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/************************************************************************
*
* Copyright (C) 2019-2025 IRCAD France
* Copyright (C) 2019-2020 IHU Strasbourg
*
* This file is part of Sight.
*
* Sight is free software: you can redistribute it and/or modify it under
* the terms of the GNU Lesser General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Sight 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 Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public
* License along with Sight. If not, see <https://www.gnu.org/licenses/>.
*
***********************************************************************/
#include "calibration_info_reader.hpp"
#include <core/com/slots.hxx>
#include <core/location/single_folder.hpp>
#include <data/calibration_info.hpp>
#include <data/image.hpp>
#include <geometry/vision/helper.hpp>
#include <io/opencv/image.hpp>
#include <service/macros.hpp>
#include <ui/__/cursor.hpp>
#include <ui/__/dialog/location.hpp>
#include <ui/__/dialog/message.hpp>
#include <opencv2/opencv.hpp>
// cspell:ignore imread
namespace sight::module::io::vision
{
static const core::com::slots::key_t UPDATE_CHESSBOARD_SIZE_SLOT = "update_chessboard_size";
calibration_info_reader::calibration_info_reader() noexcept :
reader("Choose a folder holding calibration inputs")
{
}
//------------------------------------------------------------------------------
sight::io::service::path_type_t calibration_info_reader::get_path_type() const
{
return sight::io::service::folder;
}
//------------------------------------------------------------------------------
void calibration_info_reader::open_location_dialog()
{
static auto default_directory = std::make_shared<core::location::single_folder>();
sight::ui::dialog::location dialog_file;
dialog_file.set_title(*m_window_title);
dialog_file.set_default_location(default_directory);
dialog_file.set_option(ui::dialog::location::read);
dialog_file.set_type(ui::dialog::location::folder);
auto result = std::dynamic_pointer_cast<core::location::single_folder>(dialog_file.show());
if(result)
{
this->set_folder(result->get_folder());
default_directory->set_folder(result->get_folder().parent_path());
dialog_file.save_default_location(default_directory);
}
else
{
this->clear_locations();
}
}
//------------------------------------------------------------------------------
void calibration_info_reader::configuring()
{
sight::io::service::reader::configuring();
}
//------------------------------------------------------------------------------
void calibration_info_reader::starting()
{
}
//------------------------------------------------------------------------------
void calibration_info_reader::updating()
{
if(this->has_location_defined())
{
const auto data = m_data.lock();
const auto calib_info = std::dynamic_pointer_cast<data::calibration_info>(data.get_shared());
SIGHT_ASSERT("Missing calibration info.", calib_info);
data::mt::locked_ptr calib_info_lock(calib_info);
sight::ui::cursor cursor;
cursor.set_cursor(ui::cursor_base::busy);
using detection_pair_t = std::pair<data::image::sptr, data::point_list::sptr>;
const std::filesystem::path folder = this->get_folder();
// Use a map to sort input images by their filename.
std::map<std::string, detection_pair_t> filename_detection_map;
for(const std::filesystem::path& dir_entry : std::filesystem::directory_iterator(folder))
{
cv::Mat img = cv::imread(dir_entry.string(), cv::IMREAD_COLOR);
std::string error_message;
if(!img.empty())
{
cv::cvtColor(img, img, cv::COLOR_BGR2RGB);
data::point_list::sptr chessboard_pts = geometry::vision::helper::detect_chessboard(
img,
std::size_t(*m_width),
std::size_t(*m_height),
float(*m_scale)
);
if(chessboard_pts)
{
data::image::sptr calib_img = std::make_shared<data::image>();
sight::io::opencv::image::copy_from_cv(*calib_img.get(), img);
calib_img->set_spacing({{1., 1., 1.}});
calib_img->set_origin({{0., 0., 0.}});
const auto detection_pair = std::make_pair(calib_img, chessboard_pts);
const auto filename = dir_entry.filename().string();
filename_detection_map[filename] = detection_pair;
}
else
{
error_message = "Couldn't detect a chessboard in '" + dir_entry.string() + "'.\n\n"
"Please make sure that the right chessboard parameters are set.";
}
}
else
{
error_message = "Couldn't read '" + dir_entry.string() + "'.\n\n"
"Make sure it is a valid image format.";
}
if(!error_message.empty())
{
error_message += "\n\n Abort reading?";
sight::ui::dialog::message message_box("Reading calibration inputs failed", error_message,
sight::ui::dialog::message::warning);
message_box.add_button(ui::dialog::message::yes_no);
if((message_box.show() & sight::ui::dialog::message::yes) != 0)
{
filename_detection_map.clear();
m_read_failed = true;
break;
}
error_message.clear();
}
}
cursor.set_default_cursor();
if(!filename_detection_map.empty())
{
for(auto& [fname, detection] : filename_detection_map)
{
auto& [img, chessboard] = detection;
calib_info->add_record(img, chessboard);
}
auto sig = calib_info->signal<data::calibration_info::added_record_signal_t>
(data::calibration_info::MODIFIED_SIG);
sig->async_emit();
}
}
else
{
m_read_failed = true;
}
}
//------------------------------------------------------------------------------
void calibration_info_reader::stopping()
{
}
//------------------------------------------------------------------------------
} // namespace sight::module::io::vision
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