diff --git a/app/SandboxSetup/camerafocus.cpp b/app/SandboxSetup/camerafocus.cpp
index de5b65168d5f0a2cc966bc09ae1b792522c20a08..1542da0600ba2af5554a6928417a773c512f3be5 100644
--- a/app/SandboxSetup/camerafocus.cpp
+++ b/app/SandboxSetup/camerafocus.cpp
@@ -7,12 +7,17 @@ CameraFocus::CameraFocus(SandboxSetup *sandbox, QWidget *parent) :
{
ui->setupUi(this);
setup = sandbox;
+
+ if(setup->loadFrameProcessProfil()){
+ std::cout << "No process profil found" << std::endl;
+ }
+
initCameraParams();
frameTimer = new QTimer(this);
connect(frameTimer, &QTimer::timeout, this, &CameraFocus::refreshFrame);
setup->camera.start();
- frameTimer->start(200);
+ frameTimer->start(100);
}
CameraFocus::~CameraFocus()
@@ -30,30 +35,36 @@ void CameraFocus::on_btnbxValidate_clicked(QAbstractButton *button)
void CameraFocus::on_btnbxValidate_accepted()
{
state = true;
+ if(setup->saveFrameProcessProfil()){
+ std::cout << "Error : couldn't save profil" << std::endl;
+ std::exit(1);
+ }
}
void CameraFocus::refreshFrame(){
setup->camera.captureFrame();
- profil_t p = setup->beamer.getProfil();
+ FrameProcessProfil p = *(setup->beamer.getProfil());
- // convert Mat to QPixmap
cv::Mat gray;
+ cv::Mat rgbFromGray;
cv::Mat rgb = setup->camera.getRGBFrame();
+ std::vector<int> crc;
+ if(p.getUpperMinThreshold() >= p.getLowerMinThreshold()){
+ crc = setup->beamer.findCercleZ(rgb, p.getContrast(), p.getBrightness(), p.getRadiusRatio(), p.getUpperMinThreshold(), p.getLowerMinThreshold());
+ }
+
+ // Preview image for the user
cv::cvtColor(rgb, gray, CV_BGR2GRAY);
- gray = setup->beamer.editContrast(gray, (double)p.contrast, (double)p.brightness);
+ gray = setup->beamer.editContrast(gray, (double)p.getContrast(), (double)p.getBrightness());
+ cv::cvtColor(gray, rgbFromGray, CV_GRAY2BGR);
- std::vector<int> crc = setup->beamer.findCercleZ(rgb, p.contrast, p.brightness, p.ratioRadius, p.upperMinThreshold, p.lowerMinThreshold);
if(!crc.empty()){
- ui->lblStatus->setText(QString("Found it!"));
- cv::circle(gray, cv::Point(crc[0], crc[1]), crc[2], cv::Scalar(0,255,0));
- }else{
- ui->lblStatus->setText(QString("Nothing..."));
+ cv::circle(rgbFromGray, cv::Point(crc[0], crc[1]), crc[2], cv::Scalar(0,255,0), 2);
}
- QImage img = QImage((uchar *)gray.data, (int)gray.cols, (int)gray.rows, static_cast<int>(gray.step.buf[0]), QImage::Format_Grayscale8);
- // QImage::Format_RGB888);
+ QImage img = QImage((uchar *)rgbFromGray.data, (int)rgbFromGray.cols, (int)rgbFromGray.rows, static_cast<int>(rgbFromGray.step.buf[0]), QImage::Format_RGB888);
QPixmap image = QPixmap::fromImage(img);
ui->lblFrame->setPixmap(image);
@@ -62,45 +73,59 @@ void CameraFocus::refreshFrame(){
void CameraFocus::initCameraParams(){
- profil_t profil = setup->beamer.getProfil();
- ui->dbsbxContrast->setValue(profil.contrast);
- ui->sbxBrightness->setValue(profil.brightness);
- ui->sbxRadiusRatio->setValue(profil.ratioRadius);
- ui->sbxUpperMin->setValue(profil.upperMinThreshold);
- ui->sbxLowerMin->setValue(profil.lowerMinThreshold);
+ FrameProcessProfil *profil = setup->beamer.getProfil();
+
+ defaultProfil.setContrast(profil->getContrast());
+ defaultProfil.setBrightness(profil->getBrightness());
+ defaultProfil.setRadiusRatio(profil->getRadiusRatio());
+ defaultProfil.setUpperMinThreshold(profil->getUpperMinThreshold());
+ defaultProfil.setLowerMinThreshold(profil->getLowerMinThreshold());
+
+ loadProfil(profil, profil);
+}
+
+void CameraFocus::loadProfil(FrameProcessProfil *profilLoaded, FrameProcessProfil *profilSaved){
+
+ profilSaved->setContrast(profilLoaded->getContrast());
+ profilSaved->setBrightness(profilLoaded->getBrightness());
+ profilSaved->setRadiusRatio(profilLoaded->getRadiusRatio());
+ profilSaved->setUpperMinThreshold(profilLoaded->getUpperMinThreshold());
+ profilSaved->setLowerMinThreshold(profilLoaded->getLowerMinThreshold());
+
+ 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());
}
void CameraFocus::on_dbsbxContrast_valueChanged(double arg1)
{
- profil_t p = setup->beamer.getProfil();
- p.contrast = arg1;
- setup->beamer.setProfil(p);
+ setup->beamer.getProfil()->setContrast(arg1);
}
void CameraFocus::on_sbxBrightness_valueChanged(int arg1)
{
- profil_t p = setup->beamer.getProfil();
- p.brightness = arg1;
- setup->beamer.setProfil(p);
+ setup->beamer.getProfil()->setBrightness(arg1);
}
void CameraFocus::on_sbxRadiusRatio_valueChanged(int arg1)
{
- profil_t p = setup->beamer.getProfil();
- p.ratioRadius = arg1;
- setup->beamer.setProfil(p);
+ setup->beamer.getProfil()->setRadiusRatio(arg1);
}
void CameraFocus::on_sbxUpperMin_valueChanged(int arg1)
{
- profil_t p = setup->beamer.getProfil();
- p.upperMinThreshold = arg1;
- setup->beamer.setProfil(p);
+ setup->beamer.getProfil()->setUpperMinThreshold(arg1);
}
void CameraFocus::on_sbxLowerMin_valueChanged(int arg1)
{
- profil_t p = setup->beamer.getProfil();
- p.lowerMinThreshold = arg1;
- setup->beamer.setProfil(p);
+ setup->beamer.getProfil()->setLowerMinThreshold(arg1);
+}
+
+
+void CameraFocus::on_btnReset_clicked()
+{
+ loadProfil(&defaultProfil, setup->beamer.getProfil());
}
diff --git a/app/SandboxSetup/camerafocus.h b/app/SandboxSetup/camerafocus.h
index 3922454a6c3f8affcba4c1cc09a629938fc6a517..914d758ecd8671feb506b1e00622dd3809cd548a 100644
--- a/app/SandboxSetup/camerafocus.h
+++ b/app/SandboxSetup/camerafocus.h
@@ -34,13 +34,17 @@ private slots:
void on_sbxLowerMin_valueChanged(int arg1);
+ void on_btnReset_clicked();
+
private:
Ui::CameraFocus *ui;
SandboxSetup *setup;
bool state = false;
QTimer *frameTimer;
+ FrameProcessProfil defaultProfil;
void refreshFrame();
+ void loadProfil(FrameProcessProfil *profilLoaded, FrameProcessProfil *profilSaved);
void initCameraParams();
};
diff --git a/app/SandboxSetup/camerafocus.ui b/app/SandboxSetup/camerafocus.ui
index d041a25d5735fbbedc04e3be370144bccac444b8..dcaa483dbb30457ffd2b25bb16b13163d3cdb678 100644
--- a/app/SandboxSetup/camerafocus.ui
+++ b/app/SandboxSetup/camerafocus.ui
@@ -33,7 +33,7 @@
<property name="geometry">
<rect>
<x>80</x>
- <y>360</y>
+ <y>380</y>
<width>481</width>
<height>171</height>
</rect>
@@ -147,17 +147,17 @@
<bool>false</bool>
</property>
</widget>
- <widget class="QLabel" name="lblStatus">
+ <widget class="QPushButton" name="btnReset">
<property name="geometry">
<rect>
- <x>450</x>
- <y>20</y>
- <width>67</width>
- <height>17</height>
+ <x>530</x>
+ <y>350</y>
+ <width>89</width>
+ <height>25</height>
</rect>
</property>
<property name="text">
- <string>Nothing</string>
+ <string>Reset</string>
</property>
</widget>
</widget>
diff --git a/app/SandboxSetup/main.cpp b/app/SandboxSetup/main.cpp
index 58aa53f32a447aca65d83618cd55a2e47b0333bb..079ccbf69a9e593b578edc1946a5d991caf24582 100644
--- a/app/SandboxSetup/main.cpp
+++ b/app/SandboxSetup/main.cpp
@@ -27,6 +27,14 @@ int main(int argc, char *argv[])
return 1;
}
+ FrameProcessProfil p = *setup.beamer.getProfil();
+ std::cout << "params" << std::endl;
+ std::cout << p.getContrast() << std::endl;
+ std::cout << p.getBrightness() << std::endl;
+ std::cout << p.getRadiusRatio() << std::endl;
+ std::cout << p.getUpperMinThreshold() << std::endl;
+ std::cout << p.getLowerMinThreshold() << std::endl;
+
if(setup.setupProjection()){
std::cout << "Cancel crop" << std::endl;
diff --git a/inc/beamer.h b/inc/beamer.h
index 9b4ea72f71bda1acd6c42f9eda4b065942d21c1f..d0460f535330eeceb33434e7090f36f5fee55377 100644
--- a/inc/beamer.h
+++ b/inc/beamer.h
@@ -5,28 +5,44 @@
#define ESCAPE_CHAR 27
-typedef struct {
- double contrast;
- int brightness;
- int ratioRadius;
- int upperMinThreshold;
- int lowerMinThreshold;
-} profil_t;
+
+class FrameProcessProfil{
+ private:
+ double contrast; // [0, 255]
+ int brightness; // [-255, 255]
+ // radius of the circle based on the width of the frame, where :
+ // radius = frame.width / ratioRadius
+ int ratioRadius; // [1, n]
+ int upperMinThreshold; // [lowerMin, 255]
+ int lowerMinThreshold; // [0, upperMin]
+
+ public:
+ FrameProcessProfil(double c=1.0, int b=0, int r=8, int up=200, int low=100){
+ contrast = c;
+ brightness = b;
+ ratioRadius = r;
+ upperMinThreshold = up;
+ lowerMinThreshold = low;
+ };
+ double getContrast(){ return contrast; };
+ void setContrast(double c){ contrast = c; };
+ int getBrightness(){ return brightness; };
+ 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; };
+
+};
class Beamer{
private:
const char *BEAMER_POSITION_FILE = "./beamer.dat";
cv::Point3f beamerPosition;
cv::Size resolution = cv::Size(256,144);
-/*
- double contrast = 1.0; // (0,255)
- int brightness = 0; // (-255,255)
- // circle must be at least 1/8 of the frame's width long
- int ratioRadius = 8; // (1,n)
- int upperMinThreshold = 200; // (lowerMin,255)
- int lowerMinThreshold = 100; // (0,upperMin)
-*/
- profil_t profil = (profil_t){ 1.0, 0, 8, 200, 100 };
+ FrameProcessProfil profil = FrameProcessProfil();
cv::Point3f intersection(cv::Vec3f v1, cv::Point3f p1, cv::Vec3f v2, cv::Point3f p2, cv::Vec3f v3, cv::Point3f p3, bool &isFound);
cv::Point3d approximatePosition(std::vector<cv::Point3d> points1, std::vector<cv::Point3d> points2);
@@ -40,8 +56,8 @@ class Beamer{
int getWidth(){ return resolution.width; };
void setHeight(int h){ resolution.height = h; };
int getHeight(){ return resolution.height; };
- profil_t getProfil(){ return profil; };
- void setProfil(profil_t p){ profil = p; };
+ FrameProcessProfil* getProfil(){ return &profil; };
+ void setProfil(FrameProcessProfil p){ profil = p; };
int findBeamerFrom(Camera camera);
cv::Mat editContrast(cv::Mat image, double contrast, int brightness);
diff --git a/inc/sandboxConfig.h b/inc/sandboxConfig.h
index 0de6f2900211e8c580f12d78ba7c0de9ab9dcdf2..3898d465c1b93ac29c4bf4d647b513f01daceb4d 100644
--- a/inc/sandboxConfig.h
+++ b/inc/sandboxConfig.h
@@ -11,6 +11,7 @@
#define POSITION "BeamerPosition"
#define MATRIX "AdjustingMatrix"
#define RESOLUTION "BeamerResolution"
+#define PROCESSPROFIL "FrameProcessProfil"
class SandboxConfig{
private:
@@ -21,10 +22,13 @@ class SandboxConfig{
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 loadCroppingMaskFrom(char *path, Camera *camera);
static int loadBeamerPositionFrom(char *path, Beamer *beamer);
static int loadBeamerResolutionFrom(char *path, Beamer *beamer);
+ static int loadFrameProcessProfil(char *path, FrameProcessProfil *profil);
};
diff --git a/inc/sandboxSetup.h b/inc/sandboxSetup.h
index abfbbf83b40b2a071ae5f695d24be95cff6509ca..e3a93891228a86b229425c5fd4a7f8cc025c871b 100644
--- a/inc/sandboxSetup.h
+++ b/inc/sandboxSetup.h
@@ -25,16 +25,19 @@ class SandboxSetup{
// save config in file => persistant
int saveConfigFrom(char *path);
int saveConfig();
+ int saveFrameProcessProfil();
// edit variables of config => not persistant
int setupProjection();
int setupBeamerResolution();
int setupBeamerLocation();
+ int loadFrameProcessProfil();
void setBeamerResolution(cv::Size resolution);
void setBeamerPosition(cv::Point3f pos);
void setCroppingMask(cv::Rect mask);
void setAdjustingMatrix(cv::Mat matrix);
+ void setFrameProcessProfil(FrameProcessProfil profil);
};
diff --git a/src/components/beamer.cpp b/src/components/beamer.cpp
index 039ff2566b562e717e439c9992f21168b2abfca5..bbb9198ab484bb4535eac995e3e8bebdee94f93b 100644
--- a/src/components/beamer.cpp
+++ b/src/components/beamer.cpp
@@ -49,7 +49,7 @@ int Beamer::findBeamerFrom(Camera camera)
rgb = camera.getRGBFrame();
// Look for the circle target
- std::vector<int> crc = findCercleZ(rgb, profil.contrast, profil.brightness, profil.ratioRadius, profil.upperMinThreshold, profil.lowerMinThreshold);
+ std::vector<int> crc = findCercleZ(rgb, profil.getContrast(), profil.getBrightness(), profil.getRadiusRatio(), profil.getUpperMinThreshold(), profil.getLowerMinThreshold());
cv::Scalar color = (!crc.empty()) ? cv::Scalar(0, 255, 0) : cv::Scalar(0, 0, 255);
// Show black screen with cross
diff --git a/src/lib/sandboxSetup.cpp b/src/lib/sandboxSetup.cpp
index 6279bec7cc3031d022c4531e3ef3540d62833231..3938ff858572f461747b55c68e85150acd9db8f2 100644
--- a/src/lib/sandboxSetup.cpp
+++ b/src/lib/sandboxSetup.cpp
@@ -22,6 +22,10 @@ void SandboxSetup::setAdjustingMatrix(cv::Mat matrix){
projection.setAdjustingMatrix(matrix);
}
+void SandboxSetup::setFrameProcessProfil(FrameProcessProfil profil){
+ beamer.setProfil(profil);
+}
+
// return 1 when config can't be saved in file
int SandboxSetup::saveConfigFrom(char *path){
@@ -37,6 +41,9 @@ int SandboxSetup::saveConfigFrom(char *path){
if(SandboxConfig::saveBeamerPositionInto(path, beamer.getPosition()))
return 1;
+ if(SandboxConfig::saveFrameProcessProfil(path, *beamer.getProfil()))
+ return 1;
+
return 0;
}
@@ -45,6 +52,14 @@ int SandboxSetup::saveConfig(){
return saveConfigFrom(defaultConfigFilePath);
}
+int SandboxSetup::loadFrameProcessProfil(){
+ return SandboxConfig::loadFrameProcessProfil(defaultConfigFilePath, beamer.getProfil());
+}
+
+int SandboxSetup::saveFrameProcessProfil(){
+ return SandboxConfig::saveFrameProcessProfil(defaultConfigFilePath, *beamer.getProfil());
+}
+
int SandboxSetup::setupBeamerResolution(){
int width = 0;
diff --git a/src/tools/sandboxConfig.cpp b/src/tools/sandboxConfig.cpp
index 36c0593a7e42bcaea7a8b4fd809add916f4ee1d1..548e94512a6af4f9d1ae7b8a6593504f47179207 100644
--- a/src/tools/sandboxConfig.cpp
+++ b/src/tools/sandboxConfig.cpp
@@ -95,6 +95,32 @@ int SandboxConfig::saveBeamerResolutionInto(char *path, cv::Size res){
}
+int SandboxConfig::saveFrameProcessProfil(char *path, FrameProcessProfil profil){
+
+ YAML::Node val;
+
+ val["contrast"] = profil.getContrast();
+ val["brightness"] = profil.getBrightness();
+ val["radiusRatio"] = profil.getRadiusRatio();
+ val["upperMinThreshold"] = profil.getUpperMinThreshold();
+ val["lowerMinThreshold"] = profil.getLowerMinThreshold();
+
+ YAML::Node config;
+ try{
+ config = YAML::LoadFile(path);
+ }catch(YAML::BadFile err){
+ //std::cout << "[Error] No Config File found : " << err.what() << std::endl;
+ }
+
+ config[PROCESSPROFIL] = val;
+
+ return saveConfigIn(path, config);
+}
+
+
+
+
+
int SandboxConfig::loadAdjustingMatrixFrom(char *path, BeamerProjection *projection){
@@ -154,12 +180,12 @@ int SandboxConfig::loadCroppingMaskFrom(char *path, Camera *camera){
return 1;
}
- // no node for adjusting matrix
+ // no node for cropping mask
if(!config[MASK]){
return 2;
};
- // uncomplet data for adjusting matrix
+ // uncomplet data for cropping mask
if(!(config[MASK]["x"] && config[MASK]["y"] && config[MASK]["width"] && config[MASK]["height"])){
return 2;
}
@@ -186,12 +212,12 @@ int SandboxConfig::loadBeamerPositionFrom(char *path, Beamer *beamer){
return 1;
}
- // no node for adjusting matrix
+ // no node for beamer position
if(!config[POSITION]){
return 2;
};
- // uncomplet data for adjusting matrix
+ // uncomplet data for beamer position
if(!(config[POSITION]["x"] && config[POSITION]["y"] && config[POSITION]["z"])){
return 2;
}
@@ -217,12 +243,12 @@ int SandboxConfig::loadBeamerResolutionFrom(char *path, Beamer *beamer){
return 1;
}
- // no node for adjusting matrix
+ // no node for beamer resolution
if(!config[RESOLUTION]){
return 2;
};
- // uncomplet data for adjusting matrix
+ // uncomplet data for beamer resolution
if(!(config[RESOLUTION]["height"] && config[RESOLUTION]["width"])){
return 2;
}
@@ -237,6 +263,42 @@ int SandboxConfig::loadBeamerResolutionFrom(char *path, Beamer *beamer){
}
+int SandboxConfig::loadFrameProcessProfil(char *path, FrameProcessProfil *profil){
+
+ 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;
+ }
+
+ // no node for frame process profil
+ if(!config[PROCESSPROFIL]){
+ return 2;
+ };
+
+ // uncomplet data for frame process profil
+ if(!( config[PROCESSPROFIL]["contrast"] &&
+ config[PROCESSPROFIL]["brightness"] &&
+ config[PROCESSPROFIL]["radiusRatio"] &&
+ config[PROCESSPROFIL]["upperMinThreshold"] &&
+ config[PROCESSPROFIL]["lowerMinThreshold"]
+ )){
+ return 2;
+ }
+
+ 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>());
+
+ return 0;
+}
+
+
static int saveConfigIn(char *path, YAML::Node config){
YAML::Emitter out;