diff --git a/includes/controller.h b/includes/controller.h
index 501b656f4b663cd83012207a0e5eecb36d946362..1ca73ed79ddda92a0b23c8de5922bef00863b46d 100644
--- a/includes/controller.h
+++ b/includes/controller.h
@@ -15,17 +15,13 @@ class Controller
cv::Mat getRGBFrame();
cv::Mat getDepthFrame();
void showImage(cv::Mat* image);
- //void exportToAsc(cv::Mat frame, char *fileName);
- //void exportFrame(cv::Mat src, char *fileName);
- //bool importFrame(char *fileName, cv::Mat &output);
+ void setupConfig();
private:
const char *SANDBOX_POSITION_FILE = "./sandbox.dat";
const char *CALIBRATE_DISTANCE_FILE = "./distance.dat";
const char *CALIBRATE_MATRIX_FILE = "./matrixe.dat";
static const char CHAR_DELIM = ' ';
- //const float SANDBOX_CONTOUR = 2.0f * (1020.0f + 770.0f);
- //const float MARGE = 0.05 * SANDBOX_CONTOUR; // 5% of marge
static const int ESCAPE_CHAR = 27;
char *defaultWindowsName = (char*) "Image";
cv::Rect rectSandbox;
@@ -34,14 +30,10 @@ class Controller
Beamer beamer;
void createWindowsFullScreen(char *windowName);
void showImage(cv::Mat* image, char *windowName);
- //bool readSandboxPosition(std::vector<cv::Point> &rectPoints);
- //void writeSandboxPosition(std::vector<cv::Point> rectPoints);
double toDegrees(double radians);
- void sanboxBorder();
- //void sandboxBorderLoad();
- //bool configFilesFound();
+ void setupProjection(Camera *camera);
+ void setupBeamerLocation(Beamer *beamer, Camera *camera);
-
};
#endif
diff --git a/src/core/components/calibrate.cpp b/src/core/components/calibrate.cpp
index e68003ed8f43059e9cdec8bc9e6abf78b7fba570..faeb8c8c6cbfa53c8d5fc1720752648bb4a42234 100644
--- a/src/core/components/calibrate.cpp
+++ b/src/core/components/calibrate.cpp
@@ -6,6 +6,7 @@ using namespace std;
Calibrate::Calibrate()
{
+ matRotation = getRotationMatrix2D(Point(0, 0), 0, 1);
}
Point2i Calibrate::rotatePixel(Point2i pixel)
@@ -32,7 +33,7 @@ Point2i Calibrate::transformationPixel(int i, int j, float z, Camera camera, Poi
void Calibrate::transformationFrame(cv::Mat &src, cv::Mat &dst, Camera camera, Point3f beamer)
{
- int64_t t1 = getTickCount();
+ //int64_t t1 = getTickCount();
//transformation on all pixel
for (int i = 0; i < src.rows; i++)
{
@@ -44,7 +45,7 @@ void Calibrate::transformationFrame(cv::Mat &src, cv::Mat &dst, Camera camera, P
dst.at<uint16_t>(pixel) = src.at<uint16_t>(pixelIJ);
}
}
- cout << "temps de calcul: " << (getTickCount() - t1) / getTickFrequency() << endl;
+ //cout << "temps de calcul: " << (getTickCount() - t1) / getTickFrequency() << endl;
warpAffine(dst, dst, matRotation, dst.size());
// medianBlur(dst, dst, 3);
@@ -54,7 +55,7 @@ void Calibrate::transformationFrame(cv::Mat &depth, cv::Mat &src, cv::Mat &dst,
{
int nbChannel = src.channels();
//transformation on all pixel
- int64_t t1 = getTickCount();
+ //int64_t t1 = getTickCount();
for (int i = 0; i < src.rows; i++)
{
for (int j = 0; j < src.cols; j++)
@@ -70,7 +71,7 @@ void Calibrate::transformationFrame(cv::Mat &depth, cv::Mat &src, cv::Mat &dst,
}
}
}
- cout << "temps de calcul: " << (getTickCount() - t1) / getTickFrequency() << endl;
+ //cout << "temps de calcul: " << (getTickCount() - t1) / getTickFrequency() << endl;
warpAffine(dst, dst, matRotation, dst.size());
dilate(dst, dst, Mat(), Point(-1, -1), 2, 1, 1);
erode(dst, dst, Mat(), Point(-1, -1), 2, 1, 1);
diff --git a/src/core/controller.cpp b/src/core/controller.cpp
index bc2f8183aa551fe9ccb3e7330cefd117e5636c1c..232e090f3b6a6283efd910f8044a73472ef9f0f2 100644
--- a/src/core/controller.cpp
+++ b/src/core/controller.cpp
@@ -6,22 +6,20 @@
using namespace std;
using namespace cv;
+
+/*
+ * MAIN
+ */
+
Controller::Controller(){
- bool configSanbox = true;
- //cout << "All files there? " << configFilesFound() << endl;
- if(configSanbox){
- // Blue screen and edit colored frame routine
- sanboxBorder();
- // Matching cross under beamer routine
- beamer.findBeamer(camera);
- }else{
- //sandboxBorderLoad();
- //beamer.findBeamerLoad(camera);
- }
- // Set full screen parameter for show function
- createWindowsFullScreen(defaultWindowsName);
+
}
+
+/*
+ * PUBLIC
+ */
+
Mat Controller::getRGBFrame(){
camera.captureFramesAlign();
return camera.getRGBFrameAlign()(rectSandbox);
@@ -36,6 +34,34 @@ void Controller::showImage(cv::Mat* image){
showImage(image, defaultWindowsName);
}
+void Controller::setupConfig(){
+ // Blue screen and edit colored frame routine
+ setupProjection(&camera);
+ // Matching cross under beamer routine
+ setupBeamerLocation(&beamer, &camera);
+ createWindowsFullScreen(defaultWindowsName);
+
+
+ // Debug
+ Mat matRotation = calibrate.getMatrixRotation();
+ cout << "Adjusting Matrix" << endl;
+ for (int y = 0; y < matRotation.rows; y++){
+ for (int x = 0; x < matRotation.cols; x++){
+ cout << matRotation.at<float>(y, x) << " ";
+ }
+ cout << endl;
+ }
+
+ cout << "Cropping Mask (base + size)" << endl;
+ cout << "(" << rectSandbox.x << "," << rectSandbox.y << ") + ";
+ cout << "(" << rectSandbox.width << "," << rectSandbox.height << ")" << endl;
+}
+
+
+/*
+ * PRIVATE
+ */
+
void Controller::showImage(cv::Mat* image, char *windowName){
static Mat frameBeamer(Size(Beamer::width, Beamer::height), CV_8UC3);
camera.captureFramesAlign();
@@ -54,209 +80,54 @@ double Controller::toDegrees(double radians){
return radians * (180.0 / M_PI);
}
-/*
-bool Sandbox::readSandboxPosition(vector<Point> &rectPoints)
-{
- std::ifstream infile(SANDBOX_POSITION_FILE);
- if (infile.good())
- {
- int x, y;
- while (infile >> x >> y)
- {
- rectPoints.push_back(Point(x, y));
- cout << x << " " << y << endl;
- }
- }
- infile.close();
- return rectPoints.size() == 4;
+void Controller::createWindowsFullScreen(char *windowName){
+ namedWindow(windowName, CV_WINDOW_NORMAL);
+ setWindowProperty(windowName, CV_WND_PROP_FULLSCREEN, CV_WINDOW_FULLSCREEN);
}
-void Sandbox::writeSandboxPosition(vector<Point> rectPoints)
-{
- //export points to file
- std::ofstream myfile;
- myfile.open(SANDBOX_POSITION_FILE);
- for (unsigned int i = 0; i < rectPoints.size(); i++)
- myfile << rectPoints[i].x << " " << rectPoints[i].y << endl;
- myfile.close();
-}*/
-
-/*
-void Sandbox::sandboxBorderLoad(){
- float distancePlan;
- Mat matRotation;
-
- // Distance Plan
- std::ifstream infile(CALIBRATE_DISTANCE_FILE);
- if (infile.good()){
- while (infile >> distancePlan){
- cout << distancePlan << endl;
- }
- }
- infile.close();
-
- // Matrix Rotation
- char *filename = "";
- strcpy(filename, CALIBRATE_MATRIX_FILE);
- importFrame(filename, matRotation);
- calibrate.setDistancePlan(distancePlan);
-}
-void Sandbox::exportToAsc(Mat src, char *fileName)
-{
- std::ofstream myfile;
- myfile.open(fileName);
- Mat frameSand = src(rectSandbox);
- for (int y = 0; y < src.rows; y++)
- {
- for (int x = 0; x < src.cols; x++)
- {
- myfile << x << " " << y << " " << frameSand.at<uint16_t>(y, x) << "\n";
- }
- }
- myfile.close();
-}
-void Sandbox::exportFrame(Mat src, char *fileName)
-{
- std::ofstream myfile;
- myfile.open(fileName);
- Mat frameSand = src(rectSandbox);
- myfile << frameSand.cols << " " << frameSand.rows << endl;
- for (int y = 0; y < frameSand.rows; y++)
- {
- for (int x = 0; x < frameSand.cols; x++)
- {
- myfile << frameSand.at<uint16_t>(y, x) << CHAR_DELIM;
- }
- myfile << endl;
- }
- myfile.close();
+void Controller::setupBeamerLocation(Beamer *beamer, Camera *camera){
+ beamer->findBeamer(*camera);
}
-bool Sandbox::importFrame(char *fileName, Mat &output)
-{
-
- std::ifstream file(fileName);
- if (file.is_open())
- {
- string elem;
- int i = 0;
- //read header
- getline(file, elem, CHAR_DELIM);
- int width = atoi(elem.c_str());
- getline(file, elem, CHAR_DELIM);
- int height = atoi(elem.c_str());
- //create & read matrix
- output = Mat(Size(width, height), CV_16UC1);
- cout << width << " " << height << endl;
- while (getline(file, elem, CHAR_DELIM))
- {
- output.at<uint16_t>(i / width, i % width) = (uint16_t)atoi(elem.c_str());
- i++;
- }
- file.close();
- return true;
- }
- return false;
-}
-
-bool Sandbox::configFilesFound(){
- const char* files[] = { SANDBOX_POSITION_FILE,
- CALIBRATE_DISTANCE_FILE,
- CALIBRATE_MATRIX_FILE };
- int size = (sizeof(files)/sizeof(char*));
-
- for (int i = 0; i < size; i++)
- {
- char *filename = "";
- strcpy(filename, files[i]);
- std::ifstream infile(filename);
- if(infile.fail()){
- cout << "Configuration file missing...";
- return false;
- }
- }
-
- return true;
-}*/
+void Controller::setupProjection(Camera *camera){
-
-void Controller::sanboxBorder()
-{
+ // Blue screen
char windowName[] = "border";
createWindowsFullScreen(windowName);
Mat frameBeamer(Size(Beamer::width, Beamer::height), CV_8UC3, Scalar(255, 0, 0));
-
- // Show blue frame
imshow(windowName, frameBeamer);
waitKey(100);
- camera.startAlign(); // 1 seconde of warming up
- camera.captureFramesAlign();
-
- Mat frameData = camera.getDepthFrameAlign();
- Mat coloredFrame = camera.getRGBFrameAlign();
+ // Take picture
+ camera->startAlign(); // 1 seconde of warming up
+ camera->captureFramesAlign();
+ Mat frameData = camera->getDepthFrameAlign();
+ Mat coloredFrame = camera->getRGBFrameAlign();
Size s = frameData.size();
Point center(s.width / 2, s.height / 2);
-
- // calibrate distance
- //Point center(s.width / 2, s.height / 2);
- //float distancePlan = static_cast<float>(mean(frameData(Rect(center, Size(10, 10))))[0]); // get sandbox distance from center of camera
- //calibrate.setDistancePlan(distancePlan);
destroyAllWindows();
- vector<Point> rectPoints;
+ // Edit projection
float y = coloredFrame.size().height;
float x = coloredFrame.size().width;
- rectPoints.push_back(Point(1.0/4*x, 1.0/4*y));
- rectPoints.push_back(Point(1.0/4*x, 3.0/4*y));
- rectPoints.push_back(Point(3.0/4*x, 3.0/4*y));
- rectPoints.push_back(Point(3.0/4*x, 1.0/4*y));
-
+ vector<Point> rectPoints{ Point(1.0/4*x, 1.0/4*y), Point(1.0/4*x, 3.0/4*y), Point(3.0/4*x, 3.0/4*y), Point(3.0/4*x, 1.0/4*y) };
cout << "Edit Rectangle" << endl;
BorderEdit::edit(coloredFrame, &rectPoints); // edit projected frame
- // adjust model matrixe to forme a rectangle in sandbox
+ // Set adjusting matrix for the projection
int widthTop = rectPoints[3].x - rectPoints[0].x;
double angle1 = atan((double)(rectPoints[3].y - rectPoints[0].y) / widthTop);
- Mat matRotation = getRotationMatrix2D(center, toDegrees(angle1), 1);
-
- calibrate.setMatrixRotation(matRotation);
cout << "Calibrate Rotation Matrixe" << endl;
+ Mat matRotation = getRotationMatrix2D(center, toDegrees(angle1), 1); // adjustingMatrix
+ calibrate.setMatrixRotation(matRotation);
+ // Set cropping mask
Size rectSize = Size(widthTop, cvRound(widthTop / 1.33333) + 5);
Point p = calibrate.rotatePixel(rectPoints[0]);
- // rectSandbox => CroppingMask
- rectSandbox = Rect(p, rectSize);
- //writeSandboxPosition(rectPoints); // update with adjusted sandbox's angles
+ rectSandbox = Rect(p, rectSize); // coppingMask
destroyAllWindows();
-
- /*
-
- TODO : save matRotation in config_file
-
- */
- /*cout << "Saving matrixe in file..." << endl;
- myfile.open(CALIBRATE_MATRIX_FILE);
- cout << "Data : " << matRotation.rows << " : " << matRotation.cols << endl;
- myfile << matRotation.cols << " " << matRotation.rows << endl;
- for (int y = 0; y < matRotation.rows; y++)
- {
- for (int x = 0; x < matRotation.cols; x++)
- {
- myfile << matRotation.at<uint16_t>(y, x) << CHAR_DELIM;
- }
- myfile << endl;
- }
- myfile.close();
- cout << "Done..." << endl;*/
-}
-
-void Controller::createWindowsFullScreen(char *windowName)
-{
- namedWindow(windowName, CV_WINDOW_NORMAL);
- setWindowProperty(windowName, CV_WND_PROP_FULLSCREEN, CV_WINDOW_FULLSCREEN);
-}
+}
\ No newline at end of file
diff --git a/src/sandbox.cpp b/src/sandbox.cpp
index 25f0a6e80f5522cbb8eaebf7d4c847f0eed392b3..ce810ce3c99b02100dc1b3b8ed617ce46a0f1875 100644
--- a/src/sandbox.cpp
+++ b/src/sandbox.cpp
@@ -1,7 +1,7 @@
#include "../includes/sandbox.h"
Sandbox::Sandbox(){
- controller = Controller();
+ controller.setupConfig();
}
cv::Mat Sandbox::getRGBFrame(){