diff --git a/app/SandboxSetup/beamerlocationgui.cpp b/app/SandboxSetup/beamerlocationgui.cpp
index ed095b806da6e75fc5d273d69bb01adcf662fcc9..c58637c492ee1f066b04a2fc366f7b234916e81d 100644
--- a/app/SandboxSetup/beamerlocationgui.cpp
+++ b/app/SandboxSetup/beamerlocationgui.cpp
@@ -2,7 +2,7 @@
#include "ui_beamerlocationgui.h"
BeamerLocationGui::BeamerLocationGui(SandboxSetup *_setup, MonitorGui *_mg, QWidget *parent) :
- SubApp(parent),
+ SubApp("Beamer location", "Error", parent),
ui(new Ui::BeamerLocationGui)
{
setup = _setup;
@@ -92,7 +92,15 @@ void BeamerLocationGui::routineFrame(){
rgb = camera->getColorFrame();
// Look for the circle target
- circle = beamer->findCercleZ(rgb, profil->getContrast(), profil->getBrightness(), profil->getRadiusRatio(), profil->getUpperMinThreshold(), profil->getLowerMinThreshold());
+ double minDist = rgb.rows / (double)profil->getRadiusRatio();
+ circle = beamer->findCircles( rgb,
+ profil->getContrast(),
+ profil->getBrightness(),
+ minDist,
+ profil->getCannyEdgeThreshold(),
+ profil->getHoughAccThreshold(),
+ profil->getMinRadius(),
+ profil->getMaxRadius() );
// Show black screen with cross
cv::Mat frameImage = beamer->getCrossFrame(cross, capturedPoints.size()+1, beamer->MAX_LINEAR_LINE_POINTS, !circle.empty());
diff --git a/app/SandboxSetup/camerafocus.cpp b/app/SandboxSetup/camerafocus.cpp
index 7845814ca601d534f530f291cc64099b91e610f9..48978fbdfb10dd10afe92efd710627e8fc586dfe 100644
--- a/app/SandboxSetup/camerafocus.cpp
+++ b/app/SandboxSetup/camerafocus.cpp
@@ -2,7 +2,7 @@
#include "ui_camerafocus.h"
CameraFocus::CameraFocus(SandboxSetup *sandbox, QWidget *parent) :
- SubApp(parent),
+ SubApp("Camera focus", "Error", parent),
ui(new Ui::CameraFocus)
{
ui->setupUi(this);
@@ -53,14 +53,18 @@ void CameraFocus::refreshFrame(){
cv::Mat rgb = setup->getCamera()->getColorFrame();
std::vector<cv::Point3i> crc;
- if(profil->getUpperMinThreshold() >= profil->getLowerMinThreshold()){
+ if(profil->getCannyEdgeThreshold() >= 10 && profil->getHoughAccThreshold() >= 20){
+ // std::vector<cv::Point3i> Beamer::findCircles(cv::Mat &rgb, double contrast, int brightness, double centersMinDist, int cannyEdgeThreshold, int houghAccThreshold, double minRadius, double maxRadius);
- crc = setup->getBeamer()->findCercleZ( rgb,
+ double minDist = rgb.rows / (double)profil->getRadiusRatio();
+ crc = setup->getBeamer()->findCircles( rgb,
profil->getContrast(),
profil->getBrightness(),
- profil->getRadiusRatio(),
- profil->getUpperMinThreshold(),
- profil->getLowerMinThreshold() );
+ minDist,
+ profil->getCannyEdgeThreshold(),
+ profil->getHoughAccThreshold(),
+ profil->getMinRadius(),
+ profil->getMaxRadius() );
}
// Preview image for the user
@@ -68,7 +72,7 @@ void CameraFocus::refreshFrame(){
gray = setup->getBeamer()->editContrast(gray, (double)profil->getContrast(), (double)profil->getBrightness());
if(displayConstrasts){
- cvSobel(&gray);
+ cv::Canny(gray, gray, profil->getCannyEdgeThreshold(), profil->getCannyEdgeThreshold()/2);
}
cv::cvtColor(gray, rgbFromGray, CV_GRAY2BGR);
@@ -91,8 +95,10 @@ void CameraFocus::initCameraParams(){
defaultProfil.setContrast(profil->getContrast());
defaultProfil.setBrightness(profil->getBrightness());
defaultProfil.setRadiusRatio(profil->getRadiusRatio());
- defaultProfil.setUpperMinThreshold(profil->getUpperMinThreshold());
- defaultProfil.setLowerMinThreshold(profil->getLowerMinThreshold());
+ defaultProfil.setCannyEdgeThreshold(profil->getCannyEdgeThreshold());
+ defaultProfil.setHoughAccThreshold(profil->getHoughAccThreshold());
+ defaultProfil.setMinRadius(profil->getMinRadius());
+ defaultProfil.setMaxRadius(profil->getMaxRadius());
loadProfil(profil, profil);
}
@@ -102,14 +108,18 @@ void CameraFocus::loadProfil(FrameProcessProfil *profilLoaded, FrameProcessProfi
profilSaved->setContrast(profilLoaded->getContrast());
profilSaved->setBrightness(profilLoaded->getBrightness());
profilSaved->setRadiusRatio(profilLoaded->getRadiusRatio());
- profilSaved->setUpperMinThreshold(profilLoaded->getUpperMinThreshold());
- profilSaved->setLowerMinThreshold(profilLoaded->getLowerMinThreshold());
+ profilSaved->setCannyEdgeThreshold(profilLoaded->getCannyEdgeThreshold());
+ profilSaved->setHoughAccThreshold(profilLoaded->getHoughAccThreshold());
+ profilSaved->setMinRadius(profilLoaded->getMinRadius());
+ profilSaved->setMaxRadius(profilLoaded->getMaxRadius());
ui->dbsbxContrast->setValue(profilLoaded->getContrast());
ui->sbxBrightness->setValue(profilLoaded->getBrightness());
ui->sbxRadiusRatio->setValue(profilLoaded->getRadiusRatio());
- ui->sbxUpperMin->setValue(profilLoaded->getUpperMinThreshold());
- ui->sbxLowerMin->setValue(profilLoaded->getLowerMinThreshold());
+ ui->sbxCannyThreshold->setValue(profilLoaded->getCannyEdgeThreshold());
+ ui->sbxAccThreshold->setValue(profilLoaded->getHoughAccThreshold());
+ ui->dbsbxMinRadius->setValue(profilLoaded->getMinRadius());
+ ui->dbsbxMaxRadius->setValue(profilLoaded->getMaxRadius());
}
void CameraFocus::on_dbsbxContrast_valueChanged(double arg1)
@@ -127,16 +137,6 @@ void CameraFocus::on_sbxRadiusRatio_valueChanged(int arg1)
setup->getBeamer()->getProfil()->setRadiusRatio(arg1);
}
-void CameraFocus::on_sbxUpperMin_valueChanged(int arg1)
-{
- setup->getBeamer()->getProfil()->setUpperMinThreshold(arg1);
-}
-
-void CameraFocus::on_sbxLowerMin_valueChanged(int arg1)
-{
- setup->getBeamer()->getProfil()->setLowerMinThreshold(arg1);
-}
-
void CameraFocus::on_btnReset_clicked()
{
@@ -149,32 +149,22 @@ void CameraFocus::on_chbxDisplayContrast_clicked()
}
-cv::Mat* CameraFocus::cvSobel(cv::Mat *gray){
-
- // From : https://docs.opencv.org/2.4/doc/tutorials/imgproc/imgtrans/sobel_derivatives/sobel_derivatives.html
-
- int scale = 1;
- int delta = 0;
- int ddepth = CV_16S;
- cv::Mat grad, src_gray = *gray;
-
- /// Generate grad_x and grad_y
- cv::Mat grad_x, grad_y;
- cv::Mat abs_grad_x, abs_grad_y;
-
- /// Gradient X
- //Scharr( src_gray, grad_x, ddepth, 1, 0, scale, delta, BORDER_DEFAULT );
- cv::Sobel( src_gray, grad_x, ddepth, 1, 0, 3, scale, delta, cv::BORDER_DEFAULT );
- cv::convertScaleAbs( grad_x, abs_grad_x );
+void CameraFocus::on_sbxCannyThreshold_valueChanged(int arg1)
+{
+ setup->getBeamer()->getProfil()->setCannyEdgeThreshold(arg1);
+}
- /// Gradient Y
- //Scharr( src_gray, grad_y, ddepth, 0, 1, scale, delta, BORDER_DEFAULT );
- cv::Sobel( src_gray, grad_y, ddepth, 0, 1, 3, scale, delta, cv::BORDER_DEFAULT );
- cv::convertScaleAbs( grad_y, abs_grad_y );
+void CameraFocus::on_sbxAccThreshold_valueChanged(int arg1)
+{
+ setup->getBeamer()->getProfil()->setHoughAccThreshold(arg1);
+}
- /// Total Gradient (approximate)
- cv::addWeighted( abs_grad_x, 0.5, abs_grad_y, 0.5, 0, grad );
- grad.copyTo(*gray);
+void CameraFocus::on_dbsbxMinRadius_valueChanged(double arg1)
+{
+ setup->getBeamer()->getProfil()->setMinRadius(arg1);
+}
- return gray;
+void CameraFocus::on_dbsbxMaxRadius_valueChanged(double arg1)
+{
+ setup->getBeamer()->getProfil()->setMaxRadius(arg1);
}
diff --git a/app/SandboxSetup/camerafocus.h b/app/SandboxSetup/camerafocus.h
index 1e868ebaa339e1dba1f1d8ae80b6f8a5aba7af86..e8937767d712209fbc21ac1cd4b0c5e2e304d643 100644
--- a/app/SandboxSetup/camerafocus.h
+++ b/app/SandboxSetup/camerafocus.h
@@ -31,14 +31,18 @@ private slots:
void on_sbxRadiusRatio_valueChanged(int arg1);
- void on_sbxUpperMin_valueChanged(int arg1);
-
- void on_sbxLowerMin_valueChanged(int arg1);
-
void on_btnReset_clicked();
void on_chbxDisplayContrast_clicked();
+ void on_sbxCannyThreshold_valueChanged(int arg1);
+
+ void on_sbxAccThreshold_valueChanged(int arg1);
+
+ void on_dbsbxMinRadius_valueChanged(double arg1);
+
+ void on_dbsbxMaxRadius_valueChanged(double arg1);
+
protected:
void showEvent(QShowEvent *event);
void closeEvent(QCloseEvent *event);
@@ -53,7 +57,6 @@ private:
void refreshFrame();
void loadProfil(FrameProcessProfil *profilLoaded, FrameProcessProfil *profilSaved);
void initCameraParams();
- cv::Mat* cvSobel(cv::Mat *gray);
};
#endif // CAMERAFOCUS_H
diff --git a/app/SandboxSetup/camerafocus.ui b/app/SandboxSetup/camerafocus.ui
index 954c84b365b990b193deaa9da1a244bebcb4b16f..d4fc16b9a482cd05420af2460e8a43b9936d6a8e 100644
--- a/app/SandboxSetup/camerafocus.ui
+++ b/app/SandboxSetup/camerafocus.ui
@@ -7,7 +7,7 @@
<x>0</x>
<y>0</y>
<width>653</width>
- <height>611</height>
+ <height>640</height>
</rect>
</property>
<property name="windowTitle">
@@ -16,10 +16,10 @@
<widget class="QWidget" name="formLayoutWidget">
<property name="geometry">
<rect>
- <x>80</x>
+ <x>60</x>
<y>380</y>
<width>481</width>
- <height>171</height>
+ <height>231</height>
</rect>
</property>
<layout class="QFormLayout" name="frmlParams">
@@ -82,12 +82,12 @@
<item row="3" column="0">
<widget class="QLabel" name="label_4">
<property name="text">
- <string>Upper minimum contour threshold</string>
+ <string>Upper Canny threshold</string>
</property>
</widget>
</item>
<item row="3" column="1">
- <widget class="QSpinBox" name="sbxUpperMin">
+ <widget class="QSpinBox" name="sbxCannyThreshold">
<property name="maximum">
<number>255</number>
</property>
@@ -96,14 +96,54 @@
<item row="4" column="0">
<widget class="QLabel" name="label_5">
<property name="text">
- <string>Lower minimum contour threshold</string>
+ <string>Hough accumulator threshold</string>
</property>
</widget>
</item>
<item row="4" column="1">
- <widget class="QSpinBox" name="sbxLowerMin">
+ <widget class="QSpinBox" name="sbxAccThreshold">
<property name="maximum">
- <number>255</number>
+ <number>100000</number>
+ </property>
+ </widget>
+ </item>
+ <item row="5" column="1">
+ <widget class="QDoubleSpinBox" name="dbsbxMinRadius">
+ <property name="minimum">
+ <double>0.010000000000000</double>
+ </property>
+ <property name="maximum">
+ <double>10000.000000000000000</double>
+ </property>
+ <property name="singleStep">
+ <double>0.010000000000000</double>
+ </property>
+ </widget>
+ </item>
+ <item row="5" column="0">
+ <widget class="QLabel" name="label_6">
+ <property name="text">
+ <string>Minimum circle radius</string>
+ </property>
+ </widget>
+ </item>
+ <item row="6" column="0">
+ <widget class="QLabel" name="label_7">
+ <property name="text">
+ <string>Maximum circle radius</string>
+ </property>
+ </widget>
+ </item>
+ <item row="6" column="1">
+ <widget class="QDoubleSpinBox" name="dbsbxMaxRadius">
+ <property name="minimum">
+ <double>0.010000000000000</double>
+ </property>
+ <property name="maximum">
+ <double>10000.000000000000000</double>
+ </property>
+ <property name="singleStep">
+ <double>0.010000000000000</double>
</property>
</widget>
</item>
@@ -112,10 +152,10 @@
<widget class="QLabel" name="lblFrame">
<property name="geometry">
<rect>
- <x>100</x>
+ <x>60</x>
<y>60</y>
- <width>441</width>
- <height>281</height>
+ <width>411</width>
+ <height>241</height>
</rect>
</property>
<property name="lineWidth">
@@ -134,8 +174,8 @@
<widget class="QPushButton" name="btnReset">
<property name="geometry">
<rect>
- <x>530</x>
- <y>350</y>
+ <x>60</x>
+ <y>330</y>
<width>89</width>
<height>25</height>
</rect>
@@ -147,8 +187,8 @@
<widget class="QCheckBox" name="chbxDisplayContrast">
<property name="geometry">
<rect>
- <x>80</x>
- <y>30</y>
+ <x>500</x>
+ <y>60</y>
<width>131</width>
<height>23</height>
</rect>
diff --git a/app/SandboxSetup/croppingmask.cpp b/app/SandboxSetup/croppingmask.cpp
index 934b5dcffa88cb9faf63af0285b90d13bdefccbd..7bff0843785439a2e73f1ac36a9079c75519dda4 100644
--- a/app/SandboxSetup/croppingmask.cpp
+++ b/app/SandboxSetup/croppingmask.cpp
@@ -2,7 +2,7 @@
#include "ui_croppingmask.h"
CroppingMask::CroppingMask(SandboxSetup *sandbox, MonitorGui *_mg, QWidget *parent) :
- SubApp(parent),
+ SubApp("Cropping mask", "Error", parent),
ui(new Ui::CroppingMask)
{
diff --git a/app/SandboxSetup/initcamera.cpp b/app/SandboxSetup/initcamera.cpp
index 410fe2479ca19a0fc61918cbdadc8442597c939b..4861aea32ff6e75d8f0b1727023ddf5bcf0a2738 100644
--- a/app/SandboxSetup/initcamera.cpp
+++ b/app/SandboxSetup/initcamera.cpp
@@ -18,7 +18,7 @@ void CameraStartThread::run() {
InitCamera::InitCamera(SandboxSetup *_setup, QWidget *parent) :
- SubApp(parent),
+ SubApp("Initialize configuration", "Error", parent),
ui(new Ui::InitCamera)
{
setup = _setup;
diff --git a/app/SandboxSetup/mainwindow.cpp b/app/SandboxSetup/mainwindow.cpp
index ba4bca6baba57e66183ad03904bda02db5b6bc27..ba0806672ab7db6befc1c2b6aec9a5a724db36c4 100644
--- a/app/SandboxSetup/mainwindow.cpp
+++ b/app/SandboxSetup/mainwindow.cpp
@@ -97,6 +97,7 @@ void MainWindow::closeApp(){
void MainWindow::loadApp(){
ui->apps->addWidget(applist.at(step));
+ ui->lblTitle->setText( QString( (std::to_string(step+1) + ". " + applist.at(step)->getTitle()).c_str() ) );
applist.at(step)->show();
}
diff --git a/app/SandboxSetup/mainwindow.ui b/app/SandboxSetup/mainwindow.ui
index 7c27178cbcfd447f2c2a0713884f6ba76cfbddf5..0b29eb8db97dd3062fe6ffb15b9c22f254ddec44 100644
--- a/app/SandboxSetup/mainwindow.ui
+++ b/app/SandboxSetup/mainwindow.ui
@@ -7,7 +7,7 @@
<x>0</x>
<y>0</y>
<width>800</width>
- <height>600</height>
+ <height>747</height>
</rect>
</property>
<property name="focusPolicy">
@@ -21,9 +21,9 @@
<property name="geometry">
<rect>
<x>0</x>
- <y>0</y>
+ <y>50</y>
<width>801</width>
- <height>511</height>
+ <height>621</height>
</rect>
</property>
<layout class="QVBoxLayout" name="apps"/>
@@ -35,7 +35,7 @@
<property name="geometry">
<rect>
<x>650</x>
- <y>530</y>
+ <y>680</y>
<width>89</width>
<height>25</height>
</rect>
@@ -51,7 +51,7 @@
<property name="geometry">
<rect>
<x>530</x>
- <y>530</y>
+ <y>680</y>
<width>89</width>
<height>25</height>
</rect>
@@ -67,7 +67,7 @@
<property name="geometry">
<rect>
<x>330</x>
- <y>530</y>
+ <y>680</y>
<width>89</width>
<height>25</height>
</rect>
@@ -76,6 +76,24 @@
<string>Finish</string>
</property>
</widget>
+ <widget class="QLabel" name="lblTitle">
+ <property name="geometry">
+ <rect>
+ <x>30</x>
+ <y>10</y>
+ <width>421</width>
+ <height>31</height>
+ </rect>
+ </property>
+ <property name="font">
+ <font>
+ <pointsize>13</pointsize>
+ </font>
+ </property>
+ <property name="text">
+ <string>TextLabel</string>
+ </property>
+ </widget>
</widget>
<widget class="QMenuBar" name="menubar">
<property name="geometry">
diff --git a/app/SandboxSetup/monitorgui.cpp b/app/SandboxSetup/monitorgui.cpp
index 0c7d2d2634769325e08c717cee52ba5587b3ecd1..37d41d0715e890c1091229f300cde44b9dec0ccc 100644
--- a/app/SandboxSetup/monitorgui.cpp
+++ b/app/SandboxSetup/monitorgui.cpp
@@ -2,13 +2,12 @@
#include "ui_monitorgui.h"
MonitorGui::MonitorGui(SandboxSetup *_setup, QWidget *parent) :
- SubApp(parent),
+ SubApp("Monitors", "Cancel resolution", parent),
ui(new Ui::MonitorGui)
{
setup = _setup;
ui->setupUi(this);
resolution = new QRect;
- setErrorMessage("Cancel resolution");
std::string path = ".monitors.tmp";
monitors = std::map<std::string, std::vector<std::string>>();
diff --git a/app/SandboxSetup/projectiongui.cpp b/app/SandboxSetup/projectiongui.cpp
index 8dda8478e3e10e93ac344626721cb84b428a4d08..c7c8dcd70816d5fa2eca85e86a02e04c9b856fca 100644
--- a/app/SandboxSetup/projectiongui.cpp
+++ b/app/SandboxSetup/projectiongui.cpp
@@ -2,7 +2,7 @@
#include "ui_projectiongui.h"
ProjectionGui::ProjectionGui(SandboxSetup *_setup, MonitorGui *_mg, QWidget *parent) :
- SubApp(parent),
+ SubApp("Projection setup", "Error", parent),
ui(new Ui::ProjectionGui)
{
setup = _setup;
diff --git a/app/SandboxSetup/saveconfiggui.cpp b/app/SandboxSetup/saveconfiggui.cpp
index 987ded071a5a90b50cd4be2ecf54f04b928dcf34..fc4d33af9e2f13045caac5d6cd76e336e603a7dc 100644
--- a/app/SandboxSetup/saveconfiggui.cpp
+++ b/app/SandboxSetup/saveconfiggui.cpp
@@ -2,11 +2,10 @@
#include "ui_saveconfiggui.h"
SaveConfigGui::SaveConfigGui(SandboxSetup *_setup, QWidget *parent) :
- SubApp(parent),
+ SubApp("Finish configuration", "Failed to save configuration", parent),
ui(new Ui::SaveConfigGui)
{
setup = _setup;
- this->setErrorMessage("Failed to save configuration");
ui->setupUi(this);
}
diff --git a/app/SandboxSetup/subapp.cpp b/app/SandboxSetup/subapp.cpp
index 069a876e05c8685b7dc7387595fea852b5dd9947..87cfe32a89f3bc0f3cb49d8571a4fc7528dce18e 100644
--- a/app/SandboxSetup/subapp.cpp
+++ b/app/SandboxSetup/subapp.cpp
@@ -1,8 +1,9 @@
#include "subapp.h"
-SubApp::SubApp(QWidget *parent) : QWidget(parent)
+SubApp::SubApp(std::string _title, std::string msg, QWidget *parent) : QWidget(parent)
{
- error_msg = "Error";
+ error_msg = msg;
+ title = _title;
}
SubApp::~SubApp()
diff --git a/app/SandboxSetup/subapp.h b/app/SandboxSetup/subapp.h
index b016f6ada6ffcb0a0604d15564d6fe2cb46151e0..87be1c95da0a9781deb10396dc853491b26a77a6 100644
--- a/app/SandboxSetup/subapp.h
+++ b/app/SandboxSetup/subapp.h
@@ -8,11 +8,11 @@ class SubApp : public QWidget
Q_OBJECT
public:
- explicit SubApp(QWidget *parent = 0);
+ explicit SubApp(std::string _title, std::string msg, QWidget *parent = 0);
~SubApp();
bool getEndState(){ return endSuccess; };
std::string getErrorMessage(){ return error_msg; };
- void setErrorMessage(std::string msg){ error_msg = msg; };
+ std::string getTitle(){ return title; };
virtual bool checkRoutine();
virtual void valideRoutine();
virtual void cancelRoutine();
@@ -23,6 +23,7 @@ signals:
protected:
bool endSuccess = false;
std::string error_msg;
+ std::string title;
};
#endif // SUBAPP_H
diff --git a/inc/beamer.h b/inc/beamer.h
index 15196d800d4b3d90b24c8f047edc5a5c3cd9d2de..c0319d43e5f39dd2565d9a76045c7b3ee7d7ea40 100644
--- a/inc/beamer.h
+++ b/inc/beamer.h
@@ -11,16 +11,20 @@ class FrameProcessProfil{
// radius of the circle based on the width of the frame, where :
// radius = frame.width / ratioRadius
int ratioRadius; // [1, n]
- int upperMinThreshold; // [lowerMin, 255] the strongest the contrast in the image is, the higher this param should be
- int lowerMinThreshold; // [0, upperMin] should be set way lower than upperMin if cicles have weak contrasts at their edges
-
+ int cannyEdgeThreshold; // [0, 255] the strongest the contrast in the image is, the higher this param should be
+ int houghAccThreshold; // [0, n] should be set way lower than upperMin if cicles have weak contrasts at their edges
+ double minRadius;
+ double maxRadius;
+
public:
- FrameProcessProfil(double c=1.0, int b=0, int r=8, int up=200, int low=100){
+ FrameProcessProfil(double c=1.0, int b=0, int r=8, int cannyThreshold=200, int accThreshold=100, double minR=0.0, double maxR=0.0){
contrast = c;
brightness = b;
ratioRadius = r;
- upperMinThreshold = up;
- lowerMinThreshold = low;
+ cannyEdgeThreshold = cannyThreshold;
+ houghAccThreshold = accThreshold;
+ minRadius = minR;
+ maxRadius = maxR;
};
double getContrast(){ return contrast; };
void setContrast(double c){ contrast = c; };
@@ -28,10 +32,14 @@ class FrameProcessProfil{
void setBrightness(int b){ brightness = b; };
int getRadiusRatio(){ return ratioRadius; };
void setRadiusRatio(int r){ ratioRadius = r; };
- int getUpperMinThreshold(){ return upperMinThreshold; };
- void setUpperMinThreshold(int up){ upperMinThreshold = up; };
- int getLowerMinThreshold(){ return lowerMinThreshold; };
- void setLowerMinThreshold(int low){ lowerMinThreshold = low; };
+ int getCannyEdgeThreshold(){ return cannyEdgeThreshold; };
+ void setCannyEdgeThreshold(int cannyThreshold){ cannyEdgeThreshold = cannyThreshold; };
+ int getHoughAccThreshold(){ return houghAccThreshold; };
+ void setHoughAccThreshold(int accThreshold){ houghAccThreshold = accThreshold; };
+ double getMinRadius(){ return minRadius; };
+ void setMinRadius(double min){ minRadius = min; };
+ double getMaxRadius(){ return maxRadius; };
+ void setMaxRadius(double max){ maxRadius = max; };
};
@@ -73,7 +81,7 @@ class Beamer{
cv::Mat getCrossFrame(cv::Point2i projectedCross, int step, int max, bool circlesFound);
cv::Point3d approximatePosition(std::vector<cv::Point3d> *bases, std::vector<cv::Point3d> *directions);
void findLinearLineFrom(std::vector<cv::Point3f> *capturedPoints, std::vector<cv::Point3d> *bases, std::vector<cv::Point3d> *directions);
- std::vector<cv::Point3i> findCercleZ(cv::Mat &rgb, double contrast, int brightness, int ratioRadius, int upperMinThreshold, int lowerMinThreshold);
+ std::vector<cv::Point3i> findCircles(cv::Mat &rgb, double contrast, int brightness, double centersMinDist, int cannyEdgeThreshold, int houghAccThreshold, double minRadius, double maxRadius);
void printPosition();
};
diff --git a/inc/beamerProjection.h b/inc/beamerProjection.h
index 18a019c54c2b0b0d19a2df7a189f9ae306e3b034..5f756ad8d6a54b864ed5a3a35ec7e01ca73cfcee 100644
--- a/inc/beamerProjection.h
+++ b/inc/beamerProjection.h
@@ -7,7 +7,6 @@
class BeamerProjection{
private:
- const char *wndname = (char *)"Sandbox";
cv::Mat adjustingMatrix;
cv::Point2i adjustPixel(int i, int j, float z, Camera camera, cv::Point3f beamer);
diff --git a/src/components/beamer.cpp b/src/components/beamer.cpp
index a7783c0b61028b96eec4407c6c8ab0d618da86d5..96a335868d830e86150bcfb1b6a8dd1062778972 100644
--- a/src/components/beamer.cpp
+++ b/src/components/beamer.cpp
@@ -38,10 +38,18 @@ int Beamer::findBeamerFrom(Camera *camera){
rgb = camera->getColorFrame();
// Look for the circle target
- std::vector<cv::Point3i> circle = findCercleZ(rgb, profil.getContrast(), profil.getBrightness(), profil.getRadiusRatio(), profil.getUpperMinThreshold(), profil.getLowerMinThreshold());
+ double minDist = rgb.rows / (double)profil.getRadiusRatio();
+ std::vector<cv::Point3i> circles = findCircles( rgb,
+ profil.getContrast(),
+ profil.getBrightness(),
+ minDist,
+ profil.getCannyEdgeThreshold(),
+ profil.getHoughAccThreshold(),
+ profil.getMinRadius(),
+ profil.getMaxRadius() );
// Show black screen with cross
- cv::Mat frameImage = getCrossFrame(cross, capturedPoints.size()+1, MAX_LINEAR_LINE_POINTS, !circle.empty());
+ cv::Mat frameImage = getCrossFrame(cross, capturedPoints.size()+1, MAX_LINEAR_LINE_POINTS, !circles.empty());
cv::imshow(wname, frameImage);
@@ -53,8 +61,8 @@ int Beamer::findBeamerFrom(Camera *camera){
return 1;
}
else if (keyCode == ' '){
- if(!circle.empty()){
- capturedPoints.push_back( deprojectPixel(circle.at(0), &depth, camera) );
+ if(!circles.empty()){
+ capturedPoints.push_back( deprojectPixel(circles.at(0), &depth, camera) );
}
}
}
@@ -209,8 +217,8 @@ cv::Mat Beamer::editContrast(cv::Mat image, double contrast, int brightness){
return new_image;
}
-std::vector<cv::Point3i> Beamer::findCercleZ(cv::Mat &rgb, double contrast, int brightness, int ratioRadius, int upperMinThreshold, int lowerMinThreshold)
-{
+std::vector<cv::Point3i> Beamer::findCircles(cv::Mat &rgb, double contrast, int brightness, double centersMinDist, int cannyEdgeThreshold, int houghAccThreshold, double minRadius, double maxRadius){
+
cv::Mat src_gray;
cv::cvtColor(rgb, src_gray, CV_BGR2GRAY);
/// Reduce the noise so we avoid false circle detection
@@ -219,19 +227,29 @@ std::vector<cv::Point3i> Beamer::findCercleZ(cv::Mat &rgb, double contrast, int
circles.clear();
src_gray = editContrast(src_gray, (double)contrast, (double)brightness);
+
+ //cv::HoughCircles(src_gray, circles, CV_HOUGH_GRADIENT, 1, minRadius, 75, 50, 0, 0);
+ // double minDist = src_gray.rows / (double)ratioRadius;
+
/// Apply the Hough Transform to find the circles
- //source, output, method, inverse ratio of resolution, Minimum distance between detected centers, threeshold canny, threeshold center, min radius, max radius
- //cv::HoughCircles(src_gray, circles, CV_HOUGH_GRADIENT, 1, minRadius, 75, 50, 0, 0);
- double minRadius = src_gray.rows / (double)ratioRadius;
- cv::HoughCircles(src_gray, circles, CV_HOUGH_GRADIENT, 1, minRadius, (double)upperMinThreshold, (double)lowerMinThreshold, 0, 0);
+ // source, output, method, inverse ratio of resolution, Minimum distance between detected centers, threeshold canny, threeshold center, min radius, max radius
+ // dp : Inverse resolution for the accumulator matrixe => image_resolution * dp = acc_resolution
+ // 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
+ cv::HoughCircles(src_gray, circles, CV_HOUGH_GRADIENT, 1, centersMinDist, (double)cannyEdgeThreshold, (double)houghAccThreshold, minRadius, maxRadius);
+
//doit tester si le cercle est bon (rayon);
std::vector<cv::Point3i> result;
if (!circles.empty())
{
- cv::Vec3f first = circles[0];
- result.push_back( cv::Point3i(round(first[0]), round(first[1]), round(first[2])) );
+ for(cv::Vec3f circle: circles){
+ result.push_back( cv::Point3i(round(circle[0]), round(circle[1]), round(circle[2])) );
+ }
}
return result;
}
diff --git a/src/tools/sandboxConfig.cpp b/src/tools/sandboxConfig.cpp
index 548e94512a6af4f9d1ae7b8a6593504f47179207..a903269c8db815a9dee3186f2f1dcdcf25459c50 100644
--- a/src/tools/sandboxConfig.cpp
+++ b/src/tools/sandboxConfig.cpp
@@ -102,8 +102,10 @@ int SandboxConfig::saveFrameProcessProfil(char *path, FrameProcessProfil profil)
val["contrast"] = profil.getContrast();
val["brightness"] = profil.getBrightness();
val["radiusRatio"] = profil.getRadiusRatio();
- val["upperMinThreshold"] = profil.getUpperMinThreshold();
- val["lowerMinThreshold"] = profil.getLowerMinThreshold();
+ val["cannyEdgeThreshold"] = profil.getCannyEdgeThreshold();
+ val["houghAccThreshold"] = profil.getHoughAccThreshold();
+ val["minRadius"] = profil.getMinRadius();
+ val["maxRadius"] = profil.getMaxRadius();
YAML::Node config;
try{
@@ -283,8 +285,10 @@ int SandboxConfig::loadFrameProcessProfil(char *path, FrameProcessProfil *profil
if(!( config[PROCESSPROFIL]["contrast"] &&
config[PROCESSPROFIL]["brightness"] &&
config[PROCESSPROFIL]["radiusRatio"] &&
- config[PROCESSPROFIL]["upperMinThreshold"] &&
- config[PROCESSPROFIL]["lowerMinThreshold"]
+ config[PROCESSPROFIL]["cannyEdgeThreshold"] &&
+ config[PROCESSPROFIL]["houghAccThreshold"] &&
+ config[PROCESSPROFIL]["minRadius"] &&
+ config[PROCESSPROFIL]["maxRadius"]
)){
return 2;
}
@@ -292,8 +296,10 @@ int SandboxConfig::loadFrameProcessProfil(char *path, FrameProcessProfil *profil
profil->setContrast(config[PROCESSPROFIL]["contrast"].as<double>());
profil->setBrightness(config[PROCESSPROFIL]["brightness"].as<int>());
profil->setRadiusRatio(config[PROCESSPROFIL]["radiusRatio"].as<int>());
- profil->setUpperMinThreshold(config[PROCESSPROFIL]["upperMinThreshold"].as<int>());
- profil->setLowerMinThreshold(config[PROCESSPROFIL]["lowerMinThreshold"].as<int>());
+ profil->setCannyEdgeThreshold(config[PROCESSPROFIL]["cannyEdgeThreshold"].as<int>());
+ profil->setHoughAccThreshold(config[PROCESSPROFIL]["houghAccThreshold"].as<int>());
+ profil->setMinRadius(config[PROCESSPROFIL]["minRadius"].as<double>());
+ profil->setMaxRadius(config[PROCESSPROFIL]["maxRadius"].as<double>());
return 0;
}