diff --git a/app/SandboxSetup/beamerlocationgui.cpp b/app/SandboxSetup/beamerlocationgui.cpp
index 3e0d14344d2eb77cb800d8b2a26521eb1a1f3102..d2ad1fc0e3ff2225d8230511dd1264236f957c77 100644
--- a/app/SandboxSetup/beamerlocationgui.cpp
+++ b/app/SandboxSetup/beamerlocationgui.cpp
@@ -125,7 +125,7 @@ void BeamerLocationGui::routineFrame(){
QPixmap px = QPixmap::fromImage(img);
// Show black screen with cross
- cv::Mat frameImage = beamer->getCrossFrame(cross, capturedPoints.size()+1, beamer->MAX_LINEAR_LINE_POINTS, !circles.empty());
+ cv::Mat frameImage = beamer->buildCrossFrame(cross, capturedPoints.size()+1, beamer->MAX_LINEAR_LINE_POINTS, !circles.empty());
cv::cvtColor(frameImage, frameImage, CV_BGR2RGB);
ui->lblFrame->setPixmap(px);
diff --git a/inc/beamer.h b/inc/beamer.h
index 12c05bdc89a8af77b236f01bc4ec818b4a62a5bf..3a20048153b3e096f422a222006220c28c086f45 100644
--- a/inc/beamer.h
+++ b/inc/beamer.h
@@ -1,69 +1,23 @@
-#ifndef BEAMER_H
-#define BEAMER_H
+#ifndef SANDBOX_BEAMER_H
+#define SANDBOX_BEAMER_H
+
#include <opencv2/opencv.hpp>
#include "camera.h"
+#include "frameProcessProfil.h"
-class FrameProcessProfil{
- private:
- // Profil to process on gray scaled images
- double contrast; // ]0, 255]
- int brightness; // [-2^16, 255]
- uint minDistance; // [1, 100] % of the frame's width
- uint cannyEdgeThreshold; // [0, 255] the strongest the contrast in the image is, the higher this param should be
- uint houghAccThreshold; // [0, n] where n = width*height of the frame
- uint minRadius; // [1, 100] % of the frame's width
- uint maxRadius; // [1, 100] % of the frame's width
-
- public:
- FrameProcessProfil(double c=1.0, int b=0, int d=15, uint cannyThreshold=100, uint accThreshold=50, uint minR=10, uint maxR=50){
- contrast = c;
- brightness = b;
- minDistance = d;
- cannyEdgeThreshold = cannyThreshold;
- houghAccThreshold = accThreshold;
- minRadius = minR;
- maxRadius = maxR;
- };
- double getContrast(){ return contrast; };
- void setContrast(double c){ contrast = c; };
- int getBrightness(){ return brightness; };
- void setBrightness(int b){ brightness = b; };
- uint getMinDistance(){ return minDistance; };
- void setMinDistance(uint d){ minDistance = d; };
- uint getCannyEdgeThreshold(){ return cannyEdgeThreshold; };
- void setCannyEdgeThreshold(uint cannyThreshold){ cannyEdgeThreshold = cannyThreshold; };
- uint getHoughAccThreshold(){ return houghAccThreshold; };
- void setHoughAccThreshold(uint accThreshold){ houghAccThreshold = accThreshold; };
- uint getMinRadius(){ return minRadius; };
- void setMinRadius(uint min){ minRadius = min; };
- uint getMaxRadius(){ return maxRadius; };
- void setMaxRadius(uint max){ maxRadius = max; };
-
- void print(){
- std::cout << contrast << std::endl;
- std::cout << brightness << std::endl;
- std::cout << minDistance << std::endl;
- std::cout << cannyEdgeThreshold << std::endl;
- std::cout << houghAccThreshold << std::endl;
- std::cout << minRadius << std::endl;
- std::cout << maxRadius << std::endl;
- }
-
-};
-
class Beamer{
private:
cv::Point3f beamerPosition;
cv::Size resolution = cv::Size(256,144);
- FrameProcessProfil profil = FrameProcessProfil();
+ FrameProcessProfil *profil;
- cv::Point3f intersection(cv::Vec3f v1, cv::Point3f p1, cv::Vec3f v2, cv::Point3f p2, cv::Vec3f v3, cv::Point3f p3, bool &isFound);
+ //cv::Point3f intersection(cv::Vec3f v1, cv::Point3f p1, cv::Vec3f v2, cv::Point3f p2, cv::Vec3f v3, cv::Point3f p3, bool &isFound);
public:
Beamer();
+ ~Beamer();
- const char ESCAPE_CHAR = 27;
const unsigned int MAX_LINEAR_LINE_POINTS = 3; //number of point to calculate 1 vector
const double LINEAR_REGRESSION_FACT = -20.0; // used for linear regression
@@ -79,14 +33,13 @@ class Beamer{
setHeight(res.height);
}
- FrameProcessProfil* getProfil(){ return &profil; };
- void setProfil(FrameProcessProfil p){ profil = p; };
+ FrameProcessProfil* getProfil(){ return profil; };
+ void setProfil(FrameProcessProfil p){ profil->setProfil(p); };
- int findBeamerFrom(Camera *camera);
cv::Mat editContrast(cv::Mat image, double contrast, int brightness);
cv::Point3f deprojectPixel(cv::Point2i circle, cv::Mat *depth, Camera *camera);
std::vector<cv::Point2i> getCrossList();
- cv::Mat getCrossFrame(cv::Point2i projectedCross, int step, int max, bool circlesFound);
+ cv::Mat buildCrossFrame(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> findCircles(cv::Mat &rgb, double contrast, int brightness, double centersMinDist, int cannyEdgeThreshold, int houghAccThreshold, double minRadius, double maxRadius);
diff --git a/inc/borderedit.h b/inc/borderedit.h
deleted file mode 100644
index 15a2796e1a5920f42523ec2f048dd319574ac096..0000000000000000000000000000000000000000
--- a/inc/borderedit.h
+++ /dev/null
@@ -1,22 +0,0 @@
-#ifndef BORDEREDIT_H
-#define BORDEREDIT_H
-
-#include <opencv2/opencv.hpp>
-
-class BorderEdit{
- private:
- static const int margeClick = 10;
- static constexpr char *wndname = (char *)"Sandbox Border Finder";
- static cv::Mat frameImage;
-
- // OPENCV - MANUEL RECT CHANGE
- static void drawSquare(cv::Point *p, int n);
- static int findPoints(int x, int y, std::vector<cv::Point> &posSandbox);
- static void mouseHandler(int event, int x, int y, int, void *param);
- static const char ESCAPE_CHAR = 27;
-
- public:
- static int edit(cv::Mat frame, std::vector<cv::Point> *posSandbox);
-
-};
-#endif
\ No newline at end of file
diff --git a/inc/frameProcessProfil.h b/inc/frameProcessProfil.h
new file mode 100644
index 0000000000000000000000000000000000000000..5a0bfe6b77b95cdfd92d68b98226e8e74b23653f
--- /dev/null
+++ b/inc/frameProcessProfil.h
@@ -0,0 +1,62 @@
+#ifndef SANDBOX_FRAME_PROCESS_PROFIL_H
+#define SANDBOX_FRAME_PROCESS_PROFIL_H
+
+class FrameProcessProfil{
+ private:
+ // Profil to process on gray scaled images
+ double contrast; // ]0, 255]
+ int brightness; // [-2^16, 255]
+ uint minDistance; // [1, 100] % of the frame's width
+ uint cannyEdgeThreshold; // [0, 255] the strongest the contrast in the image is, the higher this param should be
+ uint houghAccThreshold; // [0, n] where n = width*height of the frame
+ uint minRadius; // [1, 100] % of the frame's width
+ uint maxRadius; // [1, 100] % of the frame's width
+
+ public:
+ FrameProcessProfil(double c=1.0, int b=0, int d=15, uint cannyThreshold=100, uint accThreshold=50, uint minR=10, uint maxR=50){
+ contrast = c;
+ brightness = b;
+ minDistance = d;
+ cannyEdgeThreshold = cannyThreshold;
+ houghAccThreshold = accThreshold;
+ minRadius = minR;
+ maxRadius = maxR;
+ };
+ double getContrast(){ return contrast; };
+ void setContrast(double c){ contrast = c; };
+ int getBrightness(){ return brightness; };
+ void setBrightness(int b){ brightness = b; };
+ uint getMinDistance(){ return minDistance; };
+ void setMinDistance(uint d){ minDistance = d; };
+ uint getCannyEdgeThreshold(){ return cannyEdgeThreshold; };
+ void setCannyEdgeThreshold(uint cannyThreshold){ cannyEdgeThreshold = cannyThreshold; };
+ uint getHoughAccThreshold(){ return houghAccThreshold; };
+ void setHoughAccThreshold(uint accThreshold){ houghAccThreshold = accThreshold; };
+ uint getMinRadius(){ return minRadius; };
+ void setMinRadius(uint min){ minRadius = min; };
+ uint getMaxRadius(){ return maxRadius; };
+ void setMaxRadius(uint max){ maxRadius = max; };
+
+ void setProfil(FrameProcessProfil p){
+ contrast = p.getContrast();
+ brightness = p.getBrightness();
+ minDistance = p.getMinDistance();
+ cannyEdgeThreshold = p.getCannyEdgeThreshold();
+ houghAccThreshold = p.getHoughAccThreshold();
+ minRadius = p.getMinRadius();
+ maxRadius = p.getMaxRadius();
+ }
+
+ void print(){
+ std::cout << contrast << std::endl;
+ std::cout << brightness << std::endl;
+ std::cout << minDistance << std::endl;
+ std::cout << cannyEdgeThreshold << std::endl;
+ std::cout << houghAccThreshold << std::endl;
+ std::cout << minRadius << std::endl;
+ std::cout << maxRadius << std::endl;
+ }
+
+};
+
+#endif
\ No newline at end of file
diff --git a/inc/beamerProjection.h b/inc/projection.h
similarity index 86%
rename from inc/beamerProjection.h
rename to inc/projection.h
index 6d492c71175719e64c3c5b8dec9c9cddb1aa61e9..e486fd0b887d36c6f67321c5f1662516ed20ebe8 100644
--- a/inc/beamerProjection.h
+++ b/inc/projection.h
@@ -1,21 +1,21 @@
-#ifndef BEAMERPROJECTION_H
-#define BEAMERPROJECTION_H
+#ifndef SANDBOX_PROJECTION_H
+#define SANDBOX_PROJECTION_H
#include <opencv2/opencv.hpp>
#include "beamer.h"
#include "camera.h"
-class BeamerProjection{
+class Projection{
private:
cv::Mat adjustingMatrix;
- float distanceTopSandbox = 1.0f;
+ float distanceTopSandbox;
cv::Point2i findMatchingPixel(int i, int j, float z, Camera *camera, cv::Point3f beamer_pos);
void copyPixelsInto(cv::Point2i pixel_dst, cv::Mat &dst, cv::Point2i pixel_src, cv::Mat &src, cv::Rect base);
cv::Size getMatchingSize(cv::Mat &src, cv::Rect base);
public:
- BeamerProjection();
+ Projection();
void setAdjustingMatrix(cv::Mat matrix){ adjustingMatrix = matrix; }
cv::Mat getAdjustingMatrix(){ return adjustingMatrix; }
diff --git a/inc/sandbox.h b/inc/sandbox.h
index 182a86aed35beb21caa78b9998cf0c5d096a09a3..64311677df1dec2d0d213ea1fcb11d5f4ac36221 100644
--- a/inc/sandbox.h
+++ b/inc/sandbox.h
@@ -3,36 +3,31 @@
#include <opencv2/opencv.hpp>
#include "camera.h"
-#include "beamerProjection.h"
+#include "projection.h"
#include "beamer.h"
#include "sandboxConfig.h"
class Sandbox{
private:
char *defaultConfigFilePath = (char *)"./sandbox_conf.yaml";
- char *defaultWindowsName = (char*) "ShowApp";
- BeamerProjection projection;
- Camera camera;
- Beamer beamer;
-
- void initWindowsFullScreen(char *windowName);
- void showImage(cv::Mat* image, char *windowName);
+ Projection *projection;
+ Camera *camera;
+ Beamer *beamer;
public:
Sandbox();
+ ~Sandbox();
- Camera* getCamera(){ return &camera; };
- Beamer* getBeamer(){ return &beamer; };
- BeamerProjection* getProjection(){ return &projection; };
+ Camera* getCamera(){ return camera; };
+ Beamer* getBeamer(){ return beamer; };
+ Projection* getProjection(){ return projection; };
void init();
cv::Mat getColorFrame();
cv::Mat getDepthFrame();
cv::Mat adjustProjection(cv::Mat frame);
- void showImage(cv::Mat &image);
int loadConfig();
int loadConfigFrom(char *path);
- void initWindowsFullScreen();
};
diff --git a/inc/sandboxConfig.h b/inc/sandboxConfig.h
index 0cef219e0b4244efa2ea8fee0340549a63ae9997..8bf5306e1cfbfa68cbfc9b69092ff3441c6b76d9 100644
--- a/inc/sandboxConfig.h
+++ b/inc/sandboxConfig.h
@@ -1,10 +1,10 @@
-#ifndef SANDBOXCONFIG_H
-#define SANDBOXCONFIG_H
+#ifndef SANDBOX_CONFIG_H
+#define SANDBOX_CONFIG_H
#include <yaml-cpp/yaml.h>
#include <opencv2/opencv.hpp>
#include "camera.h"
-#include "beamerProjection.h"
+#include "projection.h"
#include "beamer.h"
#define SCFG_MASK "CroppingMask"
@@ -26,8 +26,8 @@ class SandboxConfig{
static int saveBeamerResolutionInto(char *path, cv::Size resolution);
static int saveFrameProcessProfil(char *path, FrameProcessProfil profil);
- static int loadAdjustingMatrixFrom(char *path, BeamerProjection *projection);
- static int loadDistanceToSandboxTop(char *path, BeamerProjection *projection);
+ static int loadAdjustingMatrixFrom(char *path, Projection *projection);
+ static int loadDistanceToSandboxTop(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);
diff --git a/inc/sandboxSetup.h b/inc/sandboxSetup.h
index 3460544e1c43b9d4a13c2783ee63570c04ec30db..3d2e37036dd9dc28172477c5e3b42e78a129da02 100644
--- a/inc/sandboxSetup.h
+++ b/inc/sandboxSetup.h
@@ -1,46 +1,40 @@
-#ifndef SANDBOXSETUP_H
-#define SANDBOXSETUP_H
+#ifndef SANDBOX_SETUP_H
+#define SANDBOX_SETUP_H
#include <opencv2/opencv.hpp>
#include "beamer.h"
-#include "beamerProjection.h"
+#include "projection.h"
#include "camera.h"
-#include "borderedit.h"
#include "sandboxConfig.h"
class SandboxSetup{
private:
char *defaultConfigFilePath = (char *)"./sandbox_conf.yaml";
- BeamerProjection projection;
- Camera camera;
- Beamer beamer;
+ Projection *projection;
+ Camera *camera;
+ Beamer *beamer;
double toDegrees(double radians);
- void initWindowsFullScreen(char *windowName);
public:
SandboxSetup();
+ ~SandboxSetup();
- BeamerProjection* getProjection(){ return &projection; };
- Camera* getCamera(){ return &camera; };
- Beamer* getBeamer(){ return &beamer; };
+ Projection* getProjection(){ return projection; };
+ Camera* getCamera(){ return camera; };
+ Beamer* getBeamer(){ return beamer; };
// save config in file => persistant
- int saveConfigFrom(char *path);
+ int saveConfigInto(char *path);
int saveConfig();
+ int loadFrameProcessProfilFrom(char *path);
int loadFrameProcessProfil();
// edit variables of config => not persistant
void setupAdjustMatrix(std::vector<cv::Point> rectPoints, cv::Point center);
void setupCroppingMask(std::vector<cv::Point> rectPoints);
-
- void defaultCaptureBlueScreen(int delay);
- int defaultSetupProjection();
- int defaultSetupBeamerResolution();
- int defaultSetupBeamerLocation();
-
};
#endif
diff --git a/src/components/beamer.cpp b/src/components/beamer.cpp
index a1dbd372f78f9b79272439acac6b02f13db7b7ab..b5bbf1283692553d49fab9ff6155f3224602187f 100644
--- a/src/components/beamer.cpp
+++ b/src/components/beamer.cpp
@@ -4,103 +4,39 @@
Beamer::Beamer(){
beamerPosition = cv::Point3f(0.0f, 0.265f, -0.205f);
+ profil = new FrameProcessProfil();
}
+Beamer::~Beamer(){
+ delete profil;
+}
/*
-* Public
+* Global purpose
*/
-int Beamer::findBeamerFrom(Camera *camera){
-
- char wname[] = "beamer location";
- cv::namedWindow(wname, CV_WINDOW_NORMAL);
- cv::setWindowProperty(wname, CV_WND_PROP_FULLSCREEN, CV_WINDOW_FULLSCREEN);
-
- // Setup cross for calibration
- std::vector<cv::Point2i> crosses = getCrossList();
- std::vector<cv::Point3d> directions; //vectors calculate for each point
- std::vector<cv::Point3d> bases; //1 point for each vector (to calculate constante d)
-
- for (cv::Point2i cross : crosses){
-
- std::vector<cv::Point3f> capturedPoints;
- cv::Mat depth;
- cv::Mat rgb;
-
- while( capturedPoints.size() < MAX_LINEAR_LINE_POINTS ){
-
- // capture frame
- camera->capture();
- depth = camera->getDepthFrame();
- rgb = camera->getColorFrame();
-
- // Look for the circle target
- double minDist = rgb.cols / (double)profil.getMinDistance();
- double minRadius = (profil.getMinRadius()>0) ? rgb.cols/(double)profil.getMinRadius() : 0;
- double maxRadius = (profil.getMaxRadius()>0) ? rgb.cols/(double)profil.getMaxRadius() : 0;
- std::vector<cv::Point3i> circles = findCircles( rgb,
- profil.getContrast(),
- profil.getBrightness(),
- minDist,
- profil.getCannyEdgeThreshold(),
- profil.getHoughAccThreshold(),
- minRadius,
- maxRadius );
-
- // Show black screen with cross
- cv::Mat frameImage = getCrossFrame(cross, capturedPoints.size()+1, MAX_LINEAR_LINE_POINTS, !circles.empty());
-
- cv::imshow(wname, frameImage);
-
- // Wait for interaction
- int keypressed = cv::waitKey(500);
- if(keypressed != -1){
- char keyCode = (char)keypressed;
- if (keyCode == ESCAPE_CHAR){
- return 1;
- }
- else if (keyCode == ' '){
- if(!circles.empty()){
- capturedPoints.push_back( deprojectPixel( cv::Point2i(circles.at(0).x, circles.at(0).y ), &depth, camera) );
- }
- }
- }
- }
-
- findLinearLineFrom(&capturedPoints, &bases, &directions);
- }
-
-
- setPosition( (cv::Point3f)approximatePosition(&bases, &directions) );
-
- cv::destroyAllWindows();
-
- return 0;
-}
-
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::findLinearLineFrom(std::vector<cv::Point3f> *capturedPoints, std::vector<cv::Point3d> *bases, std::vector<cv::Point3d> *directions){
-
- 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] );
-
- bases->push_back(base);
- directions->push_back(direction);
+void Beamer::printPosition(){
+ cv::Point3f pos = getPosition();
+ std::cout << "(" << pos.x << "," << pos.y << "," << pos.z << ")" << std::endl;
}
+
+
+
+/*
+* Setup config purpose
+*/
+
+
std::vector<cv::Point2i> Beamer::getCrossList(){
std::vector<cv::Point2i> points;
@@ -113,7 +49,56 @@ std::vector<cv::Point2i> Beamer::getCrossList(){
}
-cv::Mat Beamer::getCrossFrame(cv::Point projectedCross, int step, int max, bool circlesFound){
+cv::Mat Beamer::editContrast(cv::Mat image, double contrast, int brightness){
+
+ cv::Mat new_image = cv::Mat::zeros( image.size(), image.type() );
+ double alpha = contrast;
+ int beta = brightness;
+
+ // source : https://docs.opencv.org/2.4/doc/tutorials/core/basic_linear_transform/basic_linear_transform.html
+ for( int y = 0; y < image.rows; y++ ) {
+ for( int x = 0; x < image.cols; x++ ) {
+ new_image.at<uchar>(y,x) = cv::saturate_cast<uchar>( alpha*image.at<uchar>(y,x) + beta );
+ }
+ }
+
+ return new_image;
+}
+
+
+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
+ cv::GaussianBlur(src_gray, src_gray, cv::Size(9, 9), 2, 2);
+ std::vector<cv::Vec3f> circles;
+ circles.clear();
+
+ src_gray = editContrast(src_gray, (double)contrast, (double)brightness);
+
+ /// 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
+ // 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 drawn on the accumulator
+ // max_radius : Max radius of the circles drawn on the accumulator
+ cv::HoughCircles(src_gray, circles, CV_HOUGH_GRADIENT, 1, centersMinDist, (double)cannyEdgeThreshold, (double)houghAccThreshold, minRadius, maxRadius);
+
+ std::vector<cv::Point3i> result;
+ if (!circles.empty())
+ {
+ for(cv::Vec3f circle: circles){
+ result.push_back( cv::Point3i(round(circle[0]), round(circle[1]), round(circle[2])) );
+ }
+ }
+ return result;
+}
+
+
+cv::Mat Beamer::buildCrossFrame(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);
@@ -134,16 +119,21 @@ cv::Mat Beamer::getCrossFrame(cv::Point projectedCross, int step, int max, bool
return frameImage;
}
-void Beamer::printPosition(){
- cv::Point3f pos = getPosition();
- std::cout << "(" << pos.x << "," << pos.y << "," << pos.z << ")" << std::endl;
-}
+void Beamer::findLinearLineFrom(std::vector<cv::Point3f> *capturedPoints, std::vector<cv::Point3d> *bases, std::vector<cv::Point3d> *directions){
+
+ 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] );
+
+ bases->push_back(base);
+ directions->push_back(direction);
+}
-/*
-* Private
-*/
/*
@@ -208,53 +198,6 @@ int LineLineIntersect(
return (true);
}
-cv::Mat Beamer::editContrast(cv::Mat image, double contrast, int brightness){
-
- cv::Mat new_image = cv::Mat::zeros( image.size(), image.type() );
- double alpha = contrast;
- int beta = brightness;
-
- // source : https://docs.opencv.org/2.4/doc/tutorials/core/basic_linear_transform/basic_linear_transform.html
- for( int y = 0; y < image.rows; y++ ) {
- for( int x = 0; x < image.cols; x++ ) {
- new_image.at<uchar>(y,x) = cv::saturate_cast<uchar>( alpha*image.at<uchar>(y,x) + beta );
- }
- }
-
- return new_image;
-}
-
-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
- cv::GaussianBlur(src_gray, src_gray, cv::Size(9, 9), 2, 2);
- std::vector<cv::Vec3f> circles;
- circles.clear();
-
- src_gray = editContrast(src_gray, (double)contrast, (double)brightness);
-
- /// 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
- // 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 drawn on the accumulator
- // max_radius : Max radius of the circles drawn on the accumulator
- cv::HoughCircles(src_gray, circles, CV_HOUGH_GRADIENT, 1, centersMinDist, (double)cannyEdgeThreshold, (double)houghAccThreshold, minRadius, maxRadius);
-
- std::vector<cv::Point3i> result;
- if (!circles.empty())
- {
- for(cv::Vec3f circle: circles){
- result.push_back( cv::Point3i(round(circle[0]), round(circle[1]), round(circle[2])) );
- }
- }
- return result;
-}
-
cv::Point3d Beamer::approximatePosition(std::vector<cv::Point3d> *bases, std::vector<cv::Point3d> *directions){
diff --git a/src/components/camera.cpp b/src/components/camera.cpp
index 5bbc05581fa45cb89dde392aca4a231d79724fec..3442629842e82830d2942981cce96d6d60f4f33f 100644
--- a/src/components/camera.cpp
+++ b/src/components/camera.cpp
@@ -38,8 +38,8 @@ int Camera::start(){
}
// Logs
- std::remove("./camera.logs");
- rs2::log_to_file(RS2_LOG_SEVERITY_DEBUG, "./camera.logs");
+ //std::remove("./camera.logs");
+ //rs2::log_to_file(RS2_LOG_SEVERITY_DEBUG, "./camera.logs");
// Settings
// default camera resolution : 640x480
diff --git a/src/components/beamerProjection.cpp b/src/components/projection.cpp
similarity index 87%
rename from src/components/beamerProjection.cpp
rename to src/components/projection.cpp
index da649fed1b47a358c9e0dc0fa64e86ade0c6693b..ffccf15324030a0f4d1edc443cb1531a5284a04b 100644
--- a/src/components/beamerProjection.cpp
+++ b/src/components/projection.cpp
@@ -1,12 +1,13 @@
-#include "../../inc/beamerProjection.h"
+#include "../../inc/projection.h"
-BeamerProjection::BeamerProjection(){
- //adjustingMatrix = cv::getRotationMatrix2D(cv::Point(0, 0), 0, 1);
+Projection::Projection(){
+ adjustingMatrix = cv::getRotationMatrix2D(cv::Point(0, 0), 0, 1);
+ distanceTopSandbox = 1.0f;
}
-cv::Point2i BeamerProjection::rotatePixel(cv::Point2i pixel){
+cv::Point2i Projection::rotatePixel(cv::Point2i pixel){
cv::Mat tmp = (cv::Mat_<cv::Vec2f>(1, 1) << cv::Vec2f(pixel.x, pixel.y));
cv::transform(tmp, tmp, adjustingMatrix);
@@ -15,7 +16,7 @@ cv::Point2i BeamerProjection::rotatePixel(cv::Point2i pixel){
-void BeamerProjection::adjustFrame(cv::Mat depth, cv::Mat src, cv::Mat &dst, Camera *camera, cv::Point3f beamer_pos){
+void Projection::adjustFrame(cv::Mat depth, cv::Mat src, cv::Mat &dst, Camera *camera, cv::Point3f beamer_pos){
cv::Rect mask = camera->getCroppingMask();
cv::Size dst_size = dst.size();
@@ -84,7 +85,7 @@ void BeamerProjection::adjustFrame(cv::Mat depth, cv::Mat src, cv::Mat &dst, Cam
cv::warpAffine(dst, dst, adjustingMatrix, dst.size());
}
-cv::Size BeamerProjection::getMatchingSize(cv::Mat &src, cv::Rect base){
+cv::Size Projection::getMatchingSize(cv::Mat &src, cv::Rect base){
cv::Size bigSize;
bigSize.width = (src.size().width % base.width == 0) ? src.size().width : src.size().width - (src.size().width % base.width) + base.width;
bigSize.height = (src.size().height % base.height == 0) ? src.size().height : src.size().height - (src.size().height % base.height) + base.height;
@@ -92,7 +93,7 @@ cv::Size BeamerProjection::getMatchingSize(cv::Mat &src, cv::Rect base){
}
// pixels coordinates are relative to the camera depth frame
-void BeamerProjection::copyPixelsInto(cv::Point2i pixel_dst, cv::Mat &dst, cv::Point2i pixel_src, cv::Mat &src, cv::Rect base){
+void Projection::copyPixelsInto(cv::Point2i pixel_dst, cv::Mat &dst, cv::Point2i pixel_src, cv::Mat &src, cv::Rect base){
if( src.size().width == dst.size().width && src.size().height == dst.size().height ){
@@ -124,7 +125,7 @@ void BeamerProjection::copyPixelsInto(cv::Point2i pixel_dst, cv::Mat &dst, cv::P
CP : distance from camera to point (value of depth_frame)
CB : distance from camera to beamer (beamer's position is relative to the camera)
*/
-cv::Point2i BeamerProjection::findMatchingPixel(int i, int j, float z, Camera *camera, cv::Point3f CB){
+cv::Point2i Projection::findMatchingPixel(int i, int j, float z, Camera *camera, cv::Point3f CB){
float pixel[2] = {static_cast<float>(i), static_cast<float>(j)};
cv::Point3f CP = camera->deprojectPixelToPoint(pixel, z);
@@ -139,7 +140,7 @@ cv::Point2i BeamerProjection::findMatchingPixel(int i, int j, float z, Camera *c
}
-void BeamerProjection::printAdjustingMatrix(){
+void Projection::printAdjustingMatrix(){
cv::Mat matrix = getAdjustingMatrix();
for (int y = 0; y < matrix.rows; y++){
diff --git a/src/lib/sandbox.cpp b/src/lib/sandbox.cpp
index 98f22066c95c36a97a414cf9aa9309f4974821a8..6ee882aa61971cbb3bd51b9be75214222cf13bef 100644
--- a/src/lib/sandbox.cpp
+++ b/src/lib/sandbox.cpp
@@ -6,7 +6,15 @@
*/
Sandbox::Sandbox(){
-
+ projection = new Projection();
+ camera = new Camera();
+ beamer = new Beamer();
+}
+
+Sandbox::~Sandbox(){
+ delete beamer;
+ delete camera;
+ delete projection;
}
@@ -15,25 +23,25 @@ Sandbox::Sandbox(){
*/
void Sandbox::init(){
- camera.start();
+ camera->start();
}
cv::Mat Sandbox::getColorFrame(){
- camera.capture();
- return camera.getColorFrame()(camera.getCroppingMask());
+ camera->capture();
+ return camera->getColorFrame()(camera->getCroppingMask());
}
cv::Mat Sandbox::getDepthFrame(){
- camera.capture();
- return camera.getDepthFrame()(camera.getCroppingMask());
+ camera->capture();
+ return camera->getDepthFrame()(camera->getCroppingMask());
}
cv::Mat Sandbox::adjustProjection(cv::Mat frame){
cv::Mat depth = getDepthFrame();
- cv::Mat imageCalibrate = cv::Mat(cv::Size(beamer.getWidth(), beamer.getHeight()), CV_8UC3, cv::Scalar(0, 0, 0));
- projection.adjustFrame(depth, frame, imageCalibrate, &camera, beamer.getPosition());
+ cv::Mat imageCalibrate = cv::Mat(cv::Size(beamer->getWidth(), beamer->getHeight()), CV_8UC3, cv::Scalar(0, 0, 0));
+ projection->adjustFrame(depth, frame, imageCalibrate, camera, beamer->getPosition());
// frame after process
//cv::dilate(imageCalibrate, imageCalibrate, cv::Mat(), cv::Point(-1, -1), 2, 1, 1);
@@ -42,24 +50,17 @@ cv::Mat Sandbox::adjustProjection(cv::Mat frame){
return imageCalibrate;
}
-void Sandbox::showImage(cv::Mat &image){
-
- initWindowsFullScreen(defaultWindowsName);
- cv::Mat res = adjustProjection(image);
- cv::imshow(defaultWindowsName, res);
-}
-
int Sandbox::loadConfigFrom(char *path){
- int err = SandboxConfig::loadAdjustingMatrixFrom(path, &projection);
+ int err = SandboxConfig::loadAdjustingMatrixFrom(path, projection);
if(err){ return err; }
- err = SandboxConfig::loadDistanceToSandboxTop(path, &projection);
+ err = SandboxConfig::loadDistanceToSandboxTop(path, projection);
if(err){ return err; }
- err = SandboxConfig::loadCroppingMaskFrom(path, &camera);
+ err = SandboxConfig::loadCroppingMaskFrom(path, camera);
if(err){ return err; }
- err = SandboxConfig::loadBeamerResolutionFrom(path, &beamer);
+ err = SandboxConfig::loadBeamerResolutionFrom(path, beamer);
if(err){ return err; }
- err = SandboxConfig::loadBeamerPositionFrom(path, &beamer);
+ err = SandboxConfig::loadBeamerPositionFrom(path, beamer);
if(err){ return err; }
return 0;
}
@@ -68,17 +69,3 @@ int Sandbox::loadConfig(){
return loadConfigFrom(defaultConfigFilePath);
}
-
-void Sandbox::initWindowsFullScreen(){
- initWindowsFullScreen(defaultWindowsName);
-}
-
-
-/*
- * PRIVATE
- */
-
-void Sandbox::initWindowsFullScreen(char *windowName){
- cv::namedWindow(windowName, CV_WINDOW_NORMAL);
- cv::setWindowProperty(windowName, CV_WND_PROP_FULLSCREEN, CV_WINDOW_FULLSCREEN);
-}
\ No newline at end of file
diff --git a/src/lib/sandboxSetup.cpp b/src/lib/sandboxSetup.cpp
index ef179b7519fb4484cd01f068d8b1b00bb8fb85c0..caf24db46a94bd2b3be91f0d0c28ae42167f272a 100644
--- a/src/lib/sandboxSetup.cpp
+++ b/src/lib/sandboxSetup.cpp
@@ -2,7 +2,15 @@
SandboxSetup::SandboxSetup(){
-
+ projection = new Projection();
+ camera = new Camera();
+ beamer = new Beamer();
+}
+
+SandboxSetup::~SandboxSetup(){
+ delete beamer;
+ delete camera;
+ delete projection;
}
//
@@ -11,23 +19,23 @@ SandboxSetup::SandboxSetup(){
// return 1 when config can't be saved in file
-int SandboxSetup::saveConfigFrom(char *path){
- if(SandboxConfig::saveAdjustingMatrixInto(path, projection.getAdjustingMatrix()))
+int SandboxSetup::saveConfigInto(char *path){
+ if(SandboxConfig::saveAdjustingMatrixInto(path, projection->getAdjustingMatrix()))
return 1;
- if(SandboxConfig::saveDistanceToSandboxTop(path, projection.getDistanceTopSandbox()))
+ if(SandboxConfig::saveDistanceToSandboxTop(path, projection->getDistanceTopSandbox()))
return 1;
- if(SandboxConfig::saveCroppingMaskInto(path, camera.getCroppingMask()))
+ if(SandboxConfig::saveCroppingMaskInto(path, camera->getCroppingMask()))
return 1;
- if(SandboxConfig::saveBeamerResolutionInto(path, cv::Size(beamer.getWidth(), beamer.getHeight())))
+ if(SandboxConfig::saveBeamerResolutionInto(path, cv::Size(beamer->getWidth(), beamer->getHeight())))
return 1;
- if(SandboxConfig::saveBeamerPositionInto(path, beamer.getPosition()))
+ if(SandboxConfig::saveBeamerPositionInto(path, beamer->getPosition()))
return 1;
- if(SandboxConfig::saveFrameProcessProfil(path, *beamer.getProfil()))
+ if(SandboxConfig::saveFrameProcessProfil(path, *beamer->getProfil()))
return 1;
return 0;
@@ -35,11 +43,15 @@ int SandboxSetup::saveConfigFrom(char *path){
int SandboxSetup::saveConfig(){
- return saveConfigFrom(defaultConfigFilePath);
+ return saveConfigInto(defaultConfigFilePath);
+}
+
+int SandboxSetup::loadFrameProcessProfilFrom(char *path){
+ return SandboxConfig::loadFrameProcessProfil(path, beamer->getProfil());
}
int SandboxSetup::loadFrameProcessProfil(){
- return SandboxConfig::loadFrameProcessProfil(defaultConfigFilePath, beamer.getProfil());
+ return loadFrameProcessProfilFrom(defaultConfigFilePath);
}
@@ -49,7 +61,7 @@ void SandboxSetup::setupAdjustMatrix(std::vector<cv::Point> rectPoints, cv::Poin
int widthTop = rectPoints[3].x - rectPoints[0].x;
double angle1 = atan((double)(rectPoints[3].y - rectPoints[0].y) / widthTop);
cv::Mat matRotation = cv::getRotationMatrix2D(center, toDegrees(angle1), 1); // adjustingMatrix
- projection.setAdjustingMatrix(matRotation);
+ projection->setAdjustingMatrix(matRotation);
}
void SandboxSetup::setupCroppingMask(std::vector<cv::Point> rectPoints){
@@ -57,87 +69,8 @@ void SandboxSetup::setupCroppingMask(std::vector<cv::Point> rectPoints){
// Set cropping mask
int widthTop = rectPoints[3].x - rectPoints[0].x;
cv::Size rectSize = cv::Size(widthTop, cvRound(widthTop / 1.33333) + 5);
- cv::Point p = projection.rotatePixel(rectPoints[0]);
- camera.setCroppingMask(cv::Rect(p, rectSize)); // croppingMask
-}
-
-
-
-//
-// Default setup routines
-//
-
-int SandboxSetup::defaultSetupBeamerResolution(){
- int width = 0;
- int height = 0;
-
- std::cout << "Enter width of the frame projected :" << std::endl;
- std::cin >> width;
- if(std::cin.fail()){
- return 1;
- }
- std::cout << "Enter height of the frame projected :" << std::endl;
- std::cin >> height;
- if(std::cin.fail()){
- return 1;
- }
-
- beamer.setHeight(height);
- beamer.setWidth(width);
-
- return 0;
-}
-
-
-// return 1 when user exits process
-int SandboxSetup::defaultSetupBeamerLocation(){
-
- return beamer.findBeamerFrom(&camera);
-}
-
-
-// return 1 when user exits process
-int SandboxSetup::defaultSetupProjection(){
-
- defaultCaptureBlueScreen(300);
-
- cv::Mat frameData = camera.getDepthFrame();
- cv::Mat coloredFrame = camera.getColorFrame();
- cv::Size s = frameData.size();
- cv::Point center(s.width / 2, s.height / 2);
-
- // Edit projection
- float y = coloredFrame.size().height;
- float x = coloredFrame.size().width;
- std::vector<cv::Point> rectPoints{ cv::Point(1.0/4*x, 1.0/4*y), cv::Point(1.0/4*x, 3.0/4*y), cv::Point(3.0/4*x, 3.0/4*y), cv::Point(3.0/4*x, 1.0/4*y) };
- if(BorderEdit::edit(coloredFrame, &rectPoints)){
- return 1;
- }
- cv::destroyAllWindows();
-
-
- // must be called before setupCroppingMask
- setupAdjustMatrix(rectPoints, center);
-
- setupCroppingMask(rectPoints);
-
- return 0;
-}
-
-
-void SandboxSetup::defaultCaptureBlueScreen(int delay){
-
- // Blue screen
- char windowName[] = "BlueScreen";
- initWindowsFullScreen(windowName);
- cv::Mat frameBeamer(cv::Size(beamer.getWidth(), beamer.getHeight()), CV_8UC3, cv::Scalar(255, 0, 0));
- cv::imshow(windowName, frameBeamer);
- delay = (delay==0)? 1 : delay;
- cv::waitKey(delay);
-
- // Take picture
- camera.capture();
- cv::destroyAllWindows();
+ cv::Point p = projection->rotatePixel(rectPoints[0]);
+ camera->setCroppingMask(cv::Rect(p, rectSize)); // croppingMask
}
@@ -150,9 +83,3 @@ void SandboxSetup::defaultCaptureBlueScreen(int delay){
double SandboxSetup::toDegrees(double radians){
return radians * (180.0 / M_PI);
}
-
-
-void SandboxSetup::initWindowsFullScreen(char *windowName){
- cv::namedWindow(windowName, CV_WINDOW_NORMAL);
- cv::setWindowProperty(windowName, CV_WND_PROP_FULLSCREEN, CV_WINDOW_FULLSCREEN);
-}
diff --git a/src/tools/borderedit.cpp b/src/tools/borderedit.cpp
deleted file mode 100644
index ae54b2249f840c23ec587ed8662cd265d99fd365..0000000000000000000000000000000000000000
--- a/src/tools/borderedit.cpp
+++ /dev/null
@@ -1,70 +0,0 @@
-#include "../../inc/borderedit.h"
-
-
-cv::Mat BorderEdit::frameImage;
-
-
-int BorderEdit::edit(cv::Mat frame, std::vector<cv::Point> *posSandbox){
-
- cv::namedWindow(wndname, CV_WINDOW_AUTOSIZE);
- frame.copyTo(frameImage);
- cv::setMouseCallback(wndname, BorderEdit::mouseHandler, (void *)posSandbox);
- BorderEdit::drawSquare(&posSandbox->at(0), (int)posSandbox->size());
- char keyCode = cv::waitKey(0);
- if (keyCode == ESCAPE_CHAR){
- return 1;
- }
- return 0;
-}
-
-
-void BorderEdit::mouseHandler(int event, int x, int y, int, void *param){
-
- static int selectedPoint = -1;
- std::vector<cv::Point> &posSandbox = *((std::vector<cv::Point> *)param);
- switch (event)
- {
- case CV_EVENT_LBUTTONDOWN: //left button press
- selectedPoint = BorderEdit::findPoints(x, y, posSandbox);
- break;
-
- case CV_EVENT_LBUTTONUP: //left mouse button release
- if (selectedPoint != -1)
- selectedPoint = -1;
- break;
-
- case CV_EVENT_MOUSEMOVE:
- /* draw a rectangle*/
- if (selectedPoint != -1)
- {
- posSandbox[selectedPoint].x = x;
- posSandbox[selectedPoint].y = y;
- BorderEdit::drawSquare(&posSandbox[0], (int)posSandbox.size());
- //Rect r = boundingRect(posSandbox);
- //double f = (double)r.width / (double)r.height;
- //cout << 4.0 / 3.0 << " == " << f << endl;
- }
- break;
- }
-}
-
-
-void BorderEdit::drawSquare(cv::Point *p, int n){
-
- cv::Mat imageCopy = frameImage.clone();
- polylines(imageCopy, &p, &n, 1, true, cv::Scalar(0, 255, 0), 1, cv::LINE_AA);
- imshow(wndname, imageCopy);
-}
-
-
-int BorderEdit::findPoints(int x, int y, std::vector<cv::Point> &posSandbox){
-
- for (int i = 0; i < (int)posSandbox.size(); i++)
- {
- //check if the point is clicked
- if ((x >= (posSandbox[i].x - margeClick)) && (x <= (posSandbox[i].x + margeClick)) && (y >= (posSandbox[i].y - margeClick)) && (y <= (posSandbox[i].y + margeClick)))
- return i;
- }
- return -1; //not found
-}
-
diff --git a/src/tools/sandboxConfig.cpp b/src/tools/sandboxConfig.cpp
index c75c292d14da82a49228bbbe7ac30128ce3affe5..001a6337f21260e2ac7250de6331de56609e4fd1 100644
--- a/src/tools/sandboxConfig.cpp
+++ b/src/tools/sandboxConfig.cpp
@@ -144,7 +144,7 @@ int SandboxConfig::saveFrameProcessProfil(char *path, FrameProcessProfil profil)
-int SandboxConfig::loadAdjustingMatrixFrom(char *path, BeamerProjection *projection){
+int SandboxConfig::loadAdjustingMatrixFrom(char *path, Projection *projection){
YAML::Node config;
@@ -190,7 +190,7 @@ int SandboxConfig::loadAdjustingMatrixFrom(char *path, BeamerProjection *project
}
-int SandboxConfig::loadDistanceToSandboxTop(char *path, BeamerProjection *projection){
+int SandboxConfig::loadDistanceToSandboxTop(char *path, Projection *projection){
YAML::Node config;