diff --git a/app/SandboxSetup/SandboxSetup.pro b/app/SandboxSetup/SandboxSetup.pro
index f08ee3c8bb3905bd8f14c122b4665a5c5ca8d0cb..3f86910a6f30b239aa152891445650b79b04a223 100644
--- a/app/SandboxSetup/SandboxSetup.pro
+++ b/app/SandboxSetup/SandboxSetup.pro
@@ -32,7 +32,8 @@ SOURCES += \
maskedit.cpp \
projectiongui.cpp \
qtfullscreen.cpp \
- beamerlocationgui.cpp
+ beamerlocationgui.cpp \
+ mainwindow.cpp
HEADERS += \
monitorgui.h \
@@ -41,7 +42,8 @@ HEADERS += \
maskedit.h \
projectiongui.h \
qtfullscreen.h \
- beamerlocationgui.h
+ beamerlocationgui.h \
+ mainwindow.h
FORMS += \
monitorgui.ui \
@@ -49,7 +51,8 @@ FORMS += \
croppingmask.ui \
maskedit.ui \
projectiongui.ui \
- beamerlocationgui.ui
+ beamerlocationgui.ui \
+ mainwindow.ui
diff --git a/app/SandboxSetup/beamerlocationgui.cpp b/app/SandboxSetup/beamerlocationgui.cpp
index 122b1d21a634991ce8d30212f6e805cd95aaf129..328275b512e23b9b5b11d364963c267bac594a91 100644
--- a/app/SandboxSetup/beamerlocationgui.cpp
+++ b/app/SandboxSetup/beamerlocationgui.cpp
@@ -6,10 +6,16 @@ BeamerLocationGui::BeamerLocationGui(SandboxSetup *_setup, MonitorGui *_mg, QWid
ui(new Ui::BeamerLocationGui)
{
setup = _setup;
+ beamer = setup->getBeamer();
+ camera = setup->getCamera();
+ crosses = beamer->getCrossList();
mg = _mg;
- QScreen *sc = mg->getScreen();
- winFullScreen = new QtFullScreen(sc, true);
+ winFullScreen = new QtFullScreen(mg->getResolution(), true, this);
ui->setupUi(this);
+
+ timer = new QTimer(this);
+ connect(timer, &QTimer::timeout, this, &BeamerLocationGui::routineFrame);
+
}
BeamerLocationGui::~BeamerLocationGui()
@@ -17,20 +23,98 @@ BeamerLocationGui::~BeamerLocationGui()
delete ui;
}
-void BeamerLocationGui::imshow(cv::Mat frame){
- winFullScreen->imShow(frame);
+void BeamerLocationGui::closeEvent (QCloseEvent *e){
+ QWidget::closeEvent(e);
+ endRoutine();
}
-void BeamerLocationGui::findBeamer(){
- if(ptrShowImage == nullptr){
- std::cout << "Null Pointer, showImage method must be specified with \"setPtrShowImage\" in BeamerLocationGui" << std::endl;
- exit(1);
+void BeamerLocationGui::keyPressEvent(QKeyEvent *e)
+{
+ std::cout << e->text().toStdString().at(0) << std::endl;
+
+ char keyCode = (char)(e->text().toStdString().at(0));
+ if (keyCode == 'b'){
+ userValidePoint();
}
- endSuccessfully = (setup->setupBeamerLocation(ptrShowImage)==0);
+}
+
+void BeamerLocationGui::startRoutine(){
+
+ profil = beamer->getProfil();
+ stepCross = 0;
+ directions = std::vector<cv::Point3d>();
+ bases = std::vector<cv::Point3d>();
+ capturedPoints = std::vector<cv::Point3f>();
+ circle = std::vector<cv::Point3i>();
+
+ if(!timer->isActive())
+ timer->start(500);
+
+}
+
+void BeamerLocationGui::routineFrame(){
+
+ if(capturedPoints.size() < beamer->MAX_LINEAR_LINE_POINTS && (uint)stepCross < crosses.size()){
+
+ cv::Point2i cross = crosses.at(stepCross);
+
+ // capture frame
+ camera->captureFrame();
+ depth = camera->getDepthFrame();
+ rgb = camera->getRGBFrame();
+
+ // Look for the circle target
+ circle = beamer->findCercleZ(rgb, profil->getContrast(), profil->getBrightness(), profil->getRadiusRatio(), profil->getUpperMinThreshold(), profil->getLowerMinThreshold());
+
+ // 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);
+ winFullScreen->imShow(frameImage);
+ }
+}
+
+
+void BeamerLocationGui::userValidePoint(){
+
+ if(!circle.empty()){
+
+ capturedPoints.push_back( beamer->deprojectPixel(circle.at(0), &depth, camera) );
+
+ // enough points to perform linear regression and move into next step
+ if(capturedPoints.size() >= beamer->MAX_LINEAR_LINE_POINTS){
+
+ beamer->findLinearLineFrom(&capturedPoints, &bases, &directions);
+ capturedPoints = std::vector<cv::Point3f>();
+ circle = std::vector<cv::Point3i>();
+ stepCross++;
+
+ if((uint)stepCross >= crosses.size()){
+ endRoutine();
+ }
+ }
+ }
+}
+
+
+void BeamerLocationGui::endRoutine(){
+
+ if(timer->isActive())
+ timer->stop();
+
+ endSuccessfully = (bases.size() == beamer->MAX_LINEAR_LINE_POINTS && directions.size() == beamer->MAX_LINEAR_LINE_POINTS);
+
+ if(endSuccessfully)
+ beamer->setPosition( (cv::Point3f)beamer->approximatePosition(&bases, &directions) );
+
winFullScreen->close();
}
-void BeamerLocationGui::showEvent(QShowEvent *e){
- QDialog::showEvent(e);
- findBeamer();
+
+void BeamerLocationGui::on_btnStart_clicked()
+{
+ if(!isFullScreenInit){
+ winFullScreen->setGeometry(mg->getResolution());
+ }
+ startRoutine();
+
}
diff --git a/app/SandboxSetup/beamerlocationgui.h b/app/SandboxSetup/beamerlocationgui.h
index 4f3968e8397f951d22573d2e717776cd5c4c32b6..86e5f576e61f2e7fc5b337998ad7c995db331067 100644
--- a/app/SandboxSetup/beamerlocationgui.h
+++ b/app/SandboxSetup/beamerlocationgui.h
@@ -2,6 +2,7 @@
#define BEAMERLOCATIONGUI_H
#include <QDialog>
+#include <QTimer>
#include <opencv2/opencv.hpp>
#include "qtfullscreen.h"
#include "monitorgui.h"
@@ -18,22 +19,41 @@ class BeamerLocationGui : public QDialog
public:
explicit BeamerLocationGui(SandboxSetup *_setup, MonitorGui *_mg, QWidget *parent = 0);
bool endedSuccessfully(){ return endSuccessfully; };
- void setPtrShowImageFn(ShowImageFn ptr){ ptrShowImage = ptr; };
- void imshow(cv::Mat);
~BeamerLocationGui();
protected:
- void showEvent(QShowEvent *e);
+ void keyPressEvent(QKeyEvent *e);
+ void closeEvent (QCloseEvent *event);
+
+private slots:
+ void on_btnStart_clicked();
private:
Ui::BeamerLocationGui *ui;
QtFullScreen *winFullScreen;
SandboxSetup *setup;
+ Beamer *beamer;
+ Camera *camera;
+ FrameProcessProfil *profil;
MonitorGui *mg;
bool endSuccessfully = false;
- ShowImageFn ptrShowImage = nullptr;
-
- void findBeamer();
+ int keypressed = -1;
+ 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;
+ std::vector<cv::Point3i> circle;
+ int stepCross = 0;
+ QTimer *timer;
+
+ void startRoutine();
+ void routineFrame();
+ void userValidePoint();
+ void endRoutine();
};
#endif // BEAMERLOCATIONGUI_H
diff --git a/app/SandboxSetup/beamerlocationgui.ui b/app/SandboxSetup/beamerlocationgui.ui
index 252fe300ab06bbf902f9b45c3dd7c39ac796a227..10a18168312a78a55b66c02dffe9a724eb2efd34 100644
--- a/app/SandboxSetup/beamerlocationgui.ui
+++ b/app/SandboxSetup/beamerlocationgui.ui
@@ -13,17 +13,17 @@
<property name="windowTitle">
<string>Dialog</string>
</property>
- <widget class="QCheckBox" name="checkBox">
+ <widget class="QPushButton" name="btnStart">
<property name="geometry">
<rect>
- <x>100</x>
- <y>70</y>
- <width>92</width>
- <height>23</height>
+ <x>210</x>
+ <y>210</y>
+ <width>89</width>
+ <height>25</height>
</rect>
</property>
<property name="text">
- <string>CheckBox</string>
+ <string>Start</string>
</property>
</widget>
</widget>
diff --git a/app/SandboxSetup/camerafocus.cpp b/app/SandboxSetup/camerafocus.cpp
index 7b9f6438d130d3913d8447cfbfbb32bac092479f..91b07880369497ad1d5b4276a7d2a12fa3069551 100644
--- a/app/SandboxSetup/camerafocus.cpp
+++ b/app/SandboxSetup/camerafocus.cpp
@@ -41,7 +41,7 @@ void CameraFocus::refreshFrame(){
cv::Mat gray;
cv::Mat rgbFromGray;
cv::Mat rgb = setup->getCamera()->getRGBFrame();
- std::vector<int> crc;
+ std::vector<cv::Point3i> crc;
if(profil->getUpperMinThreshold() >= profil->getLowerMinThreshold()){
@@ -64,7 +64,7 @@ void CameraFocus::refreshFrame(){
cv::cvtColor(gray, rgbFromGray, CV_GRAY2BGR);
if(!crc.empty()){
- cv::circle(rgbFromGray, cv::Point(crc[0], crc[1]), crc[2], cv::Scalar(0,255,0), 2);
+ cv::circle(rgbFromGray, cv::Point(crc[0].x, crc[0].y), crc[0].z, cv::Scalar(0,255,0), 2);
}
QImage img = QImage((uchar *)rgbFromGray.data, (int)rgbFromGray.cols, (int)rgbFromGray.rows, static_cast<int>(rgbFromGray.step.buf[0]), QImage::Format_RGB888);
diff --git a/app/SandboxSetup/camerafocus.ui b/app/SandboxSetup/camerafocus.ui
index 75a52d0a786b622f10ceb0a1439610d3f3c2ece3..d3babc19024bcb94c3b007645ed6ef705bd38b9c 100644
--- a/app/SandboxSetup/camerafocus.ui
+++ b/app/SandboxSetup/camerafocus.ui
@@ -6,7 +6,7 @@
<rect>
<x>0</x>
<y>0</y>
- <width>635</width>
+ <width>653</width>
<height>611</height>
</rect>
</property>
diff --git a/app/SandboxSetup/croppingmask.cpp b/app/SandboxSetup/croppingmask.cpp
index f2baa071065f35f2adc3e4bc6a99c0f3579bc1cc..fd3124fd9e33d3dce64cf9b2536a765599c17cd8 100644
--- a/app/SandboxSetup/croppingmask.cpp
+++ b/app/SandboxSetup/croppingmask.cpp
@@ -12,8 +12,7 @@ CroppingMask::CroppingMask(SandboxSetup *sandbox, MonitorGui *_mg, QWidget *pare
maskEdit = new MaskEdit(ui->frame->geometry());
ui->vLayout->addWidget(maskEdit, 1);
- QScreen *sc = mg->getScreen();
- projBlueScreen = new QtFullScreen(sc, true);
+ projBlueScreen = new QtFullScreen(mg->getResolution(), true, this);
// TODO : try to load cropping mask from file
@@ -27,10 +26,14 @@ CroppingMask::~CroppingMask()
void CroppingMask::on_btnTakePicture_clicked()
{
// take picture of blue screen
- initFullScreen();
+ if(!blueScreenInitilized){
+ blueScreenInitilized = true;
+ projBlueScreen->setGeometry(mg->getResolution());
+ }
cv::Mat blueMat = cv::Mat(1, 1, CV_8UC3, cv::Scalar(0, 0, 255));
projBlueScreen->imShow(blueMat);
QTimer::singleShot(1000, this, &CroppingMask::takePicture);
+ maskUpdated = true;
}
void CroppingMask::takePicture(){
@@ -50,16 +53,6 @@ void CroppingMask::takePicture(){
maskEdit->updateFrame(&cameraRGBFrame, &rectPoints);
}
-void CroppingMask::initFullScreen(){
-
- if(!blueScreenInitilized){
- blueScreenInitilized = true;
- QScreen *sc = mg->getScreen();
- QRect res = sc->geometry();
- projBlueScreen->setGeometry(res.x(), res.y(), res.width(), res.height());
- }
-}
-
bool CroppingMask::maskValideInFrame(cv::Mat *rgb){
if(rectPoints.empty())
diff --git a/app/SandboxSetup/croppingmask.h b/app/SandboxSetup/croppingmask.h
index b3220c05a39897e71b1b040249004dba5d5a5fc5..e5fa0f56620f81182137732aa9b05e0fc381c39c 100644
--- a/app/SandboxSetup/croppingmask.h
+++ b/app/SandboxSetup/croppingmask.h
@@ -21,6 +21,7 @@ public:
explicit CroppingMask(SandboxSetup *sandbox, MonitorGui *_mg, QWidget *parent = 0);
~CroppingMask();
std::vector<cv::Point> getRectPoints(){ return rectPoints; };
+ bool updated(){ return maskUpdated; };
bool isOk(){ return state; };
private slots:
@@ -37,9 +38,8 @@ private:
MonitorGui *mg;
QtFullScreen *projBlueScreen;
bool blueScreenInitilized = false;
+ bool maskUpdated = false;
-
- void initFullScreen();
bool maskValideInFrame(cv::Mat *rgb);
void takePicture();
};
diff --git a/app/SandboxSetup/main.cpp b/app/SandboxSetup/main.cpp
index fb198396aa44c0fc6f778e4b728c3accb130ef4d..067b1649fa51679fdcb2cfc2d72ae6339aade790 100644
--- a/app/SandboxSetup/main.cpp
+++ b/app/SandboxSetup/main.cpp
@@ -1,116 +1,27 @@
+
/*
#include <QApplication>
+#include "mainwindow.h"
-#include <sandboxSetup.h>
-#include "monitorgui.h"
-#include "camerafocus.h"
-#include "croppingmask.h"
-#include "projectiongui.h"
-#include "beamerlocationgui.h"
-
-int argc = 0;
-char *argv[] = {""};
-QApplication app(argc, argv);
-SandboxSetup setup;
-MonitorGui mg;
-ProjectionGui pg(&setup, &mg);
-CameraFocus cf(&setup);
-CroppingMask cm(&setup, &mg);
-BeamerLocationGui bl(&setup, &mg);
-
-
-
-void beamerLocationShowImage(cv::Mat frame){
- bl.imshow(frame);
-}
-
-void exit_msg(SandboxSetup *setup, std::string msg){
- setup->getCamera()->stop();
- std::cout << msg << std::endl;
- exit(1);
-}
-
-int main(){
-
- // Init
- setup.getCamera()->start();
-
-
- // Select output screen and projection's resolutions
- mg.show();
- app.exec();
- if(!mg.isOk()){
- exit_msg(&setup, "Cancel resolution");
- }
- setup.getBeamer()->setResolution(cv::Size(mg.getWidth(), mg.getHeight()));
-
-
- // Setup camera and beamer physically
- pg.show();
- app.exec();
-
-
- // Edit frame process profil for the setupBeamerLocation routine
- cf.show();
- app.exec();
- if(!cf.isOk()){
- exit_msg(&setup, "Cancel camera parameters");
- }
-
-
- // Setup the adjust matrix and cropping mask
- cm.show();
- app.exec();
- if(!cm.isOk()){
- exit_msg(&setup, "Cancel drop");
- }
-
- cv::Size s = setup.getCamera()->getDepthFrame().size();
- cv::Point center(s.width / 2, s.height / 2);
- std::vector<cv::Point> rectPoints = cm.getRectPoints();
-
- setup.setupAdjustMatrix(rectPoints, center);
- setup.setupCroppingMask(rectPoints);
-
-
- // Setup the beamer location
- bl.setPtrShowImageFn(beamerLocationShowImage);
- bl.show();
- app.exec();
- if(!bl.endedSuccessfully()){
- exit_msg(&setup, "Cancel beamer position");
- }
-
- // Save config in file
- if(setup.saveConfig()){
- exit_msg(&setup, "Failed to save configuration");
- }
-
- setup.getCamera()->stop();
- return 0;
+int main(int argc, char *argv[])
+{
+ QApplication app(argc, argv);
+ MainWindow main;
+ main.show();
+ return app.exec();
}
*/
-
#include <QApplication>
-
#include "monitorgui.h"
#include "camerafocus.h"
#include "croppingmask.h"
#include "projectiongui.h"
#include "qtfullscreen.h"
+#include "beamerlocationgui.h"
#include <sandboxSetup.h>
-//QScreen *sc = nullptr;
-char wname[] = "Image";
-
-void showImage(cv::Mat frame){
- //QtFullScreen *winFullScreen = new QtFullScreen(sc, true);
- //winFullScreen->imShow(frame);
- cv::imshow(wname, frame);
-}
-
void exit_msg(SandboxSetup *setup, std::string msg){
setup->getCamera()->stop();
std::cout << msg << std::endl;
@@ -119,13 +30,14 @@ void exit_msg(SandboxSetup *setup, std::string msg){
int main(int argc, char *argv[])
{
-
QApplication app(argc, argv);
+
SandboxSetup setup;
MonitorGui mg;
ProjectionGui pg(&setup, &mg);
CameraFocus cf(&setup);
CroppingMask cm(&setup, &mg);
+ BeamerLocationGui bl(&setup, &mg);
setup.getCamera()->start();
@@ -137,7 +49,7 @@ int main(int argc, char *argv[])
exit_msg(&setup, "Cancel resolution");
}
setup.getBeamer()->setResolution(cv::Size(mg.getWidth(), mg.getHeight()));
- //sc = mg.getScreen();
+
// Setup camera and beamer physically
pg.show();
@@ -158,24 +70,21 @@ int main(int argc, char *argv[])
if(!cm.isOk()){
exit_msg(&setup, "Cancel drop");
}
+ if(cm.updated()){
+ cv::Size s = setup.getCamera()->getDepthFrame().size();
+ cv::Point center(s.width / 2, s.height / 2);
+ std::vector<cv::Point> rectPoints = cm.getRectPoints();
- cv::Size s = setup.getCamera()->getDepthFrame().size();
- cv::Point center(s.width / 2, s.height / 2);
- std::vector<cv::Point> rectPoints = cm.getRectPoints();
-
- setup.setupAdjustMatrix(rectPoints, center);
- setup.setupCroppingMask(rectPoints);
-
+ setup.setupAdjustMatrix(rectPoints, center);
+ setup.setupCroppingMask(rectPoints);
+ }
// Setup the beamer location
- cv::namedWindow(wname, CV_WINDOW_NORMAL);
- cv::setWindowProperty(wname, CV_WND_PROP_FULLSCREEN, CV_WINDOW_FULLSCREEN);
-
- if(setup.setupBeamerLocation(showImage)){
+ bl.show();
+ app.exec();
+ if(!bl.endedSuccessfully()){
exit_msg(&setup, "Cancel beamer position");
}
- cv::destroyAllWindows();
-
// Save config in file
if(setup.saveConfig()){
@@ -184,5 +93,6 @@ int main(int argc, char *argv[])
setup.getCamera()->stop();
return 0;
-}
+
+}
diff --git a/app/SandboxSetup/mainwindow.cpp b/app/SandboxSetup/mainwindow.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..49f9a781dca7dd1b9d703d4518072d4e9c286f62
--- /dev/null
+++ b/app/SandboxSetup/mainwindow.cpp
@@ -0,0 +1,163 @@
+#include "mainwindow.h"
+#include "ui_mainwindow.h"
+
+MainWindow::MainWindow(QWidget *parent) :
+ QMainWindow(parent),
+ ui(new Ui::MainWindow)
+{
+ ui->setupUi(this);
+ ui->apps->setGeometry(QRect(0, 0, 670, 630));
+ ui->btnPrev->setVisible(false);
+ ui->btnNext->setEnabled(false);
+
+ setup = new SandboxSetup;
+ mg = new MonitorGui(this);
+ pg = new ProjectionGui(setup, mg, this);
+ cf = new CameraFocus(setup, this);
+ cm = new CroppingMask(setup, mg, this);
+ bl = new BeamerLocationGui(setup, mg, this);
+
+ applist.push_back(mg);
+ applist.push_back(pg);
+ applist.push_back(cf);
+ applist.push_back(cm);
+ applist.push_back(bl);
+/*
+ checkapplist.push_back(checkResolution);
+ checkapplist.push_back(checkProj);
+ checkapplist.push_back(checkProcessProfil);
+ checkapplist.push_back(checkCroppingMask);
+ checkapplist.push_back(checkBeamerLocation);
+ */
+}
+
+MainWindow::~MainWindow()
+{
+ delete ui;
+}
+
+void MainWindow::showEvent(QShowEvent *event){
+ QWidget::showEvent(event);
+ QTimer::singleShot(0, this, &MainWindow::initCamera);
+}
+
+void MainWindow::exit_msg(std::string msg){
+ setup->getCamera()->stop();
+ std::cout << msg << std::endl;
+ exit(1);
+}
+
+
+//
+// STEPS
+//
+
+void MainWindow::closeApp(){
+ applist.at(step)->close();
+ if(ui->apps->count() > 0){
+ ui->apps->removeWidget(applist.at(step));
+ }
+}
+
+void MainWindow::loadApp(){
+ ui->apps->addWidget(applist.at(step));
+ applist.at(step)->show();
+}
+
+bool MainWindow::verifyApp(){
+ return true;//checkapplist.at(step)();
+}
+
+void MainWindow::nextApp(){
+ if(verifyApp()){
+ closeApp();
+ step++;
+ loadApp();
+ }else{
+ exit_msg("Failed setup at step : " + step);
+ }
+}
+
+void MainWindow::prevApp(){
+ if(step > 0){
+ closeApp();
+ step--;
+ loadApp();
+ }
+}
+
+void MainWindow::initCamera(){
+
+ std::cout << "init camera" << std::endl;
+ setup->getCamera()->start();
+ std::cout << "camera ready" << std::endl;
+ ui->btnNext->setEnabled(true);
+ loadApp();
+}
+
+void MainWindow::finishConfig(){
+ // Save config in file
+ if(setup->saveConfig()){
+ exit_msg("Failed to save configuration");
+ }
+
+ setup->getCamera()->stop();
+}
+
+bool MainWindow::checkResolution(){
+ if(!mg->isOk()){
+ //exit_msg("Cancel resolution");
+ return false;
+ }
+ setup->getBeamer()->setResolution(cv::Size(mg->getWidth(), mg->getHeight()));
+ return true;
+}
+
+bool MainWindow::checkProj(){ return true; }
+
+bool MainWindow::checkProcessProfil(){
+ if(!cf->isOk()){
+ //exit_msg("Cancel camera parameters");
+ return false;
+ }
+ return true;
+}
+
+bool MainWindow::checkCroppingMask(){
+ if(!cm->isOk()){
+ //exit_msg("Cancel drop");
+ return false;
+ }
+ if(cm->updated()){
+ cv::Size s = setup->getCamera()->getDepthFrame().size();
+ cv::Point center(s.width / 2, s.height / 2);
+ std::vector<cv::Point> rectPoints = cm->getRectPoints();
+
+ setup->setupAdjustMatrix(rectPoints, center);
+ setup->setupCroppingMask(rectPoints);
+ }
+ return true;
+}
+
+bool MainWindow::checkBeamerLocation(){
+ if(!bl->endedSuccessfully()){
+ //exit_msg("Cancel beamer position");
+ return false;
+ }
+ return true;
+}
+
+
+void MainWindow::on_btnNext_clicked()
+{
+ if(step == 0)
+ ui->btnPrev->setVisible(true);
+ nextApp();
+}
+
+void MainWindow::on_btnPrev_clicked()
+{
+ if(step == 0)
+ ui->btnPrev->setVisible(false);
+ prevApp();
+}
diff --git a/app/SandboxSetup/mainwindow.h b/app/SandboxSetup/mainwindow.h
new file mode 100644
index 0000000000000000000000000000000000000000..a8a78e790b33bef9c89969846488541cd748fcbe
--- /dev/null
+++ b/app/SandboxSetup/mainwindow.h
@@ -0,0 +1,65 @@
+#ifndef MAINWINDOW_H
+#define MAINWINDOW_H
+
+#include <QMainWindow>
+#include "monitorgui.h"
+#include "camerafocus.h"
+#include "croppingmask.h"
+#include "projectiongui.h"
+#include "qtfullscreen.h"
+#include "beamerlocationgui.h"
+#include <sandboxSetup.h>
+
+#include <QTimer>
+
+namespace Ui {
+class MainWindow;
+}
+
+class MainWindow : public QMainWindow
+{
+ Q_OBJECT
+
+public:
+ explicit MainWindow(QWidget *parent = 0);
+ ~MainWindow();
+
+private slots:
+ void on_btnNext_clicked();
+
+ void on_btnPrev_clicked();
+
+protected:
+ void showEvent(QShowEvent *event);
+
+private:
+ Ui::MainWindow *ui;
+ SandboxSetup *setup;
+ MonitorGui *mg;
+ ProjectionGui *pg;
+ CameraFocus *cf;
+ CroppingMask *cm;
+ BeamerLocationGui *bl;
+ int step = 0;
+ std::vector<QWidget*> applist;
+ std::vector<bool(MainWindow::*)()> checkapplist;
+
+ void loadApp();
+ void closeApp();
+ bool verifyApp();
+ void nextApp();
+ void prevApp();
+
+ void initCamera();
+ void finishConfig();
+
+ bool checkResolution();
+ bool checkProj();
+ bool checkProcessProfil();
+ bool checkCroppingMask();
+ bool checkBeamerLocation();
+
+ void exit_msg(std::string msg);
+};
+
+#endif // MAINWINDOW_H
diff --git a/app/SandboxSetup/mainwindow.ui b/app/SandboxSetup/mainwindow.ui
new file mode 100644
index 0000000000000000000000000000000000000000..295c9f5a36f0b2f44b9ca4627bf2b6f86ed94ded
--- /dev/null
+++ b/app/SandboxSetup/mainwindow.ui
@@ -0,0 +1,78 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>MainWindow</class>
+ <widget class="QMainWindow" name="MainWindow">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>0</y>
+ <width>800</width>
+ <height>600</height>
+ </rect>
+ </property>
+ <property name="focusPolicy">
+ <enum>Qt::StrongFocus</enum>
+ </property>
+ <property name="windowTitle">
+ <string>Sandbox setup</string>
+ </property>
+ <widget class="QWidget" name="centralwidget">
+ <widget class="QWidget" name="verticalLayoutWidget">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>0</y>
+ <width>160</width>
+ <height>80</height>
+ </rect>
+ </property>
+ <layout class="QVBoxLayout" name="apps"/>
+ </widget>
+ <widget class="QPushButton" name="btnNext">
+ <property name="enabled">
+ <bool>true</bool>
+ </property>
+ <property name="geometry">
+ <rect>
+ <x>650</x>
+ <y>530</y>
+ <width>89</width>
+ <height>25</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string>Next</string>
+ </property>
+ </widget>
+ <widget class="QPushButton" name="btnPrev">
+ <property name="enabled">
+ <bool>true</bool>
+ </property>
+ <property name="geometry">
+ <rect>
+ <x>530</x>
+ <y>530</y>
+ <width>89</width>
+ <height>25</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string>Previous</string>
+ </property>
+ </widget>
+ </widget>
+ <widget class="QMenuBar" name="menubar">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>0</y>
+ <width>800</width>
+ <height>22</height>
+ </rect>
+ </property>
+ </widget>
+ <widget class="QStatusBar" name="statusbar"/>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>
diff --git a/app/SandboxSetup/monitorgui.cpp b/app/SandboxSetup/monitorgui.cpp
index 51ccf34e81c970a588bec1706990492e0c88af49..aa28da2499bfd7809f35a4942d28f6f4fabca2c1 100644
--- a/app/SandboxSetup/monitorgui.cpp
+++ b/app/SandboxSetup/monitorgui.cpp
@@ -6,6 +6,7 @@ MonitorGui::MonitorGui(QWidget *parent) :
ui(new Ui::MonitorGui)
{
ui->setupUi(this);
+ resolution = new QRect;
std::string path = ".monitors.tmp";
monitors = std::map<std::string, std::vector<std::string>>();
@@ -27,7 +28,7 @@ MonitorGui::~MonitorGui()
delete ui;
}
-QScreen* MonitorGui::getScreen(){
+QScreen* MonitorGui::getMonitor(){
QScreen *sc = QApplication::screens().at(0);
QList<QScreen *> lst = sc->virtualSiblings();
@@ -58,6 +59,12 @@ void MonitorGui::on_btnbxMonitors_accepted()
std::vector<std::string> res = splitResolution(selectedRes.toStdString());
width = std::stoi(res[0]);
height = std::stoi(res[1]);
+
+ QScreen *sc = getMonitor();
+ resolution->setX(sc->geometry().x());
+ resolution->setY(sc->geometry().y());
+ resolution->setWidth(width);
+ resolution->setHeight(height);
}
diff --git a/app/SandboxSetup/monitorgui.h b/app/SandboxSetup/monitorgui.h
index 6b1b40763995f7b939a5e094ba1c80e985d97b87..7eedcdf6aedc5fa7afa677f55b558a3a29caf5de 100644
--- a/app/SandboxSetup/monitorgui.h
+++ b/app/SandboxSetup/monitorgui.h
@@ -26,7 +26,7 @@ public:
int getHeight(){ return height; };
int getWidth(){ return width; };
std::string getOutput(){ return outputName.toStdString(); };
- QScreen* getScreen();
+ QRect getResolution(){ return *resolution; }
bool isOk(){ return valideState; };
@@ -42,8 +42,9 @@ private:
int height = 0;
int width = 0;
QString outputName = "";
+ QRect *resolution;
-
+ QScreen* getMonitor();
void loadResolutionsOf(QScreen* screen);
std::vector<std::string> splitResolution(std::string s);
bool isResolution(std::string s);
diff --git a/app/SandboxSetup/projectiongui.cpp b/app/SandboxSetup/projectiongui.cpp
index bc39af1b93f99b615cdab45400496bf6bf27c660..d8730873b0eda2890ccfb402f7dd5af8f4ebfd46 100644
--- a/app/SandboxSetup/projectiongui.cpp
+++ b/app/SandboxSetup/projectiongui.cpp
@@ -30,10 +30,10 @@ void ProjectionGui::on_btnSkip_clicked()
// Note : Screens should be in extented mode, not mirror (to avoid loop noise from the capture of the screen)
void ProjectionGui::on_btnStart_clicked()
{
- QScreen *sc = mg->getScreen();
+ QRect reso = mg->getResolution();
// open blue screen on the selected output
cv::Mat blue = cv::Mat(1, 1, CV_8UC3, cv::Scalar(0, 0, 255));
- blueScreen = new QtFullScreen(sc, true);
+ blueScreen = new QtFullScreen(reso, true);
blueScreen->imShow(blue);
cameraUsed = true;
diff --git a/app/SandboxSetup/qtfullscreen.cpp b/app/SandboxSetup/qtfullscreen.cpp
index 47b8b0bdb5aa2fe3c7fa93ee971cdf758a021e6e..3213a0c1083450ae4d74b4e58e5cbb78be0c851d 100644
--- a/app/SandboxSetup/qtfullscreen.cpp
+++ b/app/SandboxSetup/qtfullscreen.cpp
@@ -1,18 +1,30 @@
#include "qtfullscreen.h"
-QtFullScreen::QtFullScreen(QScreen *_sc, bool isBorderless, QWidget *parent) : QWidget(parent)
+QtFullScreen::QtFullScreen(QRect _resolution, bool _isBorderless, QWidget *parent) : QWidget(parent)
{
+ p = parent;
win = new QDialog;
- screen = _sc;
- win->setGeometry(screen->geometry());
- if(isBorderless)
- win->setWindowState(Qt::WindowFullScreen);
+ resolution = &_resolution;
+ isBorderless = _isBorderless;
+ win->setGeometry(*resolution);
image = new QLabel(win);
image->setGeometry(0, 0 , win->geometry().width(), win->geometry().height());
image->setScaledContents(true);
}
+void QtFullScreen::showEvent(QShowEvent* event){
+
+ QWidget::showEvent( event );
+ if(p != nullptr)
+ p->setFocus();
+}
+
+void QtFullScreen::setGeometry(QRect reso){
+ setGeometry(reso.x(), reso.y(), reso.width(), reso.height());
+}
+
+
void QtFullScreen::setGeometry(int x, int y, int w, int h){
win->setGeometry(x, y, w, h);
image->setGeometry(0 , 0, w, h);
@@ -24,6 +36,9 @@ void QtFullScreen::imShow(cv::Mat frame){
QPixmap px = QPixmap::fromImage(src);
image->setPixmap(px);
+ if(isBorderless && !win->windowState().testFlag(Qt::WindowFullScreen))
+ win->setWindowState(Qt::WindowFullScreen);
+
if(!win->isVisible())
win->show();
}
diff --git a/app/SandboxSetup/qtfullscreen.h b/app/SandboxSetup/qtfullscreen.h
index c09a3fe7386076f2d3aa44877b762e6d12c393ee..1a2a8252c44b3aa99e666b54d154157afbc36cbd 100644
--- a/app/SandboxSetup/qtfullscreen.h
+++ b/app/SandboxSetup/qtfullscreen.h
@@ -11,19 +11,26 @@ class QtFullScreen : public QWidget
{
Q_OBJECT
public:
- explicit QtFullScreen(QScreen *sc, bool isBorderless=false, QWidget *parent = nullptr);
+ explicit QtFullScreen(QRect resolution, bool isBorderless=false, QWidget *parent = nullptr);
void imShow(cv::Mat frame);
void close();
+ void setGeometry(QRect resolution);
void setGeometry(int x, int y, int w, int h);
signals:
public slots:
+protected:
+ void showEvent(QShowEvent* event);
+
private:
QDialog *win;
QLabel *image;
QScreen *screen;
+ QRect *resolution;
+ QWidget *p;
+ bool isBorderless = false;
};
#endif // QTFULLSCREEN_H
diff --git a/inc/beamer.h b/inc/beamer.h
index 83fb6d311a9337cf8b5224574d16a592fad1e51e..15196d800d4b3d90b24c8f047edc5a5c3cd9d2de 100644
--- a/inc/beamer.h
+++ b/inc/beamer.h
@@ -3,9 +3,6 @@
#include <opencv2/opencv.hpp>
#include "camera.h"
-#define ESCAPE_CHAR 27
-
-typedef void (*ShowImageFn)(cv::Mat);
class FrameProcessProfil{
private:
@@ -46,11 +43,14 @@ class Beamer{
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);
-
+
public:
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
+
cv::Point3f getPosition(){ return beamerPosition; };
void setPosition(cv::Point3f pos){ beamerPosition = pos; };
@@ -66,9 +66,14 @@ class Beamer{
FrameProcessProfil* getProfil(){ return &profil; };
void setProfil(FrameProcessProfil p){ profil = p; };
- int findBeamerFrom(Camera camera, void (*showImage)(cv::Mat));
+ int findBeamerFrom(Camera *camera);
cv::Mat editContrast(cv::Mat image, double contrast, int brightness);
- std::vector<int> findCercleZ(cv::Mat &rgb, double contrast, int brightness, int ratioRadius, int upperMinThreshold, int lowerMinThreshold);
+ cv::Point3f deprojectPixel(cv::Point3i circle, cv::Mat *depth, Camera *camera);
+ std::vector<cv::Point2i> getCrossList();
+ cv::Mat getCrossFrame(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> findCercleZ(cv::Mat &rgb, double contrast, int brightness, int ratioRadius, int upperMinThreshold, int lowerMinThreshold);
void printPosition();
};
diff --git a/inc/borderedit.h b/inc/borderedit.h
index dc996005e52a7d0cba973194597e897c0bd28602..15a2796e1a5920f42523ec2f048dd319574ac096 100644
--- a/inc/borderedit.h
+++ b/inc/borderedit.h
@@ -3,8 +3,6 @@
#include <opencv2/opencv.hpp>
-#define ESCAPE_CHAR 27
-
class BorderEdit{
private:
static const int margeClick = 10;
@@ -15,6 +13,7 @@ class BorderEdit{
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);
diff --git a/inc/sandboxSetup.h b/inc/sandboxSetup.h
index cf34f7c99d67f242907435f9672910d3b3b03712..3460544e1c43b9d4a13c2783ee63570c04ec30db 100644
--- a/inc/sandboxSetup.h
+++ b/inc/sandboxSetup.h
@@ -33,12 +33,13 @@ class SandboxSetup{
int loadFrameProcessProfil();
// edit variables of config => not persistant
- 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));
+
+ void defaultCaptureBlueScreen(int delay);
+ int defaultSetupProjection();
+ int defaultSetupBeamerResolution();
+ int defaultSetupBeamerLocation();
};
diff --git a/src/components/beamer.cpp b/src/components/beamer.cpp
index b6aaf36badd02af7fdbc01f4fbfc1710b756f4d8..666b1c1f4411804c30026807f947b33d48fd1ff7 100644
--- a/src/components/beamer.cpp
+++ b/src/components/beamer.cpp
@@ -13,83 +13,111 @@ Beamer::Beamer(){
*/
-int Beamer::findBeamerFrom(Camera camera, ShowImageFn imshow)
-{
- cv::Mat depth;
- cv::Mat rgb;
- cv::Mat frameImage(resolution, CV_8UC3, cv::Scalar(0, 0, 0));
+int Beamer::findBeamerFrom(Camera *camera){
- unsigned int nbPoint = 3; //number of point to calculate 1 vector
- std::vector<cv::Point3d> directions; //vectors calculate for each point
- std::vector<cv::Point3d> bases; //1 point for each vector (to calculate constante d)
- double fact = -20.0;
+ 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::Point> points;
- points.push_back( cv::Point( getWidth() * 5/14, getHeight() * 5/14));
- points.push_back( cv::Point( getWidth() * 5/7 , getHeight() * 3/14));
- points.push_back( cv::Point( getWidth() * 3/14, getHeight() * 4/7 ));
+ 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 (int i = 0; i < (int)points.size(); i++)
- {
- std::vector<cv::Point3f> capturedPoints;
- cv::Point projCross = points[i];
+ for (cv::Point2i cross : crosses){
- while (capturedPoints.size() < nbPoint){
+ std::vector<cv::Point3f> capturedPoints;
+ cv::Mat depth;
+ cv::Mat rgb;
+
+ while( capturedPoints.size() < MAX_LINEAR_LINE_POINTS ){
// capture frame
- camera.captureFrame();
- depth = camera.getDepthFrame();
- rgb = camera.getRGBFrame();
+ camera->captureFrame();
+ depth = camera->getDepthFrame();
+ rgb = camera->getRGBFrame();
// Look for the circle target
- 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);
+ std::vector<cv::Point3i> circle = findCercleZ(rgb, profil.getContrast(), profil.getBrightness(), profil.getRadiusRatio(), profil.getUpperMinThreshold(), profil.getLowerMinThreshold());
// Show black screen with cross
- cv::line(frameImage, cv::Point(projCross.x, 0), cv::Point(projCross.x, frameImage.rows - 1), color, 4);
- cv::line(frameImage, cv::Point(0, projCross.y), cv::Point(frameImage.cols - 1, projCross.y), color, 4);
- cv::putText( frameImage,
- std::to_string(capturedPoints.size() + 1) + "/" + std::to_string(nbPoint),
- cv::Point( getWidth()/2, getHeight()/2 ),
- cv::FONT_HERSHEY_SIMPLEX,
- 1,
- cv::Scalar(255, 255, 255));
- imshow(frameImage);
+ cv::Mat frameImage = getCrossFrame(cross, capturedPoints.size()+1, MAX_LINEAR_LINE_POINTS, !circle.empty());
+
+ cv::imshow(wname, frameImage);
// Wait for interaction
- char keyCode = cv::waitKey(500);
- if (keyCode == ESCAPE_CHAR){
- return 1;
- }
- else if (keyCode == ' ' && !crc.empty()){
- // Point validate
- float coord[2] = {(float)crc[0], (float)crc[1]};
- float z = static_cast<float>(depth.at<uint16_t>(crc[1], crc[0]));
- cv::Point3f p = camera.deprojectPixelToPoint(coord, z / 1000.0);
- capturedPoints.push_back(p);
+ int keypressed = cv::waitKey(500);
+ if(keypressed != -1){
+ char keyCode = (char)keypressed;
+ if (keyCode == ESCAPE_CHAR){
+ return 1;
+ }
+ else if (keyCode == ' '){
+ if(!circle.empty()){
+ capturedPoints.push_back( deprojectPixel(circle.at(0), &depth, camera) );
+ }
+ }
}
-
- // clear frame
- frameImage.setTo(cv::Scalar(0, 0, 0));
}
- cv::Vec6f line;
- cv::fitLine(capturedPoints, line, CV_DIST_L2, 0, 0.01, 0.01);
- directions.push_back(cv::Point3d(line[3] * fact, line[4] * fact, line[5] * fact));
- bases.push_back(cv::Point3d(line[0], line[1], line[2]));
+ findLinearLineFrom(&capturedPoints, &bases, &directions);
}
- cv::Point3d beamerPoint = approximatePosition(directions, bases);
- //set beamer position
- beamerPosition.x = (float)beamerPoint.x;
- beamerPosition.y = (float)beamerPoint.y;
- beamerPosition.z = (float)beamerPoint.z;
+ setPosition( (cv::Point3f)approximatePosition(&bases, &directions) );
+
+ cv::destroyAllWindows();
return 0;
}
+cv::Point3f Beamer::deprojectPixel(cv::Point3i circle, cv::Mat *depth, Camera *camera){
+ float coord[2] = {(float)circle.x, (float)circle.y};
+ float z = static_cast<float>(depth->at<uint16_t>(circle.y, circle.x));
+ return camera->deprojectPixelToPoint(coord, z / 1000.0);
+}
+
+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);
+}
+
+std::vector<cv::Point2i> Beamer::getCrossList(){
+
+ std::vector<cv::Point2i> points;
+
+ points.push_back( cv::Point( getWidth() * 5/14, getHeight() * 5/14));
+ points.push_back( cv::Point( getWidth() * 5/7 , getHeight() * 3/14));
+ points.push_back( cv::Point( getWidth() * 3/14, getHeight() * 4/7 ));
+
+ return points;
+}
+
+
+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 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::putText( frameImage,
+ std::to_string(step) + "/" + std::to_string(max),
+ cv::Point( getWidth()/2, getHeight()/2 ),
+ cv::FONT_HERSHEY_SIMPLEX,
+ 1,
+ cv::Scalar(255, 255, 255));
+ return frameImage;
+}
void Beamer::printPosition(){
cv::Point3f pos = getPosition();
@@ -181,7 +209,7 @@ cv::Mat Beamer::editContrast(cv::Mat image, double contrast, int brightness){
return new_image;
}
-std::vector<int> Beamer::findCercleZ(cv::Mat &rgb, double contrast, int brightness, int ratioRadius, int upperMinThreshold, int lowerMinThreshold)
+std::vector<cv::Point3i> Beamer::findCercleZ(cv::Mat &rgb, double contrast, int brightness, int ratioRadius, int upperMinThreshold, int lowerMinThreshold)
{
cv::Mat src_gray;
cv::cvtColor(rgb, src_gray, CV_BGR2GRAY);
@@ -199,33 +227,33 @@ std::vector<int> Beamer::findCercleZ(cv::Mat &rgb, double contrast, int brightne
cv::HoughCircles(src_gray, circles, CV_HOUGH_GRADIENT, 1, minRadius, (double)upperMinThreshold, (double)lowerMinThreshold, 0, 0);
//doit tester si le cercle est bon (rayon);
- std::vector<int> result;
+ std::vector<cv::Point3i> result;
if (!circles.empty())
{
- for (int i = 0; i < 3; i++)
- {
- result.push_back(round(circles[0][i]));
- }
+ cv::Vec3f first = circles[0];
+ result.push_back( cv::Point3i(round(first[0]), round(first[1]), round(first[2])) );
}
return result;
}
-cv::Point3d Beamer::approximatePosition(std::vector<cv::Point3d> directions, std::vector<cv::Point3d> bases){
+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;
- LineLineIntersect(directions[0], bases[0], directions[1], bases[1], &pa, &pb, &mua, &mub);
- beamerPoints.push_back(pa);
- beamerPoints.push_back(pb);
- LineLineIntersect(directions[0], bases[0], directions[2], bases[2], &pa, &pb, &mua, &mub);
- beamerPoints.push_back(pa);
- beamerPoints.push_back(pb);
- LineLineIntersect(directions[1], bases[1], directions[2], bases[2], &pa, &pb, &mua, &mub);
- beamerPoints.push_back(pa);
- beamerPoints.push_back(pb);
+ int selected[3][2] = { {0,1}, {0,2}, {1,2} };
+
+ for(int i=0; i < 3; i++){
+ LineLineIntersect( directions->at(selected[i][0]),
+ bases->at(selected[i][0]),
+ directions->at(selected[i][1]),
+ bases->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++)
diff --git a/src/lib/sandboxSetup.cpp b/src/lib/sandboxSetup.cpp
index ed72f4cb94432887ccab6fc3973e43621abc6e75..246c8258de8c07a17be57839c45cc083d563e603 100644
--- a/src/lib/sandboxSetup.cpp
+++ b/src/lib/sandboxSetup.cpp
@@ -5,6 +5,10 @@ SandboxSetup::SandboxSetup(){
}
+//
+// PUBLIC
+//
+
// return 1 when config can't be saved in file
int SandboxSetup::saveConfigFrom(char *path){
@@ -36,12 +40,31 @@ int SandboxSetup::loadFrameProcessProfil(){
}
+void SandboxSetup::setupAdjustMatrix(std::vector<cv::Point> rectPoints, cv::Point center){
+
+ // Set adjusting matrix for the projection
+ 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);
+}
+
+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::setupBeamerResolution(){
+int SandboxSetup::defaultSetupBeamerResolution(){
int width = 0;
int height = 0;
@@ -64,16 +87,16 @@ int SandboxSetup::setupBeamerResolution(){
// return 1 when user exits process
-int SandboxSetup::setupBeamerLocation(void (*showImage)(cv::Mat)){
+int SandboxSetup::defaultSetupBeamerLocation(){
- return beamer.findBeamerFrom(camera, showImage);
+ return beamer.findBeamerFrom(&camera);
}
// return 1 when user exits process
-int SandboxSetup::setupProjection(){
+int SandboxSetup::defaultSetupProjection(){
- captureBlueScreen(300);
+ defaultCaptureBlueScreen(300);
cv::Mat frameData = camera.getDepthFrame();
cv::Mat coloredFrame = camera.getRGBFrame();
@@ -99,7 +122,7 @@ int SandboxSetup::setupProjection(){
}
-void SandboxSetup::captureBlueScreen(int delay){
+void SandboxSetup::defaultCaptureBlueScreen(int delay){
// Blue screen
char windowName[] = "BlueScreen";
@@ -115,23 +138,10 @@ void SandboxSetup::captureBlueScreen(int delay){
}
-void SandboxSetup::setupAdjustMatrix(std::vector<cv::Point> rectPoints, cv::Point center){
-
- // Set adjusting matrix for the projection
- 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);
-}
-
-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
-}
+//
+// PRIVATE
+//
double SandboxSetup::toDegrees(double radians){