diff --git a/app/SandboxSetup/beamerlocationgui.cpp b/app/SandboxSetup/beamerlocationgui.cpp
index 9589cf87e5af6bbe8f2c6ac17dc2ebe9fd203712..aa7e0f25294dce429d0789b114762e971e022058 100644
--- a/app/SandboxSetup/beamerlocationgui.cpp
+++ b/app/SandboxSetup/beamerlocationgui.cpp
@@ -1,6 +1,15 @@
#include "beamerlocationgui.h"
#include "ui_beamerlocationgui.h"
+BeamerLocationGui::RefreshFrame::RefreshFrame(BeamerLocationGui *_routine) : QThread() {
+ routine = _routine;
+}
+
+void BeamerLocationGui::RefreshFrame::run() {
+ routine->routineFrame();
+}
+
+
BeamerLocationGui::BeamerLocationGui(SandboxSetup *_setup, MonitorGui *_mg, QWidget *parent) :
SubApp("Beamer location", "Error", parent),
ui(new Ui::BeamerLocationGui)
@@ -11,33 +20,27 @@ BeamerLocationGui::BeamerLocationGui(SandboxSetup *_setup, MonitorGui *_mg, QWid
mg = _mg;
winFullScreen = new QtFullScreen(mg->getResolution(), true, this);
ui->setupUi(this);
-
+ myThread = new RefreshFrame(this);
timer = new QTimer(this);
- connect(timer, &QTimer::timeout, this, &BeamerLocationGui::routineFrame);
-
+ connect(timer, &QTimer::timeout, this, &BeamerLocationGui::refreshRoutine);
}
BeamerLocationGui::~BeamerLocationGui()
{
delete timer;
+ delete myThread;
delete winFullScreen;
delete ui;
}
void BeamerLocationGui::valideRoutine(){
-
- if(timer->isActive())
- timer->stop();
-
+ endRoutine();
beamer->setPosition( (cv::Point3f)beamer->approximatePosition(&bases, &directions) );
- winFullScreen->close();
endSuccess = true;
}
void BeamerLocationGui::cancelRoutine(){
- if(timer->isActive())
- timer->stop();
- winFullScreen->close();
+ endRoutine();
endSuccess = false;
}
@@ -56,6 +59,10 @@ void BeamerLocationGui::closeEvent(QCloseEvent *e){
QWidget::closeEvent(e);
}
+void BeamerLocationGui::refreshRoutine(){
+ myThread->start();
+}
+
void BeamerLocationGui::startRoutine(){
profil = beamer->getProfil();
@@ -65,8 +72,7 @@ void BeamerLocationGui::startRoutine(){
capturedPoints = std::vector<cv::Point3f>();
circle = std::vector<cv::Point3i>();
- if(!timer->isActive())
- timer->start(500);
+ timer->start(200);
}
@@ -92,9 +98,22 @@ void BeamerLocationGui::routineFrame(){
profil->getMinRadius(),
profil->getMaxRadius() );
+ // preview from the camera's POV
+ cv::Mat gray, frameDisplayed;
+ cv::cvtColor(rgb, gray, CV_BGR2GRAY);
+ gray = setup->getBeamer()->editContrast(gray, (double)profil->getContrast(), (double)profil->getBrightness());
+ cv::cvtColor(gray, frameDisplayed, CV_GRAY2RGB);
+ if(!circle.empty()){
+ cv::circle(frameDisplayed, cv::Point(circle[0].x, circle[0].y), circle[0].z, cv::Scalar(0,255,0), 3);
+ }
+ QImage img = QImage((uchar *)frameDisplayed.data, (int)frameDisplayed.cols, (int)frameDisplayed.rows, static_cast<int>(frameDisplayed.step.buf[0]), QImage::Format_RGB888);
+ QPixmap px = QPixmap::fromImage(img);
+
// Show black screen with cross
cv::Mat frameImage = beamer->getCrossFrame(cross, capturedPoints.size()+1, beamer->MAX_LINEAR_LINE_POINTS, !circle.empty());
cv::cvtColor(frameImage, frameImage, CV_BGR2RGB);
+
+ ui->lblFrame->setPixmap(px);
winFullScreen->imShow(frameImage);
}
}
@@ -124,8 +143,10 @@ void BeamerLocationGui::userValidePoint(){
void BeamerLocationGui::endRoutine(){
- if(timer->isActive())
timer->stop();
+ myThread->exit(0);
+ myThread->wait();
+
endSuccess = (bases.size() == beamer->MAX_LINEAR_LINE_POINTS && directions.size() == beamer->MAX_LINEAR_LINE_POINTS);
diff --git a/app/SandboxSetup/beamerlocationgui.h b/app/SandboxSetup/beamerlocationgui.h
index 7c1a6046b206e77277d1d9f7f734fb4af015c1a5..2cf6ede1d3245a776d9b275efdca11d4d8bde353 100644
--- a/app/SandboxSetup/beamerlocationgui.h
+++ b/app/SandboxSetup/beamerlocationgui.h
@@ -22,6 +22,7 @@ public:
~BeamerLocationGui();
void valideRoutine();
void cancelRoutine();
+ void routineFrame();
protected:
void closeEvent (QCloseEvent *event);
@@ -33,6 +34,16 @@ private slots:
void on_btnLock_clicked();
private:
+ class RefreshFrame : public QThread
+ {
+ public:
+ explicit RefreshFrame(BeamerLocationGui *routine);
+ void run();
+
+ private:
+ BeamerLocationGui *routine;
+ };
+
Ui::BeamerLocationGui *ui;
QtFullScreen *winFullScreen;
SandboxSetup *setup;
@@ -52,11 +63,12 @@ private:
std::vector<cv::Point3i> circle;
int stepCross = 0;
QTimer *timer;
+ RefreshFrame *myThread;
void startRoutine();
- void routineFrame();
void userValidePoint();
void endRoutine();
+ void refreshRoutine();
};
#endif // BEAMERLOCATIONGUI_H
diff --git a/app/SandboxSetup/beamerlocationgui.ui b/app/SandboxSetup/beamerlocationgui.ui
index cfb41be0799fbbccf65aba9078a98d94d15ca731..b414ddd0629a944f7961faa9d516ec6fab6e64d3 100644
--- a/app/SandboxSetup/beamerlocationgui.ui
+++ b/app/SandboxSetup/beamerlocationgui.ui
@@ -6,8 +6,8 @@
<rect>
<x>0</x>
<y>0</y>
- <width>530</width>
- <height>355</height>
+ <width>632</width>
+ <height>628</height>
</rect>
</property>
<property name="windowTitle">
@@ -17,9 +17,9 @@
<property name="geometry">
<rect>
<x>220</x>
- <y>300</y>
- <width>89</width>
- <height>25</height>
+ <y>570</y>
+ <width>131</width>
+ <height>51</height>
</rect>
</property>
<property name="text">
@@ -30,7 +30,7 @@
<property name="geometry">
<rect>
<x>40</x>
- <y>40</y>
+ <y>340</y>
<width>201</width>
<height>17</height>
</rect>
@@ -42,9 +42,9 @@
<widget class="QTextEdit" name="txtInstructions">
<property name="geometry">
<rect>
- <x>60</x>
- <y>70</y>
- <width>421</width>
+ <x>50</x>
+ <y>360</y>
+ <width>521</width>
<height>181</height>
</rect>
</property>
@@ -56,13 +56,42 @@
<html><head><meta name="qrichtext" content="1" /><style type="text/css">
p, li { white-space: pre-wrap; }
</style></head><body style=" font-family:'Ubuntu'; font-size:11pt; font-weight:400; font-style:normal;">
-<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">- A red corss is displayed from the selected output at step 2<br />- Match the position of the cross with your white target</p>
-<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">- When you are ready, press the button to validate a point</p>
-<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">- Repeat this process 3 times for each cross you see (there will be 3 different crosses)</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"> - A red corss is displayed from the selected output at step 2<br /> - Match the position of the cross with your white target</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"> - When you are ready, press the button to validate a point</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"> - Repeat this process 3 times for each cross you see (there will be 3 different crosses)</p>
<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p>
<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Note :</p>
-<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p>
-<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">For each point you validate, change the height of your target to not save the same position twice in the process.</p></body></html></string>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"> - The cross will change from red to green when it detects the target.</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"> - For each point you validate, change the height of your target to not save the same position twice in the process.</p></body></html></string>
+ </property>
+ </widget>
+ <widget class="QLabel" name="label_2">
+ <property name="geometry">
+ <rect>
+ <x>40</x>
+ <y>20</y>
+ <width>201</width>
+ <height>17</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string>Camera :</string>
+ </property>
+ </widget>
+ <widget class="QLabel" name="lblFrame">
+ <property name="geometry">
+ <rect>
+ <x>90</x>
+ <y>60</y>
+ <width>431</width>
+ <height>251</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string/>
+ </property>
+ <property name="scaledContents">
+ <bool>true</bool>
</property>
</widget>
</widget>
diff --git a/app/SandboxSetup/camerafocus.cpp b/app/SandboxSetup/camerafocus.cpp
index 44a768f1adc26489f19fcfd4c226b589999d12d1..49eeb61b71c340f611ad5f15354a18fc3ce40869 100644
--- a/app/SandboxSetup/camerafocus.cpp
+++ b/app/SandboxSetup/camerafocus.cpp
@@ -33,7 +33,7 @@ CameraFocus::~CameraFocus()
{
delete frameTimer;
delete blackScreen;
- myThread->quit();
+ myThread->exit(0);
myThread->wait();
delete myThread;
delete ui;
diff --git a/app/SandboxSetup/croppingmask.cpp b/app/SandboxSetup/croppingmask.cpp
index 031d65d80ea6f9229e9d5b81ac24bab9fab5a9c8..0409417b42a0169aa65d23616e3cf5f5125bb52e 100644
--- a/app/SandboxSetup/croppingmask.cpp
+++ b/app/SandboxSetup/croppingmask.cpp
@@ -27,6 +27,7 @@ CroppingMask::~CroppingMask()
}
void CroppingMask::valideRoutine(){
+ timer->stop();
cv::Size s = setup->getCamera()->getDepthFrame().size();
cv::Point center(s.width / 2, s.height / 2);
std::vector<cv::Point> rectPoints = getRectPoints();
@@ -38,7 +39,7 @@ void CroppingMask::valideRoutine(){
}
void CroppingMask::cancelRoutine(){
-
+ timer->stop();
endSuccess = false;
}
@@ -58,7 +59,6 @@ void CroppingMask::showEvent(QShowEvent *event){
void CroppingMask::closeEvent(QCloseEvent *event){
QWidget::closeEvent(event);
- timer->stop();
blueScreen->close();
}
diff --git a/app/SandboxSetup/monitorgui.ui b/app/SandboxSetup/monitorgui.ui
index f883eea2c8237de320f4cae11f45c3289bb394d7..58ef531033c67adbc66d80e9bddc78241166953e 100644
--- a/app/SandboxSetup/monitorgui.ui
+++ b/app/SandboxSetup/monitorgui.ui
@@ -18,12 +18,12 @@
<rect>
<x>40</x>
<y>40</y>
- <width>101</width>
+ <width>191</width>
<height>21</height>
</rect>
</property>
<property name="text">
- <string>Choose output</string>
+ <string>Choose beamer's output</string>
</property>
</widget>
<widget class="QComboBox" name="cbxOutputs">
@@ -31,7 +31,7 @@
<rect>
<x>40</x>
<y>70</y>
- <width>141</width>
+ <width>181</width>
<height>25</height>
</rect>
</property>
diff --git a/src/components/beamer.cpp b/src/components/beamer.cpp
index c1eed70c6c3f1384a13c7cd4e1e1edc5f13d3ac8..b1ed53c8f113cc4f3bb10062605a1bd9c6495f0d 100644
--- a/src/components/beamer.cpp
+++ b/src/components/beamer.cpp
@@ -114,10 +114,15 @@ std::vector<cv::Point2i> Beamer::getCrossList(){
cv::Mat Beamer::getCrossFrame(cv::Point projectedCross, int step, int max, bool circlesFound){
cv::Mat frameImage(resolution, CV_8UC3, cv::Scalar(0, 0, 0));
+ cv::Scalar red = cv::Scalar(0, 0, 255);
cv::Scalar color = (circlesFound) ? cv::Scalar(0, 255, 0) : cv::Scalar(0, 0, 255);
- cv::line(frameImage, cv::Point(projectedCross.x, 0), cv::Point(projectedCross.x, frameImage.rows - 1), color, 4);
- cv::line(frameImage, cv::Point(0, projectedCross.y), cv::Point(frameImage.cols - 1, projectedCross.y), color, 4);
+ cv::line(frameImage, cv::Point(projectedCross.x, 0), cv::Point(projectedCross.x, frameImage.rows - 1), red, 4);
+ cv::line(frameImage, cv::Point(0, projectedCross.y), cv::Point(frameImage.cols - 1, projectedCross.y), red, 4);
+ cv::rectangle( frameImage,
+ cv::Point(getWidth()/2 -30, getHeight()/2 -20),
+ cv::Point(getWidth()/2 -10, getHeight()/2),
+ color, cv::FILLED, 8, 0 );
cv::putText( frameImage,
std::to_string(step) + "/" + std::to_string(max),
cv::Point( getWidth()/2, getHeight()/2 ),