From bcddee2ce84ac1ca343f7ab070c8215dadece926 Mon Sep 17 00:00:00 2001
From: "simon.fanetti" <simon.fanetti@etu.hesge.ch>
Date: Wed, 24 Jun 2020 19:13:56 +0200
Subject: [PATCH] fixe BeamerLocation routine
---
app/SandboxSetup/beamerlocationgui.cpp | 44 ++++++++++++++++----------
app/SandboxSetup/beamerlocationgui.h | 3 +-
2 files changed, 30 insertions(+), 17 deletions(-)
diff --git a/app/SandboxSetup/beamerlocationgui.cpp b/app/SandboxSetup/beamerlocationgui.cpp
index 3b2c2b8..3e0d143 100644
--- a/app/SandboxSetup/beamerlocationgui.cpp
+++ b/app/SandboxSetup/beamerlocationgui.cpp
@@ -21,6 +21,7 @@ BeamerLocationGui::BeamerLocationGui(SandboxSetup *_setup, MonitorGui *_mg, QWid
winFullScreen = new QtFullScreen(mg->getResolution(), true, this);
ui->setupUi(this);
ui->txtInstructions->setAlignment(Qt::AlignJustify);
+ mut = new QMutex();
myThread = new RefreshFrame(this);
timer = new QTimer(this);
connect(timer, &QTimer::timeout, this, &BeamerLocationGui::refreshRoutine);
@@ -30,6 +31,7 @@ BeamerLocationGui::~BeamerLocationGui()
{
delete timer;
delete myThread;
+ delete mut;
delete winFullScreen;
delete ui;
}
@@ -71,7 +73,7 @@ void BeamerLocationGui::startRoutine(){
directions = std::vector<cv::Point3d>();
bases = std::vector<cv::Point3d>();
capturedPoints = std::vector<cv::Point3f>();
- circle = std::vector<cv::Point3i>();
+ circles = std::vector<cv::Point3i>();
updateLabelSteps();
if(myThread->isRunning()){
@@ -95,32 +97,35 @@ void BeamerLocationGui::routineFrame(){
depth = camera->getDepthFrame();
rgb = camera->getColorFrame();
- // Look for the circle target
+ // Look for the circles target
double minDist = rgb.cols*(double)profil->getMinDistance()/100;
double minRadius = (profil->getMinRadius()>0) ? rgb.cols*(double)profil->getMinRadius()/100 : 0;
double maxRadius = (profil->getMaxRadius()>0) ? rgb.cols*(double)profil->getMaxRadius()/100 : 0;
- circle = beamer->findCircles( rgb,
- profil->getContrast(),
- profil->getBrightness(),
- minDist,
- (int)profil->getCannyEdgeThreshold(),
- (int)profil->getHoughAccThreshold(),
- minRadius,
- maxRadius );
+ std::vector<cv::Point3i> tmp_circles = beamer->findCircles( rgb,
+ profil->getContrast(),
+ profil->getBrightness(),
+ minDist,
+ (int)profil->getCannyEdgeThreshold(),
+ (int)profil->getHoughAccThreshold(),
+ minRadius,
+ maxRadius );
+ mut->lock();
+ circles = tmp_circles;
+ mut->unlock();
// preview from the camera's POV
cv::Mat gray, frameDisplayed;
cv::cvtColor(rgb, gray, CV_BGR2GRAY);
gray = setup->getBeamer()->editContrast(gray, (double)profil->getContrast(), (double)profil->getBrightness());
cv::cvtColor(gray, frameDisplayed, CV_GRAY2RGB);
- if(!circle.empty()){
- cv::circle(frameDisplayed, cv::Point(circle[0].x, circle[0].y), circle[0].z, cv::Scalar(0,255,0), 3);
+ if(!circles.empty()){
+ cv::circle(frameDisplayed, cv::Point(circles[0].x, circles[0].y), circles[0].z, cv::Scalar(0,255,0), 3);
}
QImage img = QImage((uchar *)frameDisplayed.data, (int)frameDisplayed.cols, (int)frameDisplayed.rows, static_cast<int>(frameDisplayed.step.buf[0]), QImage::Format_RGB888);
QPixmap px = QPixmap::fromImage(img);
// Show black screen with cross
- cv::Mat frameImage = beamer->getCrossFrame(cross, capturedPoints.size()+1, beamer->MAX_LINEAR_LINE_POINTS, !circle.empty());
+ cv::Mat frameImage = beamer->getCrossFrame(cross, capturedPoints.size()+1, beamer->MAX_LINEAR_LINE_POINTS, !circles.empty());
cv::cvtColor(frameImage, frameImage, CV_BGR2RGB);
ui->lblFrame->setPixmap(px);
@@ -131,9 +136,17 @@ void BeamerLocationGui::routineFrame(){
void BeamerLocationGui::userValidePoint(){
- if(!circle.empty()){
+ std::vector<cv::Point3i> tmp_circles;
+ mut->lock();
+ if(!circles.empty()){
+ tmp_circles = circles;
+ circles.clear();
+ }
+ mut->unlock();
- capturedPoints.push_back( beamer->deprojectPixel(cv::Point2i(circle.at(0).x, circle.at(0).y), &depth, camera) );
+ if(!tmp_circles.empty()){
+ cv::Point2i circle_pos = cv::Point2i(tmp_circles.at(0).x, tmp_circles.at(0).y);
+ capturedPoints.push_back( beamer->deprojectPixel(circle_pos, &depth, camera) );
updateLabelSteps();
// enough points to perform linear regression and move into next step
@@ -141,7 +154,6 @@ void BeamerLocationGui::userValidePoint(){
beamer->findLinearLineFrom(&capturedPoints, &bases, &directions);
capturedPoints.clear();
- circle.clear();
stepCross++;
if((uint)stepCross >= crosses.size()){
diff --git a/app/SandboxSetup/beamerlocationgui.h b/app/SandboxSetup/beamerlocationgui.h
index 3010601..f095bdd 100644
--- a/app/SandboxSetup/beamerlocationgui.h
+++ b/app/SandboxSetup/beamerlocationgui.h
@@ -63,7 +63,8 @@ private:
std::vector<cv::Point3f> capturedPoints;
cv::Mat depth;
cv::Mat rgb;
- std::vector<cv::Point3i> circle;
+ QMutex *mut;
+ std::vector<cv::Point3i> circles;
int stepCross = 0;
QTimer *timer;
RefreshFrame *myThread;
--
GitLab