diff --git a/app/SandboxSetup/camerafocus.cpp b/app/SandboxSetup/camerafocus.cpp
index 2c09173dbd277f4918b8c9e048b3dcb73e0ec71e..7b9f6438d130d3913d8447cfbfbb32bac092479f 100644
--- a/app/SandboxSetup/camerafocus.cpp
+++ b/app/SandboxSetup/camerafocus.cpp
@@ -8,15 +8,12 @@ CameraFocus::CameraFocus(SandboxSetup *sandbox, QWidget *parent) :
ui->setupUi(this);
setup = sandbox;
- if(setup->loadFrameProcessProfil()){
- std::cout << "No process profil found" << std::endl;
- }
+ setup->loadFrameProcessProfil();
initCameraParams();
frameTimer = new QTimer(this);
connect(frameTimer, &QTimer::timeout, this, &CameraFocus::refreshFrame);
- setup->camera.start();
frameTimer->start(100);
}
@@ -29,35 +26,36 @@ void CameraFocus::on_btnbxValidate_clicked(QAbstractButton *button)
{
(void)button;
frameTimer->stop();
- setup->camera.stop();
}
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();
- FrameProcessProfil p = *(setup->beamer.getProfil());
+ setup->getCamera()->captureFrame();
+ FrameProcessProfil *profil = setup->getBeamer()->getProfil();
cv::Mat gray;
cv::Mat rgbFromGray;
- cv::Mat rgb = setup->camera.getRGBFrame();
+ cv::Mat rgb = setup->getCamera()->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());
+ if(profil->getUpperMinThreshold() >= profil->getLowerMinThreshold()){
+
+ crc = setup->getBeamer()->findCercleZ( rgb,
+ profil->getContrast(),
+ profil->getBrightness(),
+ profil->getRadiusRatio(),
+ profil->getUpperMinThreshold(),
+ profil->getLowerMinThreshold() );
}
// Preview image for the user
cv::cvtColor(rgb, gray, CV_BGR2GRAY);
- gray = setup->beamer.editContrast(gray, (double)p.getContrast(), (double)p.getBrightness());
+ gray = setup->getBeamer()->editContrast(gray, (double)profil->getContrast(), (double)profil->getBrightness());
if(displayConstrasts){
cvSobel(&gray);
@@ -78,7 +76,7 @@ void CameraFocus::refreshFrame(){
void CameraFocus::initCameraParams(){
- FrameProcessProfil *profil = setup->beamer.getProfil();
+ FrameProcessProfil *profil = setup->getBeamer()->getProfil();
defaultProfil.setContrast(profil->getContrast());
defaultProfil.setBrightness(profil->getBrightness());
@@ -106,33 +104,33 @@ void CameraFocus::loadProfil(FrameProcessProfil *profilLoaded, FrameProcessProfi
void CameraFocus::on_dbsbxContrast_valueChanged(double arg1)
{
- setup->beamer.getProfil()->setContrast(arg1);
+ setup->getBeamer()->getProfil()->setContrast(arg1);
}
void CameraFocus::on_sbxBrightness_valueChanged(int arg1)
{
- setup->beamer.getProfil()->setBrightness(arg1);
+ setup->getBeamer()->getProfil()->setBrightness(arg1);
}
void CameraFocus::on_sbxRadiusRatio_valueChanged(int arg1)
{
- setup->beamer.getProfil()->setRadiusRatio(arg1);
+ setup->getBeamer()->getProfil()->setRadiusRatio(arg1);
}
void CameraFocus::on_sbxUpperMin_valueChanged(int arg1)
{
- setup->beamer.getProfil()->setUpperMinThreshold(arg1);
+ setup->getBeamer()->getProfil()->setUpperMinThreshold(arg1);
}
void CameraFocus::on_sbxLowerMin_valueChanged(int arg1)
{
- setup->beamer.getProfil()->setLowerMinThreshold(arg1);
+ setup->getBeamer()->getProfil()->setLowerMinThreshold(arg1);
}
void CameraFocus::on_btnReset_clicked()
{
- loadProfil(&defaultProfil, setup->beamer.getProfil());
+ loadProfil(&defaultProfil, setup->getBeamer()-> getProfil());
}
void CameraFocus::on_chbxDisplayContrast_clicked()
diff --git a/app/SandboxSetup/camerafocus.ui b/app/SandboxSetup/camerafocus.ui
index 4ce81bdceb657ef11d4eb89a1335808051d71860..75a52d0a786b622f10ceb0a1439610d3f3c2ece3 100644
--- a/app/SandboxSetup/camerafocus.ui
+++ b/app/SandboxSetup/camerafocus.ui
@@ -55,7 +55,7 @@
<double>255.000000000000000</double>
</property>
<property name="singleStep">
- <double>0.100000000000000</double>
+ <double>0.010000000000000</double>
</property>
</widget>
</item>
@@ -75,7 +75,7 @@
<number>255</number>
</property>
<property name="singleStep">
- <number>10</number>
+ <number>1</number>
</property>
</widget>
</item>
diff --git a/app/SandboxSetup/croppingmask.cpp b/app/SandboxSetup/croppingmask.cpp
index 96dda9eaa8d5776a1aabe9b3907d4efa9fbd8e8b..9a2f70503f8a205a73f04b57f6946310dcd4ac2a 100644
--- a/app/SandboxSetup/croppingmask.cpp
+++ b/app/SandboxSetup/croppingmask.cpp
@@ -22,8 +22,8 @@ CroppingMask::~CroppingMask()
void CroppingMask::on_btnTakePicture_clicked()
{
- setup->captureBlueScreen();
- cv::Mat rgb = setup->camera.getRGBFrame();
+ setup->captureBlueScreen(500);
+ cv::Mat rgb = setup->getCamera()->getRGBFrame();
cameraRGBFrame = rgb;
// no config found
diff --git a/app/SandboxSetup/main.cpp b/app/SandboxSetup/main.cpp
index 47b0779aa2abf6c9b379ade3a929a4f239079565..1c9720f2675c8da764da9dc11a9261d2f3b97bf8 100644
--- a/app/SandboxSetup/main.cpp
+++ b/app/SandboxSetup/main.cpp
@@ -13,11 +13,18 @@ void showImage(cv::Mat frame){
cv::imshow(wname, frame);
}
+void exit_msg(SandboxSetup *setup, std::string msg){
+ setup->getCamera()->stop();
+ std::cout << msg << std::endl;
+ exit(1);
+}
+
int main(int argc, char *argv[])
{
- SandboxSetup setup;
QApplication app(argc, argv);
+ SandboxSetup setup;
+ setup.getCamera()->start();
// Select output screen and projection's resolutions
@@ -25,10 +32,9 @@ int main(int argc, char *argv[])
mg.show();
app.exec();
if(!mg.isOk()){
- std::cout << "Cancel resolution" << std::endl;
- return 1;
+ exit_msg(&setup, "Cancel resolution");
}
- setup.setBeamerResolution(cv::Size(mg.getWidth(), mg.getHeight()));
+ setup.getBeamer()->setResolution(cv::Size(mg.getWidth(), mg.getHeight()));
// Setup camera and beamer physically
@@ -42,8 +48,7 @@ int main(int argc, char *argv[])
cf.show();
app.exec();
if(!cf.isOk()){
- std::cout << "Cancel camera parameters" << std::endl;
- return 1;
+ exit_msg(&setup, "Cancel camera parameters");
}
@@ -52,11 +57,10 @@ int main(int argc, char *argv[])
cm.show();
app.exec();
if(!cm.isOk()){
- std::cout << "Cancel crop" << std::endl;
- return 1;
+ exit_msg(&setup, "Cancel drop");
}
- cv::Size s = setup.camera.getDepthFrame().size();
+ cv::Size s = setup.getCamera()->getDepthFrame().size();
cv::Point center(s.width / 2, s.height / 2);
std::vector<cv::Point> rectPoints = cm.getRectPoints();
@@ -69,18 +73,16 @@ int main(int argc, char *argv[])
cv::setWindowProperty(wname, CV_WND_PROP_FULLSCREEN, CV_WINDOW_FULLSCREEN);
if(setup.setupBeamerLocation(showImage)){
- std::cout << "Cancel beamer position" << std::endl;
- return 1;
+ exit_msg(&setup, "Cancel beamer position");
}
cv::destroyAllWindows();
// Save config in file
if(setup.saveConfig()){
- std::cout << "Failed to save configuration" << std::endl;
- return 1;
+ exit_msg(&setup, "Failed to save configuration");
}
-
+ setup.getCamera()->stop();
return 0;
}
diff --git a/app/SandboxSetup/projectiongui.cpp b/app/SandboxSetup/projectiongui.cpp
index 5df47d5cc3c70a453e6f62b16ba96720d989ba87..4a0a3538e2d796839afe52f5ec03d8873ccbe412 100644
--- a/app/SandboxSetup/projectiongui.cpp
+++ b/app/SandboxSetup/projectiongui.cpp
@@ -23,7 +23,6 @@ void ProjectionGui::on_btnSkip_clicked()
{
if(cameraUsed){
frameTimer->stop();
- setup->camera.stop();
blueScreen->close();
}
close();
@@ -48,15 +47,14 @@ void ProjectionGui::on_btnStart_clicked()
blueScreen->setStyleSheet("background-color:blue;");
blueScreen->show();
- setup->camera.start();
ui->fContainer->hide();
frameTimer->start(100);
cameraUsed = true;
}
void ProjectionGui::refreshFrame(){
- setup->camera.captureFrame();
- cv::Mat rgb = setup->camera.getRGBFrame();
+ setup->getCamera()->captureFrame();
+ cv::Mat rgb = setup->getCamera()->getRGBFrame();
QImage img = QImage((uchar *)rgb.data, (int)rgb.cols, (int)rgb.rows, static_cast<int>(rgb.step.buf[0]), QImage::Format_RGB888);
QPixmap image = QPixmap::fromImage(img);
diff --git a/inc/beamer.h b/inc/beamer.h
index bee44c86018cacab58eeef3088da1be27fac0436..fe5dc750e0665ccabc3ce68df96d9d430ea79828 100644
--- a/inc/beamer.h
+++ b/inc/beamer.h
@@ -52,10 +52,16 @@ class Beamer{
cv::Point3f getPosition(){ return beamerPosition; };
void setPosition(cv::Point3f pos){ beamerPosition = pos; };
+
void setWidth(int w){ resolution.width = w; };
int getWidth(){ return resolution.width; };
void setHeight(int h){ resolution.height = h; };
int getHeight(){ return resolution.height; };
+ void setResolution(cv::Size res){
+ setWidth(res.width);
+ setHeight(res.height);
+ }
+
FrameProcessProfil* getProfil(){ return &profil; };
void setProfil(FrameProcessProfil p){ profil = p; };
diff --git a/inc/sandboxSetup.h b/inc/sandboxSetup.h
index 0a3efe1e27e8fd0634ad110b900d886f34813998..cf34f7c99d67f242907435f9672910d3b3b03712 100644
--- a/inc/sandboxSetup.h
+++ b/inc/sandboxSetup.h
@@ -11,36 +11,34 @@
class SandboxSetup{
private:
char *defaultConfigFilePath = (char *)"./sandbox_conf.yaml";
-
+ BeamerProjection projection;
+ Camera camera;
+ Beamer beamer;
+
double toDegrees(double radians);
void initWindowsFullScreen(char *windowName);
public:
SandboxSetup();
- BeamerProjection projection;
- Camera camera;
- Beamer beamer;
+ BeamerProjection* getProjection(){ return &projection; };
+ Camera* getCamera(){ return &camera; };
+ Beamer* getBeamer(){ return &beamer; };
+
// save config in file => persistant
int saveConfigFrom(char *path);
int saveConfig();
- int saveFrameProcessProfil();
+
+ int loadFrameProcessProfil();
// edit variables of config => not persistant
- void captureBlueScreen();
+ void captureBlueScreen(int delay);
void setupAdjustMatrix(std::vector<cv::Point> rectPoints, cv::Point center);
void setupCroppingMask(std::vector<cv::Point> rectPoints);
int setupProjection();
int setupBeamerResolution();
int setupBeamerLocation(void (*showImage)(cv::Mat));
- 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 218dfc93d0e5106f5842632c44e754994e36f3ae..cf1a1b5996aa0246d4c5963f04f4de1fadfe8ba1 100644
--- a/src/components/beamer.cpp
+++ b/src/components/beamer.cpp
@@ -30,9 +30,6 @@ int Beamer::findBeamerFrom(Camera camera, void (*showImage)(cv::Mat))
points.push_back( cv::Point( getWidth() * 5/7 , getHeight() * 3/14));
points.push_back( cv::Point( getWidth() * 3/14, getHeight() * 4/7 ));
-
- camera.start();
-
for (int i = 0; i < (int)points.size(); i++)
{
std::vector<cv::Point3f> capturedPoints;
@@ -83,8 +80,6 @@ int Beamer::findBeamerFrom(Camera camera, void (*showImage)(cv::Mat))
bases.push_back(cv::Point3d(line[0], line[1], line[2]));
}
- camera.stop();
-
cv::Point3d beamerPoint = approximatePosition(directions, bases);
//set beamer position
diff --git a/src/lib/sandboxSetup.cpp b/src/lib/sandboxSetup.cpp
index c5ed66d9998cad714dd873d79dcf1e2730d2812d..a43f50389bf583d08a7fc54bbfb8414b9422ecdf 100644
--- a/src/lib/sandboxSetup.cpp
+++ b/src/lib/sandboxSetup.cpp
@@ -5,27 +5,6 @@ SandboxSetup::SandboxSetup(){
}
-void SandboxSetup::setBeamerResolution(cv::Size resolution){
- beamer.setHeight(resolution.height);
- beamer.setWidth(resolution.width);
-}
-
-void SandboxSetup::setBeamerPosition(cv::Point3f pos){
- beamer.setPosition(pos);
-}
-
-void SandboxSetup::setCroppingMask(cv::Rect mask){
- camera.setCroppingMask(mask);
-}
-
-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){
@@ -56,9 +35,6 @@ int SandboxSetup::loadFrameProcessProfil(){
return SandboxConfig::loadFrameProcessProfil(defaultConfigFilePath, beamer.getProfil());
}
-int SandboxSetup::saveFrameProcessProfil(){
- return SandboxConfig::saveFrameProcessProfil(defaultConfigFilePath, *beamer.getProfil());
-}
//
@@ -97,7 +73,7 @@ int SandboxSetup::setupBeamerLocation(void (*showImage)(cv::Mat)){
// return 1 when user exits process
int SandboxSetup::setupProjection(){
- captureBlueScreen();
+ captureBlueScreen(300);
cv::Mat frameData = camera.getDepthFrame();
cv::Mat coloredFrame = camera.getRGBFrame();
@@ -123,19 +99,18 @@ int SandboxSetup::setupProjection(){
}
-void SandboxSetup::captureBlueScreen(){
-
+void SandboxSetup::captureBlueScreen(int delay){
+
// Blue screen
char windowName[] = "border";
initWindowsFullScreen(windowName);
cv::Mat frameBeamer(cv::Size(beamer.getWidth(), beamer.getHeight()), CV_8UC3, cv::Scalar(255, 0, 0));
cv::imshow(windowName, frameBeamer);
- cv::waitKey(100);
+ delay = (delay==0)? 1 : delay;
+ cv::waitKey(delay);
// Take picture
- camera.start(); // 1 seconde of warming up
camera.captureFrame();
- camera.stop();
cv::destroyAllWindows();
}