diff --git a/app/SandboxSetup/beamerlocationgui.cpp b/app/SandboxSetup/beamerlocationgui.cpp
index d2ad1fc0e3ff2225d8230511dd1264236f957c77..f655bc70cb7666826d42a3853b20c8fc210ba0c2 100644
--- a/app/SandboxSetup/beamerlocationgui.cpp
+++ b/app/SandboxSetup/beamerlocationgui.cpp
@@ -24,7 +24,7 @@ BeamerLocationGui::BeamerLocationGui(SandboxSetup *_setup, MonitorGui *_mg, QWid
mut = new QMutex();
myThread = new RefreshFrame(this);
timer = new QTimer(this);
- connect(timer, &QTimer::timeout, this, &BeamerLocationGui::refreshRoutine);
+ connect(timer, &QTimer::timeout, this, &BeamerLocationGui::tickRoutine);
}
BeamerLocationGui::~BeamerLocationGui()
@@ -62,7 +62,7 @@ void BeamerLocationGui::closeEvent(QCloseEvent *e){
QWidget::closeEvent(e);
}
-void BeamerLocationGui::refreshRoutine(){
+void BeamerLocationGui::tickRoutine(){
myThread->start();
}
diff --git a/app/SandboxSetup/beamerlocationgui.h b/app/SandboxSetup/beamerlocationgui.h
index f095bdd4e968f2b1928b5e535ee8f2729ef9980a..9fef3d6c713cc1bc44285cd2cdec83fceab895d9 100644
--- a/app/SandboxSetup/beamerlocationgui.h
+++ b/app/SandboxSetup/beamerlocationgui.h
@@ -48,21 +48,19 @@ private:
};
Ui::BeamerLocationGui *ui;
- QtFullScreen *winFullScreen;
SandboxSetup *setup;
Beamer *beamer;
Camera *camera;
FrameProcessProfil *profil;
MonitorGui *mg;
- int keypressed = -1;
+ QtFullScreen *winFullScreen;
bool isFullScreenInit = false;
- bool isWaiting = true;
std::vector<cv::Point2i> crosses;
std::vector<cv::Point3d> directions;
std::vector<cv::Point3d> bases;
std::vector<cv::Point3f> capturedPoints;
- cv::Mat depth;
- cv::Mat rgb;
+ cv::Mat_<float> depth;
+ cv::Mat_<cv::Vec3b> rgb;
QMutex *mut;
std::vector<cv::Point3i> circles;
int stepCross = 0;
@@ -72,7 +70,7 @@ private:
void startRoutine();
void userValidePoint();
void endRoutine();
- void refreshRoutine();
+ void tickRoutine();
void updateLabelSteps();
};
diff --git a/app/SandboxSetup/croppingmask.cpp b/app/SandboxSetup/croppingmask.cpp
index 71b138c27c8016245e9cf4d6c27030b0b80117dc..9efd457846f9bf626e7d4341fbed63d712d485f5 100644
--- a/app/SandboxSetup/croppingmask.cpp
+++ b/app/SandboxSetup/croppingmask.cpp
@@ -51,8 +51,8 @@ void CroppingMask::showEvent(QShowEvent *event){
QWidget::showEvent(event);
// show blue screen
- if(!blueScreenInitilized){
- blueScreenInitilized = true;
+ if(!blueScreenInitialized){
+ blueScreenInitialized = true;
blueScreen->editGeometry(mg->getResolution());
}
cv::Mat blueMat = cv::Mat(1, 1, CV_8UC3, cv::Scalar(0, 0, 255));
@@ -73,7 +73,7 @@ void CroppingMask::init(){
// load from config
if(rectPoints.empty()){
- if(!setup->loadCroppingMask()){
+ if(!setup->loadCroppingMaskAndAdjustingMatrix()){
cv::Rect mask = setup->getCamera()->getCroppingMask();
std::vector<cv::Point2i> pts = { cv::Point2i(mask.x, mask.y),
cv::Point2i(mask.x, mask.y+mask.height),
@@ -102,7 +102,7 @@ void CroppingMask::refreshFrame(){
maskEdit->updateFrame(&cameraColoredFrame);
}
-bool CroppingMask::maskValideInFrame(cv::Mat *rgb){
+bool CroppingMask::maskValideInFrame(cv::Mat_<cv::Vec3b> *rgb){
if(rectPoints.empty())
return false;
diff --git a/app/SandboxSetup/croppingmask.h b/app/SandboxSetup/croppingmask.h
index 6fb694cee50f389179a2ec7cfbea640aa670479f..564ec29cdec258f4495ed803e8c0e7cd78a4e97c 100644
--- a/app/SandboxSetup/croppingmask.h
+++ b/app/SandboxSetup/croppingmask.h
@@ -39,15 +39,15 @@ private:
SandboxSetup *setup;
std::vector<cv::Point2i> rectPoints;
std::vector<cv::Point2i> loadedMask;
- cv::Mat cameraColoredFrame;
+ cv::Mat_<cv::Vec3b> cameraColoredFrame;
MaskEdit *maskEdit;
MonitorGui *mg;
QtFullScreen *blueScreen;
- bool blueScreenInitilized = false;
+ bool blueScreenInitialized = false;
bool maskUpdated = false;
QTimer *timer;
- bool maskValideInFrame(cv::Mat *rgb);
+ bool maskValideInFrame(cv::Mat_<cv::Vec3b> *rgb);
void refreshFrame();
void init();
};
diff --git a/app/SandboxSetup/maskedit.cpp b/app/SandboxSetup/maskedit.cpp
index 36f4220f749a2cc196ea72e7879374bd733d4d00..26568e6cf3535ded83a8107e73851f1fe17fcd8b 100644
--- a/app/SandboxSetup/maskedit.cpp
+++ b/app/SandboxSetup/maskedit.cpp
@@ -18,7 +18,7 @@ MaskEdit::~MaskEdit()
}
-void MaskEdit::updateFrame(cv::Mat *frame, std::vector<cv::Point> *points){
+void MaskEdit::updateFrame(cv::Mat_<cv::Vec3b> *frame, std::vector<cv::Point2i> *points){
capture = frame;
rectPoints = points;
if(frame != nullptr && points != nullptr){
@@ -28,11 +28,11 @@ void MaskEdit::updateFrame(cv::Mat *frame, std::vector<cv::Point> *points){
update();
}
-void MaskEdit::updateFrame(cv::Mat *frame){
+void MaskEdit::updateFrame(cv::Mat_<cv::Vec3b> *frame){
updateFrame(frame, rectPoints);
}
-void MaskEdit::updateFrame(std::vector<cv::Point> *points){
+void MaskEdit::updateFrame(std::vector<cv::Point2i> *points){
updateFrame(capture, points);
}
@@ -85,7 +85,7 @@ bool MaskEdit::eventFilter(QObject *object, QEvent *ev)
QMouseEvent* eMouse = (QMouseEvent*)ev;
if (eMouse->type() == QMouseEvent::MouseMove){
- UpdateSelectedCornerPosition(eMouse);
+ updateSelectedCornerPosition(eMouse);
}
}
@@ -125,7 +125,7 @@ int MaskEdit::selectCorner(QMouseEvent* eMouse){
}
-void MaskEdit::UpdateSelectedCornerPosition(QMouseEvent* eMouse){
+void MaskEdit::updateSelectedCornerPosition(QMouseEvent* eMouse){
if(capture != nullptr && rectPoints != nullptr){
if(selectedCornerIndex != -1){
diff --git a/app/SandboxSetup/maskedit.h b/app/SandboxSetup/maskedit.h
index 32448dded88a908b9a445faed28a458089fa428e..6d40517f73b368c43306d4a388af2b0d9a8f9555 100644
--- a/app/SandboxSetup/maskedit.h
+++ b/app/SandboxSetup/maskedit.h
@@ -18,15 +18,15 @@ class MaskEdit : public QFrame
public:
explicit MaskEdit(const QRect geo, QWidget *parent = 0);
~MaskEdit();
- void updateFrame(cv::Mat *frame, std::vector<cv::Point> *points);
- void updateFrame(cv::Mat *frame);
- void updateFrame(std::vector<cv::Point> *points);
+ void updateFrame(cv::Mat_<cv::Vec3b> *frame, std::vector<cv::Point2i> *points);
+ void updateFrame(cv::Mat_<cv::Vec3b> *frame);
+ void updateFrame(std::vector<cv::Point2i> *points);
virtual bool eventFilter(QObject *object, QEvent *ev) override;
private:
Ui::MaskEdit *ui;
- cv::Mat *capture = nullptr;
- std::vector<cv::Point> *rectPoints = nullptr;
+ cv::Mat_<cv::Vec3b> *capture = nullptr;
+ std::vector<cv::Point2i> *rectPoints = nullptr;
int selectedCornerIndex = -1;
// relative to the captured frame, not the UI
@@ -34,7 +34,7 @@ private:
float ratioY = 1.0f;
int selectCorner(QMouseEvent* eMouse);
- void UpdateSelectedCornerPosition(QMouseEvent* eMouse);
+ void updateSelectedCornerPosition(QMouseEvent* eMouse);
protected:
void paintEvent(QPaintEvent* event);
diff --git a/inc/projection.h b/inc/projection.h
index f088b89e5b7b7815f9ec4f0879970d2abaaf1d8d..7f96dbc663b6d868f24bab93bc01c42e1e0e4096 100644
--- a/inc/projection.h
+++ b/inc/projection.h
@@ -33,7 +33,7 @@ class Projection{
Projection();
void setAdjustingMatrix(cv::Mat_<float> matrix){ adjustingMatrix = matrix; }
- cv::Mat getAdjustingMatrix(){ return adjustingMatrix; }
+ cv::Mat_<float> getAdjustingMatrix(){ return adjustingMatrix; }
void setDistanceTopSandbox(float dist){ distanceTopSandbox = dist; };
float getDistanceTopSandbox(){ return distanceTopSandbox; };
diff --git a/inc/sandbox.h b/inc/sandbox.h
index bb45cae46c256a29dc8419ae40d2200f345de457..c07945d215ac4d6935f8341999ab39ff3b9735bb 100644
--- a/inc/sandbox.h
+++ b/inc/sandbox.h
@@ -30,7 +30,7 @@ class Sandbox{
cv::Mat_<cv::Vec3b> adjustProjection(cv::Mat_<cv::Vec3b> &frame);
cv::Mat_<cv::Vec3b> adjustProjection(cv::Mat_<cv::Vec3b> &frame, cv::Mat_<float> &depth);
int loadConfig();
- int loadConfigFrom(char *path);
+ int loadConfig(char *path);
};
diff --git a/inc/sandboxConfig.h b/inc/sandboxConfig.h
index 8bf5306e1cfbfa68cbfc9b69092ff3441c6b76d9..4dae00345cdfa56e1c063e29364ee7239f68d1dd 100644
--- a/inc/sandboxConfig.h
+++ b/inc/sandboxConfig.h
@@ -19,19 +19,19 @@ class SandboxConfig{
SandboxConfig(){};
public:
- static int saveAdjustingMatrixInto(char *path, cv::Mat matrix);
- static int saveDistanceToSandboxTop(char *path, float distance);
+ static int saveAdjustingMatrixInto(char *path, cv::Mat_<float> matrix);
+ static int saveDistanceToSandboxTopInto(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 saveFrameProcessProfilInto(char *path, FrameProcessProfil profil);
static int loadAdjustingMatrixFrom(char *path, Projection *projection);
- static int loadDistanceToSandboxTop(char *path, Projection *projection);
+ static int loadDistanceToSandboxTopFrom(char *path, Projection *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);
+ static int loadFrameProcessProfilFrom(char *path, FrameProcessProfil *profil);
};
diff --git a/inc/sandboxSetup.h b/inc/sandboxSetup.h
index 94cbf17a797db29dd46f9c1a5962bba5c7f8dc22..2544769a6e67a8297f6fe706d54abb9bc57df47c 100644
--- a/inc/sandboxSetup.h
+++ b/inc/sandboxSetup.h
@@ -26,17 +26,17 @@ class SandboxSetup{
// save config in file => persistant
- int saveConfigInto(char *path);
+ int saveConfig(char *path);
int saveConfig();
- int loadFrameProcessProfilFrom(char *path);
+ int loadFrameProcessProfil(char *path);
int loadFrameProcessProfil();
- int loadCroppingMask(char *path);
- int loadCroppingMask();
+ int loadCroppingMaskAndAdjustingMatrix(char *path);
+ int loadCroppingMaskAndAdjustingMatrix();
// edit variables of config => not persistant
- void setupAdjustMatrix(std::vector<cv::Point> rectPoints, cv::Point center);
- void setupCroppingMask(std::vector<cv::Point> rectPoints);
+ void setupAdjustMatrix(std::vector<cv::Point2i> rectPoints, cv::Point2i center);
+ void setupCroppingMask(std::vector<cv::Point2i> rectPoints);
};
#endif
diff --git a/src/components/beamer.cpp b/src/components/beamer.cpp
index ac12d434b550b9eb3a6941985814220e46f458c6..835c36db9d1c0a308ad36b20c256a7eaf6a1133d 100644
--- a/src/components/beamer.cpp
+++ b/src/components/beamer.cpp
@@ -1,5 +1,8 @@
#include "../../inc/beamer.h"
+/*
+* Main
+*/
Beamer::Beamer(){
@@ -13,24 +16,6 @@ Beamer::~Beamer(){
}
-/*
-* Global purpose
-*/
-
-
-cv::Point3f Beamer::deprojectPixel(cv::Point2i circle, cv::Mat *depth, Camera *camera){
- float coord[2] = {(float)circle.x, (float)circle.y};
- float z = depth->at<float>(circle.y, circle.x);
- return camera->deprojectPixelToPoint(coord, z);
-}
-
-
-void Beamer::printPosition(){
- cv::Point3f pos = getPosition();
- std::cout << "(" << pos.x << "," << pos.y << "," << pos.z << ")" << std::endl;
-}
-
-
/*
@@ -126,10 +111,8 @@ void Beamer::findLinearLineFrom(std::vector<cv::Point3f> *capturedPoints, std::v
cv::Vec6f line;
cv::fitLine(*capturedPoints, line, CV_DIST_L2, 0, 0.01, 0.01);
- cv::Point3d base = cv::Point3d(line[0], line[1], line[2]);
- cv::Point3d direction = cv::Point3d( LINEAR_REGRESSION_FACT * line[3],
- LINEAR_REGRESSION_FACT * line[4],
- LINEAR_REGRESSION_FACT * line[5] );
+ cv::Point3d direction = cv::Point3d(line[0], line[1], line[2]);
+ cv::Point3d base = cv::Point3d(line[3], line[4], line[5]);
bases->push_back(base);
directions->push_back(direction);
@@ -199,7 +182,7 @@ int Beamer::LineLineIntersect(
return (true);
}
-
+/*
cv::Point3d Beamer::approximatePosition(std::vector<cv::Point3d> *bases, std::vector<cv::Point3d> *directions){
cv::Point3d pa, pb;
@@ -225,4 +208,50 @@ cv::Point3d Beamer::approximatePosition(std::vector<cv::Point3d> *bases, std::ve
beamerPoint /= (double)beamerPoints.size();
return beamerPoint;
-}
\ No newline at end of file
+}
+*/
+
+cv::Point3d Beamer::approximatePosition(std::vector<cv::Point3d> *bases, std::vector<cv::Point3d> *directions){
+
+ cv::Point3d pa, pb;
+ double mua;
+ double mub;
+ std::vector<cv::Point3d> beamerPoints;
+ int selected[3][2] = { {0,1}, {0,2}, {1,2} };
+
+ for(int i=0; i < 3; i++){
+ LineLineIntersect( bases->at(selected[i][0]),
+ bases->at(selected[i][0]) + directions->at(selected[i][0]),
+ bases->at(selected[i][1]),
+ bases->at(selected[i][1]) + directions->at(selected[i][1]),
+ &pa, &pb, &mua, &mub);
+ beamerPoints.push_back(pa);
+ beamerPoints.push_back(pb);
+ }
+
+ cv::Point3d beamerPoint(0.0, 0.0, 0.0);
+ for (unsigned int i = 0; i < beamerPoints.size(); i++){
+ beamerPoint += beamerPoints[i];
+ }
+ beamerPoint /= (double)beamerPoints.size();
+
+ return beamerPoint;
+}
+
+
+cv::Point3f Beamer::deprojectPixel(cv::Point2i circle, cv::Mat *depth, Camera *camera){
+ float coord[2] = {(float)circle.x, (float)circle.y};
+ float z = depth->at<float>(circle.y, circle.x);
+ return camera->deprojectPixelToPoint(coord, z);
+}
+
+
+
+/*
+* Debug
+*/
+
+void Beamer::printPosition(){
+ cv::Point3f pos = getPosition();
+ std::cout << "(" << pos.x << "," << pos.y << "," << pos.z << ")" << std::endl;
+}
diff --git a/src/components/projection.cpp b/src/components/projection.cpp
index 196dd55fcd4c7f0706376326067bca892b7bee1c..21f37b9a08a8b86083c774a416bf4ceb0f6beb9c 100644
--- a/src/components/projection.cpp
+++ b/src/components/projection.cpp
@@ -32,6 +32,24 @@ cv::Point2i Projection::revertRotatePixel(cv::Point2i pixel){
*/
void Projection::adjustFrame(cv::Mat_<float> &depth, cv::Mat_<cv::Vec3b> &src, cv::Mat_<cv::Vec3b> &dst, Camera *camera, cv::Point3f beamer_pos){
+ // deallocate and reallocate buffers if 1st pass
+ // or dst.size changed, since for all buffers :
+ // buff.size == dst.size
+
+ // try
+ if(deprojectMap.size() != dst.size()){
+ std::vector<cv::Point2f> profil = camera->getAdaptedIntrinsics(dst);
+ fxy = profil.at(0);
+ ppxy = profil.at(1);
+ }
+ // do nothing if contains matrix with same size
+ // otherwise => release => allocate
+ deprojectMap.create(dst.rows, dst.cols);
+ frameMap.create(dst.rows, dst.cols);
+ resized_depth.create(dst.rows, dst.cols);
+ resized_src.create(dst.rows, dst.cols);
+/*
+ // default
if(deprojectMap.empty() || deprojectMap.size() != dst.size()){
if(!deprojectMap.empty()){
deprojectMap.release();
@@ -48,7 +66,7 @@ void Projection::adjustFrame(cv::Mat_<float> &depth, cv::Mat_<cv::Vec3b> &src, c
fxy = profil.at(0);
ppxy = profil.at(1);
}
-
+*/
deprojectMap = cv::Point2i(-1,-1);
frameMap = cv::Point2i(-1,-1);
diff --git a/src/lib/sandbox.cpp b/src/lib/sandbox.cpp
index aa5fd148d0690edaac54439e84c472045ace9d22..c0eeb6d79e4c78d8589b734d1716e0316a0f586c 100644
--- a/src/lib/sandbox.cpp
+++ b/src/lib/sandbox.cpp
@@ -61,11 +61,11 @@ cv::Mat_<cv::Vec3b> Sandbox::adjustProjection(cv::Mat_<cv::Vec3b> &frame){
return adjustProjection(frame, depth);
}
-int Sandbox::loadConfigFrom(char *path){
+int Sandbox::loadConfig(char *path){
int err = SandboxConfig::loadAdjustingMatrixFrom(path, projection);
if(err){ return err; }
- err = SandboxConfig::loadDistanceToSandboxTop(path, projection);
+ err = SandboxConfig::loadDistanceToSandboxTopFrom(path, projection);
if(err){ return err; }
err = SandboxConfig::loadCroppingMaskFrom(path, camera);
if(err){ return err; }
@@ -78,5 +78,5 @@ int Sandbox::loadConfigFrom(char *path){
int Sandbox::loadConfig(){
- return loadConfigFrom(defaultConfigFilePath);
+ return loadConfig(defaultConfigFilePath);
}
diff --git a/src/lib/sandboxSetup.cpp b/src/lib/sandboxSetup.cpp
index 13d020506ede192420d37c631820cda715ab81f5..e62f3dd8852258466790910e056632f3dc7b753c 100644
--- a/src/lib/sandboxSetup.cpp
+++ b/src/lib/sandboxSetup.cpp
@@ -19,11 +19,11 @@ SandboxSetup::~SandboxSetup(){
// return 1 when config can't be saved in file
-int SandboxSetup::saveConfigInto(char *path){
+int SandboxSetup::saveConfig(char *path){
if(SandboxConfig::saveAdjustingMatrixInto(path, projection->getAdjustingMatrix()))
return 1;
- if(SandboxConfig::saveDistanceToSandboxTop(path, projection->getDistanceTopSandbox()))
+ if(SandboxConfig::saveDistanceToSandboxTopInto(path, projection->getDistanceTopSandbox()))
return 1;
if(SandboxConfig::saveCroppingMaskInto(path, camera->getCroppingMask()))
@@ -35,7 +35,7 @@ int SandboxSetup::saveConfigInto(char *path){
if(SandboxConfig::saveBeamerPositionInto(path, beamer->getPosition()))
return 1;
- if(SandboxConfig::saveFrameProcessProfil(path, *beamer->getProfil()))
+ if(SandboxConfig::saveFrameProcessProfilInto(path, *beamer->getProfil()))
return 1;
return 0;
@@ -43,23 +43,26 @@ int SandboxSetup::saveConfigInto(char *path){
int SandboxSetup::saveConfig(){
- return saveConfigInto(defaultConfigFilePath);
+ return saveConfig(defaultConfigFilePath);
}
-int SandboxSetup::loadCroppingMask(char *path){
- return SandboxConfig::loadCroppingMaskFrom(path, camera);
+int SandboxSetup::loadCroppingMaskAndAdjustingMatrix(char *path){
+ int err = SandboxConfig::loadAdjustingMatrixFrom(path, projection);
+ if(err){ return err; }
+ err = SandboxConfig::loadCroppingMaskFrom(path, camera);
+ return err;
}
-int SandboxSetup::loadCroppingMask(){
- return loadCroppingMask(defaultConfigFilePath);
+int SandboxSetup::loadCroppingMaskAndAdjustingMatrix(){
+ return loadCroppingMaskAndAdjustingMatrix(defaultConfigFilePath);
}
-int SandboxSetup::loadFrameProcessProfilFrom(char *path){
- return SandboxConfig::loadFrameProcessProfil(path, beamer->getProfil());
+int SandboxSetup::loadFrameProcessProfil(char *path){
+ return SandboxConfig::loadFrameProcessProfilFrom(path, beamer->getProfil());
}
int SandboxSetup::loadFrameProcessProfil(){
- return loadFrameProcessProfilFrom(defaultConfigFilePath);
+ return loadFrameProcessProfil(defaultConfigFilePath);
}
@@ -71,7 +74,7 @@ int SandboxSetup::loadFrameProcessProfil(){
*
* center : center of the rotation in the projected frame
*/
-void SandboxSetup::setupAdjustMatrix(std::vector<cv::Point> rectPoints, cv::Point center){
+void SandboxSetup::setupAdjustMatrix(std::vector<cv::Point2i> rectPoints, cv::Point2i center){
// Set adjusting matrix for the projection
int widthTop = rectPoints[3].x - rectPoints[0].x;
@@ -90,14 +93,15 @@ void SandboxSetup::setupAdjustMatrix(std::vector<cv::Point> rectPoints, cv::Poin
void SandboxSetup::setupCroppingMask(std::vector<cv::Point2i> rectPoints){
// Set cropping mask
- int widthTop = rectPoints[3].x - rectPoints[0].x;
+ cv::Point2i ptl = projection->rotatePixel(rectPoints[0]);
cv::Point2i pbl = projection->rotatePixel(rectPoints[1]);
cv::Point2i pbr = projection->rotatePixel(rectPoints[2]);
+ cv::Point2i ptr = projection->rotatePixel(rectPoints[3]);
cv::Point2i pbot = (pbl.y < pbr.y) ? pbl : pbr;
- cv::Point2i ptop = projection->rotatePixel(rectPoints[0]);
+ int widthTop = ptr.x - ptl.x;
cv::Size rectSize = cv::Size(widthTop, pbot.y - rectPoints[0].y);
- camera->setCroppingMask(cv::Rect(ptop, rectSize)); // croppingMask
+ camera->setCroppingMask(cv::Rect(ptl, rectSize)); // croppingMask
}
diff --git a/src/tools/sandboxConfig.cpp b/src/tools/sandboxConfig.cpp
index 557d7ba23b0bc4dfd54a86a26976a84a44318670..5de2e922700bda9202c569e7e5ba4e5f53b479c8 100644
--- a/src/tools/sandboxConfig.cpp
+++ b/src/tools/sandboxConfig.cpp
@@ -3,13 +3,13 @@
static int saveConfigIn(char *path, YAML::Node config);
-int SandboxConfig::saveAdjustingMatrixInto(char *path, cv::Mat matrix){
+int SandboxConfig::saveAdjustingMatrixInto(char *path, cv::Mat_<float> matrix){
// convert matrix into a one layer vector
YAML::Node vec = YAML::Load("[]");
for (int y = 0; y < matrix.rows; y++){
for (int x = 0; x < matrix.cols; x++){
- vec.push_back((float)matrix.at<float>(y, x));
+ vec.push_back(matrix.at<float>(y, x));
}
}
@@ -32,7 +32,7 @@ int SandboxConfig::saveAdjustingMatrixInto(char *path, cv::Mat matrix){
}
-int SandboxConfig::saveDistanceToSandboxTop(char *path, float distance){
+int SandboxConfig::saveDistanceToSandboxTopInto(char *path, float distance){
YAML::Node val;
@@ -114,7 +114,7 @@ int SandboxConfig::saveBeamerResolutionInto(char *path, cv::Size res){
}
-int SandboxConfig::saveFrameProcessProfil(char *path, FrameProcessProfil profil){
+int SandboxConfig::saveFrameProcessProfilInto(char *path, FrameProcessProfil profil){
YAML::Node val;
@@ -190,7 +190,7 @@ int SandboxConfig::loadAdjustingMatrixFrom(char *path, Projection *projection){
}
-int SandboxConfig::loadDistanceToSandboxTop(char *path, Projection *projection){
+int SandboxConfig::loadDistanceToSandboxTopFrom(char *path, Projection *projection){
YAML::Node config;
@@ -311,7 +311,7 @@ int SandboxConfig::loadBeamerResolutionFrom(char *path, Beamer *beamer){
}
-int SandboxConfig::loadFrameProcessProfil(char *path, FrameProcessProfil *profil){
+int SandboxConfig::loadFrameProcessProfilFrom(char *path, FrameProcessProfil *profil){
YAML::Node config;