diff --git a/app/SandboxSetup/beamerlocationgui.h b/app/SandboxSetup/beamerlocationgui.h
index b7e407abc3c4e12076040f358af16218b5f338ec..3010601d5bbe5bcdf4165d74cacc706272c12c9a 100644
--- a/app/SandboxSetup/beamerlocationgui.h
+++ b/app/SandboxSetup/beamerlocationgui.h
@@ -3,6 +3,7 @@
#include <QDialog>
#include <QTimer>
+#include <QMutex>
#include <opencv2/opencv.hpp>
#include "qtfullscreen.h"
#include "monitorgui.h"
diff --git a/app/SandboxSetup/croppingmask.cpp b/app/SandboxSetup/croppingmask.cpp
index f96a754bbb6df7ed1aa01ca9a0f2694a38d62e90..d68e1810372a5e95f71adc68c01c6b4db0169e56 100644
--- a/app/SandboxSetup/croppingmask.cpp
+++ b/app/SandboxSetup/croppingmask.cpp
@@ -28,13 +28,17 @@ CroppingMask::~CroppingMask()
}
void CroppingMask::valideRoutine(){
+
timer->stop();
+ setup->getCamera()->capture();
cv::Size s = setup->getCamera()->getDepthFrame().size();
cv::Point center(s.width / 2, s.height / 2);
std::vector<cv::Point> rectPoints = getRectPoints();
+ cv::Mat depthFrame = setup->getCamera()->getDepthFrame();
setup->setupAdjustMatrix(rectPoints, center);
setup->setupCroppingMask(rectPoints);
+ setup->getProjection()->setDistanceTopSandbox(depthFrame.at<float>(center));
endSuccess = true;
}
diff --git a/inc/beamerProjection.h b/inc/beamerProjection.h
index 0da8db80b7ced86604aafd2585ef082caf9b7aa8..6d492c71175719e64c3c5b8dec9c9cddb1aa61e9 100644
--- a/inc/beamerProjection.h
+++ b/inc/beamerProjection.h
@@ -8,7 +8,7 @@
class BeamerProjection{
private:
cv::Mat adjustingMatrix;
- float topSandboxDistance = 1.0f;
+ float distanceTopSandbox = 1.0f;
cv::Point2i findMatchingPixel(int i, int j, float z, Camera *camera, cv::Point3f beamer_pos);
void copyPixelsInto(cv::Point2i pixel_dst, cv::Mat &dst, cv::Point2i pixel_src, cv::Mat &src, cv::Rect base);
@@ -18,7 +18,9 @@ class BeamerProjection{
BeamerProjection();
void setAdjustingMatrix(cv::Mat matrix){ adjustingMatrix = matrix; }
- cv::Mat getAdjustingMatrix(){ return adjustingMatrix.clone(); }
+ cv::Mat getAdjustingMatrix(){ return adjustingMatrix; }
+ void setDistanceTopSandbox(float dist){ distanceTopSandbox = dist; };
+ float getDistanceTopSandbox(){ return distanceTopSandbox; };
cv::Point2i rotatePixel(cv::Point2i pixel);
void adjustFrame(cv::Mat depth, cv::Mat src, cv::Mat &dst, Camera *camera, cv::Point3f beamer_pos);
diff --git a/inc/sandbox.h b/inc/sandbox.h
index b6b749701229adb4865bd1005b79f1a447dc680f..182a86aed35beb21caa78b9998cf0c5d096a09a3 100644
--- a/inc/sandbox.h
+++ b/inc/sandbox.h
@@ -21,6 +21,10 @@ class Sandbox{
public:
Sandbox();
+ Camera* getCamera(){ return &camera; };
+ Beamer* getBeamer(){ return &beamer; };
+ BeamerProjection* getProjection(){ return &projection; };
+
void init();
cv::Mat getColorFrame();
cv::Mat getDepthFrame();
diff --git a/inc/sandboxConfig.h b/inc/sandboxConfig.h
index 3898d465c1b93ac29c4bf4d647b513f01daceb4d..0cef219e0b4244efa2ea8fee0340549a63ae9997 100644
--- a/inc/sandboxConfig.h
+++ b/inc/sandboxConfig.h
@@ -7,11 +7,12 @@
#include "beamerProjection.h"
#include "beamer.h"
-#define MASK "CroppingMask"
-#define POSITION "BeamerPosition"
-#define MATRIX "AdjustingMatrix"
-#define RESOLUTION "BeamerResolution"
-#define PROCESSPROFIL "FrameProcessProfil"
+#define SCFG_MASK "CroppingMask"
+#define SCFG_POSITION "BeamerPosition"
+#define SCFG_MATRIX "AdjustingMatrix"
+#define SCFG_DISTANCE "DistanceTopSandbox"
+#define SCFG_RESOLUTION "BeamerResolution"
+#define SCFG_PROCESS_PROFIL "FrameProcessProfil"
class SandboxConfig{
private:
@@ -19,12 +20,14 @@ class SandboxConfig{
public:
static int saveAdjustingMatrixInto(char *path, cv::Mat matrix);
+ static int saveDistanceToSandboxTop(char *path, float distance);
static int saveCroppingMaskInto(char *path, cv::Rect mask);
static int saveBeamerPositionInto(char *path, cv::Point3f position);
static int saveBeamerResolutionInto(char *path, cv::Size resolution);
static int saveFrameProcessProfil(char *path, FrameProcessProfil profil);
static int loadAdjustingMatrixFrom(char *path, BeamerProjection *projection);
+ static int loadDistanceToSandboxTop(char *path, BeamerProjection *projection);
static int loadCroppingMaskFrom(char *path, Camera *camera);
static int loadBeamerPositionFrom(char *path, Beamer *beamer);
static int loadBeamerResolutionFrom(char *path, Beamer *beamer);
diff --git a/src/components/beamer.cpp b/src/components/beamer.cpp
index e68745c5486652f237bc273eb62fc0a7ab032fc4..a1dbd372f78f9b79272439acac6b02f13db7b7ab 100644
--- a/src/components/beamer.cpp
+++ b/src/components/beamer.cpp
@@ -241,8 +241,8 @@ std::vector<cv::Point3i> Beamer::findCircles(cv::Mat &rgb, double contrast, int
// min_dist : Minimal distance between the detected centers
// param_1 : Upper threshold of the canny edge detector, determines if a pixel is an edge
// param_2 : Threshold for the center detection, after the accumulator is complet, threshold to keep only the possible centers
- // min_radius : Min radius of the circles drew on the accumulator
- // max_radius : Max radius of the circles drew on the accumulator
+ // min_radius : Min radius of the circles drawn on the accumulator
+ // max_radius : Max radius of the circles drawn on the accumulator
cv::HoughCircles(src_gray, circles, CV_HOUGH_GRADIENT, 1, centersMinDist, (double)cannyEdgeThreshold, (double)houghAccThreshold, minRadius, maxRadius);
std::vector<cv::Point3i> result;
diff --git a/src/components/beamerProjection.cpp b/src/components/beamerProjection.cpp
index 180c2caecf1e6c2abf6049b981fc1251b375e89a..da649fed1b47a358c9e0dc0fa64e86ade0c6693b 100644
--- a/src/components/beamerProjection.cpp
+++ b/src/components/beamerProjection.cpp
@@ -19,13 +19,12 @@ void BeamerProjection::adjustFrame(cv::Mat depth, cv::Mat src, cv::Mat &dst, Cam
cv::Rect mask = camera->getCroppingMask();
cv::Size dst_size = dst.size();
- cv::resize(src, src, dst.size());
// resize the frames to be a multiple of the camera size :
// src.size = n * camera.depth.size , where n is uint > 0
- cv::resize(src, src, getMatchingSize(src, mask));
- cv::resize(dst, dst, src.size());
-
+ cv::resize(dst, dst, getMatchingSize(dst, mask));
+ cv::resize(src, src, dst.size());
+
cv::Mat pixelsDeprojectMap = cv::Mat_<cv::Point2i>(mask.height, mask.width, cv::Point2i(-1,-1));
cv::Mat pixelsDeprojectHighestMap = cv::Mat_<cv::Point2i>(mask.height, mask.width, cv::Point2i(-1,-1));
@@ -79,10 +78,9 @@ void BeamerProjection::adjustFrame(cv::Mat depth, cv::Mat src, cv::Mat &dst, Cam
}
}
}
+
-
-
- cv::resize(src, src, dst_size);
+ cv::resize(dst, dst, dst_size);
cv::warpAffine(dst, dst, adjustingMatrix, dst.size());
}
@@ -131,9 +129,8 @@ cv::Point2i BeamerProjection::findMatchingPixel(int i, int j, float z, Camera *c
float pixel[2] = {static_cast<float>(i), static_cast<float>(j)};
cv::Point3f CP = camera->deprojectPixelToPoint(pixel, z);
cv::Point3f BP = CB - CP;
- //float alpha = (topSandboxDistance - CP.z) / BP.z;
float BAz = CB.z + BP.z;
- float BEz = topSandboxDistance - CB.z;
+ float BEz = distanceTopSandbox - CB.z;
float alpha = BEz / BAz;
cv::Point3f V = (alpha * BP);
cv::Point3f CV = V + CB;
diff --git a/src/lib/sandbox.cpp b/src/lib/sandbox.cpp
index 2bda963e1f3fdc6bf644aff6f1a7c2b9f928f97f..98f22066c95c36a97a414cf9aa9309f4974821a8 100644
--- a/src/lib/sandbox.cpp
+++ b/src/lib/sandbox.cpp
@@ -36,8 +36,8 @@ cv::Mat Sandbox::adjustProjection(cv::Mat frame){
projection.adjustFrame(depth, frame, imageCalibrate, &camera, beamer.getPosition());
// frame after process
- cv::dilate(imageCalibrate, imageCalibrate, cv::Mat(), cv::Point(-1, -1), 2, 1, 1);
- cv::erode(imageCalibrate, imageCalibrate, cv::Mat(), cv::Point(-1, -1), 2, 1, 1);
+ //cv::dilate(imageCalibrate, imageCalibrate, cv::Mat(), cv::Point(-1, -1), 2, 1, 1);
+ //cv::erode(imageCalibrate, imageCalibrate, cv::Mat(), cv::Point(-1, -1), 2, 1, 1);
return imageCalibrate;
}
@@ -53,6 +53,8 @@ int Sandbox::loadConfigFrom(char *path){
int err = SandboxConfig::loadAdjustingMatrixFrom(path, &projection);
if(err){ return err; }
+ err = SandboxConfig::loadDistanceToSandboxTop(path, &projection);
+ if(err){ return err; }
err = SandboxConfig::loadCroppingMaskFrom(path, &camera);
if(err){ return err; }
err = SandboxConfig::loadBeamerResolutionFrom(path, &beamer);
@@ -64,13 +66,7 @@ int Sandbox::loadConfigFrom(char *path){
int Sandbox::loadConfig(){
- int err = loadConfigFrom(defaultConfigFilePath);
- if(err){
- std::cout << "error config" << std::endl;
- return err;
- }
-
- return 0;
+ return loadConfigFrom(defaultConfigFilePath);
}
void Sandbox::initWindowsFullScreen(){
diff --git a/src/lib/sandboxSetup.cpp b/src/lib/sandboxSetup.cpp
index b78e6da63fb57c5b816cf463eab41bd31c8e4729..ef179b7519fb4484cd01f068d8b1b00bb8fb85c0 100644
--- a/src/lib/sandboxSetup.cpp
+++ b/src/lib/sandboxSetup.cpp
@@ -14,6 +14,9 @@ SandboxSetup::SandboxSetup(){
int SandboxSetup::saveConfigFrom(char *path){
if(SandboxConfig::saveAdjustingMatrixInto(path, projection.getAdjustingMatrix()))
return 1;
+
+ if(SandboxConfig::saveDistanceToSandboxTop(path, projection.getDistanceTopSandbox()))
+ return 1;
if(SandboxConfig::saveCroppingMaskInto(path, camera.getCroppingMask()))
return 1;
diff --git a/src/tools/sandboxConfig.cpp b/src/tools/sandboxConfig.cpp
index a88493df546967e996526351ffebc2297239d085..c75c292d14da82a49228bbbe7ac30128ce3affe5 100644
--- a/src/tools/sandboxConfig.cpp
+++ b/src/tools/sandboxConfig.cpp
@@ -26,7 +26,26 @@ int SandboxConfig::saveAdjustingMatrixInto(char *path, cv::Mat matrix){
//std::cout << "[Error] No Config File found : " << err.what() << std::endl;
}
- config[MATRIX] = val;
+ config[SCFG_MATRIX] = val;
+
+ return saveConfigIn(path, config);
+}
+
+
+int SandboxConfig::saveDistanceToSandboxTop(char *path, float distance){
+
+ YAML::Node val;
+
+ val["distance"] = distance;
+
+ YAML::Node config;
+ try{
+ config = YAML::LoadFile(path);
+ }catch(YAML::BadFile err){
+ //std::cout << "[Error] No Config File found : " << err.what() << std::endl;
+ }
+
+ config[SCFG_DISTANCE] = val;
return saveConfigIn(path, config);
}
@@ -48,7 +67,7 @@ int SandboxConfig::saveCroppingMaskInto(char *path, cv::Rect mask){
//std::cout << "[Error] No Config File found : " << err.what() << std::endl;
}
- config[MASK] = val;
+ config[SCFG_MASK] = val;
return saveConfigIn(path, config);
}
@@ -69,7 +88,7 @@ int SandboxConfig::saveBeamerPositionInto(char *path, cv::Point3f pos){
//std::cout << "[Error] No Config File found : " << err.what() << std::endl;
}
- config[POSITION] = val;
+ config[SCFG_POSITION] = val;
return saveConfigIn(path, config);
}
@@ -79,8 +98,8 @@ int SandboxConfig::saveBeamerResolutionInto(char *path, cv::Size res){
YAML::Node val;
- val["height"] = res.height;
val["width"] = res.width;
+ val["height"] = res.height;
YAML::Node config;
try{
@@ -89,7 +108,7 @@ int SandboxConfig::saveBeamerResolutionInto(char *path, cv::Size res){
//std::cout << "[Error] No Config File found : " << err.what() << std::endl;
}
- config[RESOLUTION] = val;
+ config[SCFG_RESOLUTION] = val;
return saveConfigIn(path, config);
}
@@ -114,7 +133,7 @@ int SandboxConfig::saveFrameProcessProfil(char *path, FrameProcessProfil profil)
//std::cout << "[Error] No Config File found : " << err.what() << std::endl;
}
- config[PROCESSPROFIL] = val;
+ config[SCFG_PROCESS_PROFIL] = val;
return saveConfigIn(path, config);
}
@@ -132,23 +151,23 @@ int SandboxConfig::loadAdjustingMatrixFrom(char *path, BeamerProjection *project
try{
config = YAML::LoadFile(path);
}catch(YAML::BadFile err){
- std::cout << "[Error] No Config File found : " << err.what() << std::endl;
+ //std::cout << "[Error] No Config File found : " << err.what() << std::endl;
return 1;
}
// no node for adjusting matrix
- if(!config[MATRIX]){
+ if(!config[SCFG_MATRIX]){
return 2;
};
// uncomplet data for adjusting matrix
- if(!(config[MATRIX]["width"] && config[MATRIX]["height"] && config[MATRIX]["matrix"])){
+ if(!(config[SCFG_MATRIX]["width"] && config[SCFG_MATRIX]["height"] && config[SCFG_MATRIX]["matrix"])){
return 2;
}
- int height = config[MATRIX]["height"].as<int>();
- int width = config[MATRIX]["width"].as<int>();
- std::vector<float> values = config[MATRIX]["matrix"].as<std::vector<float>>();
+ int height = config[SCFG_MATRIX]["height"].as<int>();
+ int width = config[SCFG_MATRIX]["width"].as<int>();
+ std::vector<float> values = config[SCFG_MATRIX]["matrix"].as<std::vector<float>>();
// verify the number of values in the matrix
if(height*width != (int)values.size()){
@@ -162,16 +181,38 @@ int SandboxConfig::loadAdjustingMatrixFrom(char *path, BeamerProjection *project
for (int j=0; j<width; j++){
matrix.at<float>(i,j) = values.at(v_i);
v_i++;
- std::cout << matrix.at<float>(i,j) << " ";
}
- std::cout << std::endl;
}
-
-
- std::cout << "load matrix" << std::endl;
+
projection->setAdjustingMatrix(matrix);
- std::cout << "Ok matrix" << std::endl;
+ return 0;
+}
+
+
+int SandboxConfig::loadDistanceToSandboxTop(char *path, BeamerProjection *projection){
+
+ YAML::Node config;
+
+ try{
+ config = YAML::LoadFile(path);
+ }catch(YAML::BadFile err){
+ //std::cout << "[Error] No Config File found : " << err.what() << std::endl;
+ return 1;
+ }
+
+ if(!config[SCFG_DISTANCE]){
+ return 2;
+ };
+
+ if(!(config[SCFG_DISTANCE]["distance"])){
+ return 2;
+ }
+
+ float distance = config[SCFG_DISTANCE]["distance"].as<float>();
+
+ projection->setDistanceTopSandbox(distance);
+
return 0;
}
@@ -183,24 +224,24 @@ int SandboxConfig::loadCroppingMaskFrom(char *path, Camera *camera){
try{
config = YAML::LoadFile(path);
}catch(YAML::BadFile err){
- std::cout << "[Error] No Config File found : " << err.what() << std::endl;
+ //std::cout << "[Error] No Config File found : " << err.what() << std::endl;
return 1;
}
// no node for cropping mask
- if(!config[MASK]){
+ if(!config[SCFG_MASK]){
return 2;
};
// uncomplet data for cropping mask
- if(!(config[MASK]["x"] && config[MASK]["y"] && config[MASK]["width"] && config[MASK]["height"])){
+ if(!(config[SCFG_MASK]["x"] && config[SCFG_MASK]["y"] && config[SCFG_MASK]["width"] && config[SCFG_MASK]["height"])){
return 2;
}
- cv::Rect mask( cv::Point( config[MASK]["x"].as<int>(),
- config[MASK]["y"].as<int>()),
- cv::Size( config[MASK]["width"].as<int>(),
- config[MASK]["height"].as<int>()));
+ cv::Rect mask( cv::Point( config[SCFG_MASK]["x"].as<int>(),
+ config[SCFG_MASK]["y"].as<int>()),
+ cv::Size( config[SCFG_MASK]["width"].as<int>(),
+ config[SCFG_MASK]["height"].as<int>()));
camera->setCroppingMask(mask);
@@ -215,23 +256,23 @@ int SandboxConfig::loadBeamerPositionFrom(char *path, Beamer *beamer){
try{
config = YAML::LoadFile(path);
}catch(YAML::BadFile err){
- std::cout << "[Error] No Config File found : " << err.what() << std::endl;
+ //std::cout << "[Error] No Config File found : " << err.what() << std::endl;
return 1;
}
// no node for beamer position
- if(!config[POSITION]){
+ if(!config[SCFG_POSITION]){
return 2;
};
// uncomplet data for beamer position
- if(!(config[POSITION]["x"] && config[POSITION]["y"] && config[POSITION]["z"])){
+ if(!(config[SCFG_POSITION]["x"] && config[SCFG_POSITION]["y"] && config[SCFG_POSITION]["z"])){
return 2;
}
- cv::Point3f pos( config[POSITION]["x"].as<float>(),
- config[POSITION]["y"].as<float>(),
- config[POSITION]["z"].as<float>());
+ cv::Point3f pos( config[SCFG_POSITION]["x"].as<float>(),
+ config[SCFG_POSITION]["y"].as<float>(),
+ config[SCFG_POSITION]["z"].as<float>());
beamer->setPosition(pos);
@@ -246,22 +287,22 @@ int SandboxConfig::loadBeamerResolutionFrom(char *path, Beamer *beamer){
try{
config = YAML::LoadFile(path);
}catch(YAML::BadFile err){
- std::cout << "[Error] No Config File found : " << err.what() << std::endl;
+ //std::cout << "[Error] No Config File found : " << err.what() << std::endl;
return 1;
}
// no node for beamer resolution
- if(!config[RESOLUTION]){
+ if(!config[SCFG_RESOLUTION]){
return 2;
};
// uncomplet data for beamer resolution
- if(!(config[RESOLUTION]["height"] && config[RESOLUTION]["width"])){
+ if(!(config[SCFG_RESOLUTION]["height"] && config[SCFG_RESOLUTION]["width"])){
return 2;
}
- cv::Size res( config[RESOLUTION]["width"].as<int>(),
- config[RESOLUTION]["height"].as<int>());
+ cv::Size res( config[SCFG_RESOLUTION]["width"].as<int>(),
+ config[SCFG_RESOLUTION]["height"].as<int>());
beamer->setWidth(res.width);
beamer->setHeight(res.height);
@@ -277,34 +318,34 @@ int SandboxConfig::loadFrameProcessProfil(char *path, FrameProcessProfil *profil
try{
config = YAML::LoadFile(path);
}catch(YAML::BadFile err){
- std::cout << "[Error] No Config File found : " << err.what() << std::endl;
+ //std::cout << "[Error] No Config File found : " << err.what() << std::endl;
return 1;
}
// no node for frame process profil
- if(!config[PROCESSPROFIL]){
+ if(!config[SCFG_PROCESS_PROFIL]){
return 2;
};
// uncomplet data for frame process profil
- if(!( config[PROCESSPROFIL]["contrast"] &&
- config[PROCESSPROFIL]["brightness"] &&
- config[PROCESSPROFIL]["minDistance"] &&
- config[PROCESSPROFIL]["cannyEdgeThreshold"] &&
- config[PROCESSPROFIL]["houghAccThreshold"] &&
- config[PROCESSPROFIL]["minRadius"] &&
- config[PROCESSPROFIL]["maxRadius"]
+ if(!( config[SCFG_PROCESS_PROFIL]["contrast"] &&
+ config[SCFG_PROCESS_PROFIL]["brightness"] &&
+ config[SCFG_PROCESS_PROFIL]["minDistance"] &&
+ config[SCFG_PROCESS_PROFIL]["cannyEdgeThreshold"] &&
+ config[SCFG_PROCESS_PROFIL]["houghAccThreshold"] &&
+ config[SCFG_PROCESS_PROFIL]["minRadius"] &&
+ config[SCFG_PROCESS_PROFIL]["maxRadius"]
)){
return 2;
}
- profil->setContrast(config[PROCESSPROFIL]["contrast"].as<double>());
- profil->setBrightness(config[PROCESSPROFIL]["brightness"].as<int>());
- profil->setMinDistance(config[PROCESSPROFIL]["minDistance"].as<uint>());
- profil->setCannyEdgeThreshold(config[PROCESSPROFIL]["cannyEdgeThreshold"].as<uint>());
- profil->setHoughAccThreshold(config[PROCESSPROFIL]["houghAccThreshold"].as<uint>());
- profil->setMinRadius(config[PROCESSPROFIL]["minRadius"].as<uint>());
- profil->setMaxRadius(config[PROCESSPROFIL]["maxRadius"].as<uint>());
+ profil->setContrast(config[SCFG_PROCESS_PROFIL]["contrast"].as<double>());
+ profil->setBrightness(config[SCFG_PROCESS_PROFIL]["brightness"].as<int>());
+ profil->setMinDistance(config[SCFG_PROCESS_PROFIL]["minDistance"].as<uint>());
+ profil->setCannyEdgeThreshold(config[SCFG_PROCESS_PROFIL]["cannyEdgeThreshold"].as<uint>());
+ profil->setHoughAccThreshold(config[SCFG_PROCESS_PROFIL]["houghAccThreshold"].as<uint>());
+ profil->setMinRadius(config[SCFG_PROCESS_PROFIL]["minRadius"].as<uint>());
+ profil->setMaxRadius(config[SCFG_PROCESS_PROFIL]["maxRadius"].as<uint>());
return 0;
}