diff --git a/apps/ar_cubes/Makefile b/apps/ar_cubes/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..cb9be454905e90580b2b824041ade7de54b42078
--- /dev/null
+++ b/apps/ar_cubes/Makefile
@@ -0,0 +1,20 @@
+include ../../../ar_sandbox_lib/dep.mk
+
+API_PATH=../../../ar_sandbox_lib
+CFLAGS=-std=c++11 -Wall -Wextra -g
+CCP=g++
+DBG_GPROF=-pg
+
+all: ar_cubes
+
+ar_cubes: ar_cubes.o
+ $(CCP) $^ -o $@ -L$(API_PATH)/build -lsandbox $(DEP_SANDBOX)
+
+%.o: %.cpp
+ $(CCP) $(CFLAGS) -I$(API_PATH)/inc -c $< -o $@
+
+run:
+ ./ar_cubes
+
+clean:
+ rm -f *.o ar_cubes
diff --git a/apps/ar_cubes/ar_cubes b/apps/ar_cubes/ar_cubes
new file mode 100755
index 0000000000000000000000000000000000000000..0de4a51f93a0f702946c8def7a0e6dc3066e84d8
Binary files /dev/null and b/apps/ar_cubes/ar_cubes differ
diff --git a/apps/ar_cubes/ar_cubes.cpp b/apps/ar_cubes/ar_cubes.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..925a058ecc83763f1235251d7a8925d5e225f1c7
--- /dev/null
+++ b/apps/ar_cubes/ar_cubes.cpp
@@ -0,0 +1,98 @@
+
+#include "ar_cubes.h"
+
+int main(){
+
+ Sandbox sandbox;
+ char *sandbox_conf_file = (char*)"../../sandbox_conf.yaml";
+
+ if(sandbox.loadConfigFrom(sandbox_conf_file)){
+ std::cout << "Failed to load the configuration" << std::endl;
+ return 1;
+ }
+
+ if(sandbox.init()){
+ std::cout << "Failed to initilize sandbox" << std::endl;
+ return 1;
+ }
+
+ arCubes(sandbox);
+}
+
+void arCubes(Sandbox &sandbox){
+
+ char wn[] = "Cubes";
+ cv::namedWindow(wn, CV_WINDOW_NORMAL);
+ cv::setWindowProperty(wn, CV_WND_PROP_FULLSCREEN, CV_WINDOW_FULLSCREEN);
+
+ cv::Mat gray;
+
+
+ cv::Mat blue;
+ sandbox.captureFrame();
+ cv::Mat src = sandbox.getColorFrame();
+ cv::Mat dst = cv::Mat::zeros(src.rows, src.cols, CV_8UC3);
+ cv::Mat z = cv::Mat::zeros(src.rows, src.cols, CV_8UC1);
+
+ std::vector<std::vector<cv::Point>> contours;
+ std::vector<cv::Mat1b> channels;
+
+
+ do{
+ sandbox.captureFrame();
+ src = sandbox.getColorFrame();
+ dst = cv::Mat::zeros(src.rows, src.cols, CV_8UC3);
+ contours.clear();
+ channels.clear();
+
+ cv::extractChannel(src, blue, 2);
+ cv::threshold(blue, blue, 240, 255, cv::THRESH_TOZERO);
+
+ channels.push_back(z);
+ channels.push_back(z);
+ channels.push_back(blue);
+
+ cv::merge(channels, dst);
+
+ //cv::cvtColor(src, gray, CV_RGB2GRAY, 0);
+ //cv::threshold(gray, gray, 127,255,0);
+ cv::findContours( blue, contours, cv::RETR_EXTERNAL, cv::CHAIN_APPROX_SIMPLE);
+ //cv::cvtColor(red, dst, CV_GRAY2RGB, 0);
+ std::cout << "total " << contours.size() << std::endl;
+ for (int i = 0; i < static_cast<int>(contours.size()); ++i) {
+ //std::vector<cv::Point> approx = contours.at(i);
+ std::vector<cv::Point> approx;
+ double epsilon = 0.1*cv::arcLength(contours.at(i),true);
+ cv::approxPolyDP(contours.at(i), approx, epsilon, true);
+
+ std::cout << "count " << approx.size() << std::endl;
+ cv::drawContours(dst, (std::vector<std::vector<cv::Point>>){approx}, 0, cv::Scalar(0,255,0));
+ }
+ cv::cvtColor(dst, dst, CV_RGB2BGR);
+ cv::imshow(wn, dst);
+
+ } while (cv::waitKey(10) != 27);
+
+
+ cv::destroyAllWindows();
+
+ // https://docs.opencv.org/trunk/dd/d49/tutorial_py_contour_features.html
+
+ /*
+ for cnt in contours:
+ approx = cv2.approxPolyDP(cnt, 0.01*cv2.arcLength(cnt, True), True)
+ cv2.drawContours(img, [approx], 0, (0), 5)
+ x = approx.ravel()[0]
+ y = approx.ravel()[1]
+ if len(approx) == 3:
+ cv2.putText(img, "Triangle", (x, y), font, 1, (0))
+ elif len(approx) == 4:
+ cv2.putText(img, "Rectangle", (x, y), font, 1, (0))
+ elif len(approx) == 5:
+ cv2.putText(img, "Pentagon", (x, y), font, 1, (0))
+ elif 6 < len(approx) < 15:
+ cv2.putText(img, "Ellipse", (x, y), font, 1, (0))
+ else:
+ cv2.putText(img, "Circle", (x, y), font, 1, (0))
+ */
+}
diff --git a/apps/ar_cubes/ar_cubes.h b/apps/ar_cubes/ar_cubes.h
new file mode 100644
index 0000000000000000000000000000000000000000..ca0276bca68ee77d74ddfe611e4f05db985e002e
--- /dev/null
+++ b/apps/ar_cubes/ar_cubes.h
@@ -0,0 +1,12 @@
+#ifndef APP_AR_CUBES_H
+#define APP_AR_CUBES_H
+
+#include <sandbox.h>
+#include <opencv2/opencv.hpp>
+
+#define ESCAPE_CHAR 27
+
+
+void arCubes(Sandbox &sandbox);
+
+#endif
diff --git a/apps/ar_cubes/ar_cubes.o b/apps/ar_cubes/ar_cubes.o
new file mode 100644
index 0000000000000000000000000000000000000000..1e14d5913aa969050610a4a1546741a86dad88ef
Binary files /dev/null and b/apps/ar_cubes/ar_cubes.o differ
diff --git a/apps/display_levels/display_levels.cpp b/apps/display_levels/display_levels.cpp
index dc3ed3c1156342fb578927fd2cf41ae6a267d7a4..cd02a4d868b4cddda481a62f6ffa85daeb100e2b 100644
--- a/apps/display_levels/display_levels.cpp
+++ b/apps/display_levels/display_levels.cpp
@@ -25,20 +25,17 @@ int main(){
return 1;
}
- displayLevels(sandbox);
+ displayLevels( sandbox, sandbox.getProjection()->getDistanceTopSandbox(), 0.17f );
}
/*
* Show levels of the sandbox in color
+* top => distance from camera to the top of the sandbox
*/
-void displayLevels(Sandbox &sandbox){
-
- float sandboxHeight = 0.17f;
- // top => distance from camera to the top of the sandbox
- float top = sandbox.getProjection()->getDistanceTopSandbox();
+void displayLevels(Sandbox &sandbox, float top, float height){
- // Needed because the values retrives from depth frames can change a bit although nothing has changed physically
+ // Needed because the values retrive from depth frames can change a bit although nothing has changed physically
const float DEPTH_MARGIN_ERROR = 0.01f;
char windowName[] = "Sandbox";
@@ -46,28 +43,37 @@ void displayLevels(Sandbox &sandbox){
cv::setWindowProperty(windowName, CV_WND_PROP_FULLSCREEN, CV_WINDOW_FULLSCREEN);
sandbox.captureFrame();
- static cv::Mat depth_cache = sandbox.getDepthFrame();
-
+ cv::Mat depth_cache = sandbox.getDepthFrame();
cv::Mat new_depth = cv::Mat(depth_cache.size(), CV_32F);
cv::Mat colorized = cv::Mat(depth_cache.size(), CV_8UC3);
- cv::Mat res = cv::Mat(depth_cache.size(), CV_8UC3);
+ cv::Mat_<cv::Vec3b> res = cv::Mat(depth_cache.size(), CV_8UC3);
+
+ //cv::Mat_<cv::Vec3b> img = cv::imread("index.png");
+
/*
std::chrono::milliseconds start_ms = std::chrono::duration_cast< std::chrono::milliseconds >( std::chrono::system_clock::now().time_since_epoch() );
int cpt_frame = 0;
-*/
+*/
do{
//for(int i=0; i<200; i++){
sandbox.captureFrame();
- sandbox.getDepthFrame().copyTo(new_depth);
+ new_depth = sandbox.getDepthFrame();
new_depth.copyTo( depth_cache, (cv::abs(depth_cache-new_depth) > DEPTH_MARGIN_ERROR) );
- colorizeDepth(depth_cache, top, sandboxHeight).copyTo(colorized);
+ colorized = colorizeDepth(depth_cache, top, height);
cv::cvtColor(colorized, res, CV_RGB2BGR);
- sandbox.adjustProjection(res).copyTo(res);
+ //std::chrono::milliseconds start_adj_ms = std::chrono::duration_cast< std::chrono::milliseconds >( std::chrono::system_clock::now().time_since_epoch() );
+ //cv::Mat_<cv::Vec3b> result = sandbox.adjustProjection(res);
+
+ //std::chrono::milliseconds now_adj_ms = std::chrono::duration_cast< std::chrono::milliseconds >( std::chrono::system_clock::now().time_since_epoch() );
+ //std::cout << "Adjust : " << (now_adj_ms - start_adj_ms).count() << std::endl;
+ //result.copyTo(res);
+
+ res = sandbox.adjustProjection(res);
cv::imshow(windowName, res);
-/*
+ /*
cpt_frame++;
std::chrono::milliseconds now_ms = std::chrono::duration_cast< std::chrono::milliseconds >( std::chrono::system_clock::now().time_since_epoch() );
if(now_ms-start_ms > std::chrono::milliseconds(1000)){
@@ -75,7 +81,7 @@ void displayLevels(Sandbox &sandbox){
cpt_frame = 0;
start_ms = std::chrono::duration_cast< std::chrono::milliseconds >( std::chrono::system_clock::now().time_since_epoch() );
}
-*/
+ */
//}
} while (cv::waitKey(10) != ESCAPE_CHAR);
@@ -100,10 +106,7 @@ cv::Mat colorizeDepth(cv::Mat depth, float sandboxTop, float sandboxHeight){
for(int j=0; j<depth.rows; j++){
for(int i=0; i<depth.cols; i++){
- cv::Scalar color = floatToColor(normalizedDepth.at<float>(j,i), 0.0f, sandboxHeight);
- res.at<cv::Vec3b>(j,i)[0] = color[0];
- res.at<cv::Vec3b>(j,i)[1] = color[1];
- res.at<cv::Vec3b>(j,i)[2] = color[2];
+ res.at<cv::Vec3b>(j,i) = floatToColor(normalizedDepth.at<float>(j,i), 0.0f, sandboxHeight);
}
}
@@ -121,7 +124,7 @@ cv::Mat colorizeDepth(cv::Mat depth, float sandboxTop, float sandboxHeight){
* Color order :
* blue > cyan > green > yellow > red
*/
-cv::Scalar floatToColor(float value, float min, float max){
+cv::Vec3b floatToColor(float value, float min, float max){
const uint CHANNEL_MAX = 255;
@@ -157,5 +160,5 @@ cv::Scalar floatToColor(float value, float min, float max){
uint8_t g = static_cast<uint8_t>( initColors[index][1] + coeffColors[index][1] * (color % (CHANNEL_MAX+1)) );
uint8_t b = static_cast<uint8_t>( initColors[index][2] + coeffColors[index][2] * (color % (CHANNEL_MAX+1)) );
- return cv::Scalar(r,g,b);
+ return cv::Vec3b(r,g,b);
}
diff --git a/apps/display_levels/display_levels.h b/apps/display_levels/display_levels.h
index d1d57f618829236670796d6449540564e52c6a9d..1ef26d5228da1436a0ca3b45d9602653a28c6e1e 100644
--- a/apps/display_levels/display_levels.h
+++ b/apps/display_levels/display_levels.h
@@ -7,9 +7,9 @@
#define ESCAPE_CHAR 27
-void displayLevels(Sandbox &sandbox);
+void displayLevels(Sandbox &sandbox, float top, float height);
-cv::Scalar floatToColor(float value, float min, float max);
+cv::Vec3b floatToColor(float value, float min, float max);
cv::Mat colorizeDepth(cv::Mat depth, float sandboxTop, float sandboxHeight);
#endif
diff --git a/apps/display_levels/index.jpeg b/apps/display_levels/index.jpeg
deleted file mode 100644
index 8b2033b95fb39f91dc2560c86a0a628facc9d2de..0000000000000000000000000000000000000000
Binary files a/apps/display_levels/index.jpeg and /dev/null differ
diff --git a/beamer_config.sh b/beamer_config.sh
index b47b842a5a7d44abd5e913303ec4aa7c907ca15f..f1eaabfb40b9937a422e751cbd8e4f2c61830f86 100755
--- a/beamer_config.sh
+++ b/beamer_config.sh
@@ -1,7 +1,8 @@
-SCREEN=eDP-1
+SCREEN=DVI-D-0
SCN_RES=1920x1080
-BEAMER=HDMI-1
+BEAMER=HDMI-0
BM_RES=1400x1050
+#1024x768
xrandr --output $SCREEN --rate 60 --mode $SCN_RES --fb $SCN_RES --panning $SCN_RES* \
diff --git a/sandbox_conf.yaml b/sandbox_conf.yaml
index 84bb9d952455aab2ef3d91d2705e82209cf4e104..d9273d5433f1c18fe0718654e506556f86121713 100644
--- a/sandbox_conf.yaml
+++ b/sandbox_conf.yaml
@@ -1,26 +1,26 @@
AdjustingMatrix:
width: 3
height: 2
- matrix: [0.9998824, -0.0153356194, 3.71817994, 0.0153356194, 0.9998824, -4.87917471]
+ matrix: [0.999961376, -0.00879086927, 1.49442828, 0.00879086927, 0.999961376, -1.9889971]
DistanceTopSandbox:
- distance: 1.10
+ distance: 0.985000074
CroppingMask:
- x: 176
- y: 121
- width: 320
- height: 240
+ x: 150
+ y: 93
+ width: 455
+ height: 338
BeamerResolution:
width: 1400
height: 1050
BeamerPosition:
- x: 0.008
- y: 0.25
- z: 0
+ x: 0.05
+ y: 0.2
+ z: -0.3
FrameProcessProfil:
- contrast: 2.2999999999999936
- brightness: -75
+ contrast: 1.8100000000000001
+ brightness: -163
minDistance: 60
cannyEdgeThreshold: 137
houghAccThreshold: 30
minRadius: 4
- maxRadius: 9
+ maxRadius: 11
diff --git a/sandbox_conf_hd.yaml b/sandbox_conf_hd.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..7b62676f75ab762c90a714258d1173830a8cc989
--- /dev/null
+++ b/sandbox_conf_hd.yaml
@@ -0,0 +1,26 @@
+AdjustingMatrix:
+ width: 3
+ height: 2
+ matrix: [0.9998824, -0.0153356194, 3.71817994, 0.0153356194, 0.9998824, -4.87917471]
+DistanceTopSandbox:
+ distance: 0.985000074
+CroppingMask:
+ x: 278
+ y: 29
+ width: 834
+ height: 632
+BeamerResolution:
+ width: 1024
+ height: 768
+BeamerPosition:
+ x: 0.0498280413
+ y: 0.143917277
+ z: -0.190710485
+FrameProcessProfil:
+ contrast: 1.8100000000000001
+ brightness: -163
+ minDistance: 60
+ cannyEdgeThreshold: 137
+ houghAccThreshold: 30
+ minRadius: 4
+ maxRadius: 11
diff --git a/sandbox_conf_sd.yaml b/sandbox_conf_sd.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..4c8a92cec080e9813548e3ae9d6cedfa0dbcb54a
--- /dev/null
+++ b/sandbox_conf_sd.yaml
@@ -0,0 +1,26 @@
+AdjustingMatrix:
+ width: 3
+ height: 2
+ matrix: [0.9998824, -0.0153356194, 3.71817994, 0.0153356194, 0.9998824, -4.87917471]
+DistanceTopSandbox:
+ distance: 0.985000074
+CroppingMask:
+ x: 176
+ y: 121
+ width: 320
+ height: 240
+BeamerResolution:
+ width: 1024
+ height: 768
+BeamerPosition:
+ x: 0.0498280413
+ y: 0.143917277
+ z: -0.190710485
+FrameProcessProfil:
+ contrast: 1.8100000000000001
+ brightness: -163
+ minDistance: 60
+ cannyEdgeThreshold: 137
+ houghAccThreshold: 30
+ minRadius: 4
+ maxRadius: 11