
|
||||
p.setX(x - 1);
|
||||
p.setY(line - 1);
|
||||
|
||||
p.setDiff(hDiff, rgbDiff(center, lTop), vDiff, rgbDiff(center, rTop));
|
||||
|
||||
pc->addPoint(p);
|
||||
}
|
||||
}
|
||||
|
||||
__dX = _dX;
|
||||
_dX = dX;
|
||||
dX = dX_;
|
||||
center = right;
|
||||
}
|
||||
}
|
||||
|
||||
17
svkernel.h
Normal file
17
svkernel.h
Normal file
@ -0,0 +1,17 @@
|
||||
#ifndef SVKERNELV2_H
|
||||
#define SVKERNELV2_H
|
||||
|
||||
#include "svdefs.h"
|
||||
#include "svimage.h"
|
||||
#include "svpointcloud.h"
|
||||
|
||||
class SvKernel
|
||||
{
|
||||
public:
|
||||
SvKernel();
|
||||
virtual ~SvKernel();
|
||||
void exec(SvPointCloud *pc, SvImage *image, int line);
|
||||
int rgbDiff(QRgb left, QRgb right);
|
||||
};
|
||||
|
||||
#endif // SVKERNELV2_H
|
||||
5
svobject.cpp
Normal file
5
svobject.cpp
Normal file
@ -0,0 +1,5 @@
|
||||
#include "svobject.h"
|
||||
|
||||
SvObject::SvObject()
|
||||
{
|
||||
}
|
||||
18
svobject.h
Normal file
18
svobject.h
Normal file
@ -0,0 +1,18 @@
|
||||
#ifndef SVOBJECT_H
|
||||
#define SVOBJECT_H
|
||||
|
||||
#include "svfigure.h"
|
||||
|
||||
class SvFigure;
|
||||
|
||||
|
||||
class SvObject
|
||||
{
|
||||
protected:
|
||||
SvFigure *m_figures;
|
||||
|
||||
public:
|
||||
SvObject();
|
||||
};
|
||||
|
||||
#endif // SVOBJECT_H
|
||||
30
svpoint.cpp
Normal file
30
svpoint.cpp
Normal file
@ -0,0 +1,30 @@
|
||||
#include "svpoint.h"
|
||||
|
||||
SvPoint::SvPoint()
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
SvPoint::SvPoint(SvPoint &point)
|
||||
{
|
||||
(*this) = point;
|
||||
}
|
||||
|
||||
void SvPoint::addCurve(SvCurve *curve)
|
||||
{
|
||||
m_curves[m_curveCount++] = curve;
|
||||
}
|
||||
|
||||
int SvPoint::parallelism(SvPoint *p, DiffType type)
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
|
||||
void SvPoint::setDiff(int lDiff, int ltDiff, int tDiff, int rtDiff)
|
||||
{
|
||||
m_diff[LEFT] = lDiff;
|
||||
m_diff[LEFT_TOP] = ltDiff;
|
||||
m_diff[TOP] = tDiff;
|
||||
m_diff[RIGHT_TOP] = rtDiff;
|
||||
}
|
||||
41
svpoint.h
Normal file
41
svpoint.h
Normal file
@ -0,0 +1,41 @@
|
||||
#ifndef SVPOINT_H
|
||||
#define SVPOINT_H
|
||||
|
||||
#include "svsimplepoint.h"
|
||||
#include "svdefs.h"
|
||||
|
||||
class SvCurve;
|
||||
|
||||
class SvPoint: public SvSimplePoint
|
||||
{
|
||||
|
||||
public:
|
||||
enum DiffType {
|
||||
LEFT = 0,
|
||||
LEFT_TOP = 1,
|
||||
TOP = 2,
|
||||
RIGHT_TOP = 3
|
||||
};
|
||||
|
||||
protected:
|
||||
uint m_id;
|
||||
uint m_curveCount;
|
||||
SvCurve *m_curves[8];
|
||||
int m_diff[4];
|
||||
QRgb m_colors[4];
|
||||
|
||||
public:
|
||||
SvPoint();
|
||||
SvPoint(SvPoint &point);
|
||||
|
||||
void addCurve(SvCurve *curve);
|
||||
uint curveCount() {return m_curveCount; }
|
||||
SvCurve *curve(uint index) { return m_curves[index]; }
|
||||
|
||||
int parallelism(SvPoint *p, DiffType type);
|
||||
int diff(DiffType index) { return m_diff[index]; }
|
||||
void setDiff(int lDiff, int ltDiff, int tDiff, int rtDiff);
|
||||
void setColors(QRgb left, QRgb top, QRgb right, QRgb bottom);
|
||||
};
|
||||
|
||||
#endif // SVPOINT_H
|
||||
62
svpointcloud.cpp
Normal file
62
svpointcloud.cpp
Normal file
@ -0,0 +1,62 @@
|
||||
#include "svpointcloud.h"
|
||||
#include <string.h>
|
||||
|
||||
SvPointCloud::SvPointCloud(uint width, uint height)
|
||||
{
|
||||
m_pointFieldHeight = height;
|
||||
m_pointFieldWidth = width;
|
||||
|
||||
m_pointField = new SvPoint**[height];
|
||||
|
||||
for (uint y = 0; y < height; y++) {
|
||||
m_pointField[y] = new SvPoint*[width];
|
||||
memset(m_pointField[y], 0, sizeof(SvPoint*) * width);
|
||||
}
|
||||
}
|
||||
|
||||
SvPointCloud::~SvPointCloud()
|
||||
{
|
||||
for (uint y = 0; y < m_pointFieldHeight; y++) {
|
||||
for (uint x = 0; x < m_pointFieldWidth; x++) {
|
||||
if (m_pointField[y][x]) {
|
||||
delete m_pointField[y][x];
|
||||
}
|
||||
}
|
||||
|
||||
delete[] m_pointField[y];
|
||||
}
|
||||
|
||||
delete[] m_pointField;
|
||||
}
|
||||
|
||||
void SvPointCloud::addPoint(SvPoint &point)
|
||||
{
|
||||
int x = point.x(),
|
||||
y = point.y();
|
||||
|
||||
SvPoint *topLeft, *top, *topRight;
|
||||
SvPoint *left, *center, *right;
|
||||
SvPoint *bottomLeft, *bottom, *bottomRight;
|
||||
|
||||
center = m_pointField[y][x - 1];
|
||||
|
||||
if (y > 1 && y < m_pointFieldHeight - 1 &&
|
||||
x > 1 && x < m_pointFieldWidth && center) {
|
||||
|
||||
topRight = m_pointField[y - 1][x ];
|
||||
top = m_pointField[y - 1][x - 1];
|
||||
topLeft = m_pointField[y - 1][x - 2];
|
||||
right = new SvPoint(point);
|
||||
left = m_pointField[y ][x - 2];
|
||||
bottomRight = m_pointField[y + 1][x ];
|
||||
bottom = m_pointField[y + 1][x - 1];
|
||||
bottomLeft = m_pointField[y + 1][x - 2];
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
m_pointField[y][x] = right;
|
||||
}
|
||||
49
svpointcloud.h
Normal file
49
svpointcloud.h
Normal file
@ -0,0 +1,49 @@
|
||||
#ifndef SVPOINTCLOUD_H
|
||||
#define SVPOINTCLOUD_H
|
||||
|
||||
#include <QObject>
|
||||
|
||||
#include "svdefs.h"
|
||||
#include "svpoint.h"
|
||||
#include "svcurve.h"
|
||||
#include "svfigure.h"
|
||||
#include "svobject.h"
|
||||
|
||||
class SvCurve;
|
||||
class SvFigure;
|
||||
class SvObject;
|
||||
|
||||
class SvPointCloud: public QObject
|
||||
{
|
||||
Q_OBJECT
|
||||
|
||||
friend class SvCurve;
|
||||
friend class SvPoint;
|
||||
friend class SvFigure;
|
||||
friend class SvObject;
|
||||
|
||||
protected:
|
||||
uint m_pointFieldHeight;
|
||||
uint m_pointFieldWidth;
|
||||
SvPoint*** m_pointField;
|
||||
QList<SvCurve*> m_curves;
|
||||
QList<SvFigure*> m_figures;
|
||||
QList<SvObject*> m_objects;
|
||||
|
||||
public:
|
||||
SvPointCloud(uint width, uint height);
|
||||
~SvPointCloud();
|
||||
|
||||
SvCurve *createCurve();
|
||||
SvFigure *createFigure();
|
||||
SvObject *createObject();
|
||||
|
||||
void addPoint(SvPoint &point);
|
||||
uint getWidth() { return m_pointFieldWidth; }
|
||||
uint getHeight() { return m_pointFieldHeight; }
|
||||
SvPoint *point(uint x, uint y) { return m_pointField[y][x]; }
|
||||
QList<SvCurve*> &curves() { return m_curves; }
|
||||
QList<SvFigure*> &figures() { return m_figures; }
|
||||
};
|
||||
|
||||
#endif // SVPOINTCLOUD_H
|
||||
94
svpointcloudviewer.cpp
Normal file
94
svpointcloudviewer.cpp
Normal file
@ -0,0 +1,94 @@
|
||||
#include "svpointcloudviewer.h"
|
||||
|
||||
#include <QtGui/QOpenGLShaderProgram>
|
||||
#include <QtGui/QOpenGLContext>
|
||||
|
||||
SvPointCloudViewer::SvPointCloudViewer(QQuickItem *parent) :
|
||||
QQuickPaintedItem(parent)
|
||||
{
|
||||
setRenderTarget(QQuickPaintedItem::FramebufferObject);
|
||||
}
|
||||
|
||||
|
||||
|
||||
void SvPointCloudViewer::paint(QPainter *painter)
|
||||
{
|
||||
if (!m_pointCloud) {
|
||||
qDebug() << "point cloud not set!";
|
||||
return;
|
||||
}
|
||||
|
||||
painter->beginNativePainting();
|
||||
|
||||
glViewport(0, 0, width(), height());
|
||||
|
||||
glClearColor(0, 0, 0, 1);
|
||||
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
|
||||
glMatrixMode(GL_MODELVIEW);
|
||||
glLoadIdentity();
|
||||
glTranslatef(0.0f, height(), -40.0f);
|
||||
glPointSize(1.0f);
|
||||
glScalef(1.0f, 1.0f, 1.0f);
|
||||
|
||||
foreach (SvFigure *figure, m_pointCloud->figures()) {
|
||||
glBegin(GL_POLYGON);
|
||||
glColor3ub(qRed(figure->color()), qGreen(figure->color()), qBlue(figure->color()));
|
||||
|
||||
foreach (SvCurve *curve, figure->curves()) {
|
||||
foreach (SvPoint *point, curve->points()) {
|
||||
glVertex3i(point->x(), point->y(), 0);
|
||||
}
|
||||
}
|
||||
|
||||
glEnd();
|
||||
}
|
||||
|
||||
painter->endNativePainting();
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
void SvPointCloudViewer::paint(QPainter *painter)
|
||||
{
|
||||
if (!m_pointCloud) {
|
||||
qDebug() << "point cloud not set!";
|
||||
return;
|
||||
}
|
||||
|
||||
painter->beginNativePainting();
|
||||
|
||||
glViewport(0, 0, width(), height());
|
||||
|
||||
glClearColor(0, 0, 0, 1);
|
||||
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
|
||||
glMatrixMode(GL_MODELVIEW);
|
||||
glLoadIdentity();
|
||||
glTranslatef(0.0f, height(), -40.0f);
|
||||
glPointSize(1.0f);
|
||||
glScalef(1.0f, 1.0f, 1.0f);
|
||||
|
||||
glBegin(GL_POINTS);
|
||||
for (int y = 1; y < m_pointCloud->getHeight(); y++) {
|
||||
for (int x = 1; x < m_pointCloud->getWidth() - 1; x++) {
|
||||
SvPoint *lp = m_pointCloud->point(x - 1, y);
|
||||
SvPoint *tlp = m_pointCloud->point(x - 1, y - 1);
|
||||
SvPoint *tp = m_pointCloud->point(x, y - 1);
|
||||
SvPoint *trp = m_pointCloud->point(x + 1, y - 1);
|
||||
SvPoint *p = m_pointCloud->point(x, y);
|
||||
if (p) {
|
||||
//glColor3ub(0, 0, 0);
|
||||
|
||||
int topRight = abs(p->diff(SvPoint::RIGHT_TOP));
|
||||
int topLeft = abs(p->diff(SvPoint::LEFT_TOP));
|
||||
int left = abs(p->diff(SvPoint::LEFT));
|
||||
int top = abs(p->diff(SvPoint::TOP));
|
||||
|
||||
glColor3ub(top * 4 > 255 ? 255 : top * 4, left * 4 > 255 ? 255 : left * 4, 0);
|
||||
}
|
||||
}
|
||||
}
|
||||
glEnd();
|
||||
|
||||
painter->endNativePainting();
|
||||
}
|
||||
*/
|
||||
48
svpointcloudviewer.h
Normal file
48
svpointcloudviewer.h
Normal file
@ -0,0 +1,48 @@
|
||||
#ifndef SVPOINTCLOUDVIEWER_H
|
||||
#define SVPOINTCLOUDVIEWER_H
|
||||
|
||||
#include <QQuickPaintedItem>
|
||||
#include <QQuickWindow>
|
||||
#include <QPainter>
|
||||
#include <QtGui/QOpenGLShaderProgram>
|
||||
#include <QtGui/QOpenGLContext>
|
||||
|
||||
#include "svpointcloud.h"
|
||||
#include "svapplicationcontext.h"
|
||||
|
||||
class SvPointCloudViewer : public QQuickPaintedItem
|
||||
{
|
||||
Q_OBJECT
|
||||
|
||||
Q_PROPERTY(SvPointCloud *pointCloud READ pointCloud WRITE setPointCloud NOTIFY pointCloudChanged)
|
||||
|
||||
// Q_PROPERTY(QString test123 READ pointCloud WRITE setPointCloud NOTIFY pointCloudChanged)
|
||||
// Q_PROPERTY(qreal cameraX READ cameraX WRITE setCameraX NOTIFY cameraXChanged)
|
||||
// Q_PROPERTY(qreal cameraY READ cameraY WRITE setCameraY NOTIFY cameraYChanged)
|
||||
// Q_PROPERTY(qreal cameraZ READ cameraZ WRITE setCameraZ NOTIFY cameraZChanged)
|
||||
|
||||
protected:
|
||||
SvPointCloud *m_pointCloud;
|
||||
qreal m_cameraX;
|
||||
qreal m_cameraY;
|
||||
qreal m_cameraZ;
|
||||
|
||||
public:
|
||||
explicit SvPointCloudViewer(QQuickItem *parent = 0);
|
||||
void paint(QPainter *painter);
|
||||
void setPointCloud(SvPointCloud *pointCloud) { m_pointCloud = pointCloud; }
|
||||
SvPointCloud *pointCloud() { return m_pointCloud; }
|
||||
|
||||
signals:
|
||||
void pointCloudChanged();
|
||||
void cameraXChanged();
|
||||
void cameraYChanged();
|
||||
void cameraZChanged();
|
||||
|
||||
public slots:
|
||||
//void resetCamera();
|
||||
//void moveCamera(qreal X, qreal Y, qreal Z);
|
||||
// void rotateCamera(qreal X, qreal Y, qreal Z);
|
||||
};
|
||||
|
||||
#endif // SVPOINTCLOUDVIEWER_H
|
||||
95
svprocessor.cpp
Normal file
95
svprocessor.cpp
Normal file
@ -0,0 +1,95 @@
|
||||
#include "svprocessor.h"
|
||||
|
||||
SvProcessor::SvProcessor(QObject *parent):
|
||||
QObject(parent)
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
SvProcessor::SvProcessor(int numberOfWorkers)
|
||||
{
|
||||
uint i;
|
||||
|
||||
m_kernel = new SvKernel();
|
||||
|
||||
m_numberOfWorkers = numberOfWorkers;
|
||||
m_workers = new SvWorker[m_numberOfWorkers];
|
||||
m_threads = new QThread[m_numberOfWorkers];
|
||||
|
||||
for (i = 0; i < m_numberOfWorkers; i++) {
|
||||
m_workers[i].setId(i);
|
||||
m_workers[i].setKernel(m_kernel);
|
||||
m_workers[i].setProcessor(this);
|
||||
m_workers[i].moveToThread(&m_threads[i]);
|
||||
|
||||
connect(&m_threads[i], &QThread::started, &m_workers[i], &SvWorker::start);
|
||||
connect(&m_workers[i], &SvWorker::finished, this, &SvProcessor::workerFinished);
|
||||
}
|
||||
}
|
||||
|
||||
SvProcessor::~SvProcessor()
|
||||
{
|
||||
delete m_kernel;
|
||||
delete[] m_workers;
|
||||
}
|
||||
|
||||
void SvProcessor::enqueueImage(SvPointCloud *pointCloud, SvImage *image)
|
||||
{
|
||||
SvProcessorTask *task;
|
||||
|
||||
for (uint i = 0; i < image->getHeight(); i++) {
|
||||
task = new SvProcessorTask;
|
||||
task->image = image;
|
||||
task->line = i;
|
||||
task->pointCloud = pointCloud;
|
||||
m_taskQueue.enqueue(task);
|
||||
}
|
||||
}
|
||||
|
||||
SvProcessorTask SvProcessor::nextTask()
|
||||
{
|
||||
SvProcessorTask task, *taskPtr;
|
||||
|
||||
m_nextTaskMutex.lock();
|
||||
|
||||
if (!m_taskQueue.size()) {
|
||||
m_nextTaskMutex.unlock();
|
||||
throw SvNoMoreTasks();
|
||||
}
|
||||
|
||||
taskPtr = m_taskQueue.dequeue();
|
||||
|
||||
m_nextTaskMutex.unlock();
|
||||
|
||||
task = *taskPtr;
|
||||
delete taskPtr;
|
||||
|
||||
return task;
|
||||
}
|
||||
|
||||
void SvProcessor::workerFinished(int workerId)
|
||||
{
|
||||
qDebug() << "worker " << workerId << " finished";
|
||||
m_workersFinished++;
|
||||
if (m_workersFinished == m_numberOfWorkers) {
|
||||
qDebug() << "finished";
|
||||
emit finished(time(NULL) - m_startTime);
|
||||
}
|
||||
}
|
||||
|
||||
void SvProcessor::start()
|
||||
{
|
||||
uint i;
|
||||
|
||||
m_startTime = time(NULL);
|
||||
m_workersFinished = 0;
|
||||
|
||||
for (i = 0; i < m_numberOfWorkers; i++) {
|
||||
m_threads[i].start(QThread::HighPriority);
|
||||
}
|
||||
}
|
||||
|
||||
void SvProcessor::stop()
|
||||
{
|
||||
emit stopped(time(NULL) - m_startTime);
|
||||
}
|
||||
61
svprocessor.h
Normal file
61
svprocessor.h
Normal file
@ -0,0 +1,61 @@
|
||||
#ifndef SVPROCESSOR_H
|
||||
#define SVPROCESSOR_H
|
||||
|
||||
#include <time.h>
|
||||
|
||||
#include <QObject>
|
||||
#include <QThread>
|
||||
#include <QDebug>
|
||||
#include <QQueue>
|
||||
#include <QMutex>
|
||||
#include <QException>
|
||||
|
||||
#include "svimage.h"
|
||||
#include "svworker.h"
|
||||
#include "svkernel.h"
|
||||
#include "svpointcloud.h"
|
||||
|
||||
|
||||
class SvWorker;
|
||||
|
||||
class SvNoMoreTasks: public QException
|
||||
{
|
||||
|
||||
};
|
||||
|
||||
class SvProcessor: public QObject
|
||||
{
|
||||
Q_OBJECT
|
||||
|
||||
protected:
|
||||
QThread* m_threads;
|
||||
SvWorker* m_workers;
|
||||
SvKernel* m_kernel;
|
||||
uint m_numberOfWorkers;
|
||||
uint m_workersFinished;
|
||||
uint m_startTime;
|
||||
QQueue<SvProcessorTask*> m_taskQueue;
|
||||
QMutex m_nextTaskMutex;
|
||||
|
||||
public:
|
||||
explicit SvProcessor(QObject *parent = 0);
|
||||
SvProcessor(int numberOfWorkers = 1);
|
||||
~SvProcessor();
|
||||
void execute();
|
||||
void enqueueImage(SvPointCloud *pointCloud, SvImage *image);
|
||||
SvProcessorTask nextTask();
|
||||
|
||||
protected slots:
|
||||
void workerFinished(int workerId);
|
||||
|
||||
public slots:
|
||||
void start();
|
||||
void stop();
|
||||
|
||||
signals:
|
||||
void started();
|
||||
void finished(int elapsedTime);
|
||||
void stopped(int elapsedTime);
|
||||
};
|
||||
|
||||
#endif // SVPROCESSOR_H
|
||||
5
svsimplepoint.cpp
Normal file
5
svsimplepoint.cpp
Normal file
@ -0,0 +1,5 @@
|
||||
#include "svsimplepoint.h"
|
||||
|
||||
SvSimplePoint::SvSimplePoint()
|
||||
{
|
||||
}
|
||||
22
svsimplepoint.h
Normal file
22
svsimplepoint.h
Normal file
@ -0,0 +1,22 @@
|
||||
#ifndef SVSIMPLEPOINT_H
|
||||
#define SVSIMPLEPOINT_H
|
||||
|
||||
|
||||
class SvSimplePoint
|
||||
{
|
||||
protected:
|
||||
int m_px, m_py, m_pz;
|
||||
|
||||
public:
|
||||
int x() {return m_px;}
|
||||
int y() {return m_py;}
|
||||
int z() {return m_pz;}
|
||||
|
||||
void setX(int px) {m_px = px;}
|
||||
void setY(int py) {m_py = py;}
|
||||
void setZ(int pz) {m_pz = pz;}
|
||||
|
||||
SvSimplePoint();
|
||||
};
|
||||
|
||||
#endif // SVSIMPLEPOINT_H
|
||||
29
svworker.cpp
Normal file
29
svworker.cpp
Normal file
@ -0,0 +1,29 @@
|
||||
#include "svworker.h"
|
||||
|
||||
SvWorker::SvWorker(QObject *parent) :
|
||||
QObject(parent)
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
void SvWorker::stop()
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
void SvWorker::start()
|
||||
{
|
||||
SvProcessorTask task;
|
||||
|
||||
while(true) {
|
||||
try {
|
||||
task = m_processor->nextTask();
|
||||
} catch (SvNoMoreTasks ex) {
|
||||
break;
|
||||
}
|
||||
|
||||
m_kernel->exec(task.pointCloud, task.image, task.line);
|
||||
}
|
||||
|
||||
emit finished(m_id);
|
||||
}
|
||||
36
svworker.h
Normal file
36
svworker.h
Normal file
@ -0,0 +1,36 @@
|
||||
#ifndef SVWORKER_H
|
||||
#define SVWORKER_H
|
||||
|
||||
#include <QObject>
|
||||
#include <QList>
|
||||
|
||||
#include "svkernel.h"
|
||||
#include "svprocessor.h"
|
||||
#include "svimage.h"
|
||||
|
||||
class SvProcessor;
|
||||
|
||||
class SvWorker : public QObject
|
||||
{
|
||||
Q_OBJECT
|
||||
|
||||
protected:
|
||||
int m_id;
|
||||
SvKernel *m_kernel;
|
||||
SvProcessor *m_processor;
|
||||
|
||||
public:
|
||||
explicit SvWorker(QObject *parent = 0);
|
||||
|
||||
void setId(int id) {m_id = id;}
|
||||
void setKernel(SvKernel* kernel) {m_kernel = kernel;}
|
||||
void setProcessor(SvProcessor* processor) {m_processor = processor;}
|
||||
signals:
|
||||
void finished(int id);
|
||||
|
||||
public slots:
|
||||
void stop();
|
||||
void start();
|
||||
};
|
||||
|
||||
#endif // SVWORKER_H
|
||||
Loading…
Reference in New Issue
Block a user