diff --git a/app/SandboxSetup/beamerlocationgui.cpp b/app/SandboxSetup/beamerlocationgui.cpp
index f655bc70cb7666826d42a3853b20c8fc210ba0c2..213a2a1b436b9a9e989f17abefc02a79b30fb71c 100644
--- a/app/SandboxSetup/beamerlocationgui.cpp
+++ b/app/SandboxSetup/beamerlocationgui.cpp
@@ -152,7 +152,7 @@ void BeamerLocationGui::userValidePoint(){
// enough points to perform linear regression and move into next step
if(capturedPoints.size() >= beamer->MAX_LINEAR_LINE_POINTS){
- beamer->findLinearLineFrom(&capturedPoints, &bases, &directions);
+ beamer->findLinearLine(&capturedPoints, &bases, &directions);
capturedPoints.clear();
stepCross++;
diff --git a/app/SandboxSetup/beamerlocationgui.ui b/app/SandboxSetup/beamerlocationgui.ui
index 6bb6fc48258fd56b02b446aae0a552c959226e7d..135e9bc5d49177ffbfb11bd4f96342a66b08f521 100644
--- a/app/SandboxSetup/beamerlocationgui.ui
+++ b/app/SandboxSetup/beamerlocationgui.ui
@@ -7,7 +7,7 @@
<x>0</x>
<y>0</y>
<width>632</width>
- <height>639</height>
+ <height>661</height>
</rect>
</property>
<property name="windowTitle">
@@ -17,7 +17,7 @@
<property name="geometry">
<rect>
<x>240</x>
- <y>570</y>
+ <y>600</y>
<width>131</width>
<height>51</height>
</rect>
@@ -45,7 +45,7 @@
<x>40</x>
<y>360</y>
<width>541</width>
- <height>201</height>
+ <height>231</height>
</rect>
</property>
<property name="readOnly">
@@ -62,7 +62,8 @@ p, li { white-space: pre-wrap; }
<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p>
<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Note :</p>
<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"> - The little square at the center will change from red to green when it detects the target.</p>
-<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"> - For each point you validate, change the height of your target to not save the same position twice in the process.</p></body></html></string>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"> - For each point you validate, change the height of your target to not save the same position twice in the process.</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"> - If the detection of the target fail or is inconsistent (maybe due to the square passing to green), go back and adjust the parameters</p></body></html></string>
</property>
</widget>
<widget class="QLabel" name="label_2">
diff --git a/app/SandboxSetup/camerafocusgui.cpp b/app/SandboxSetup/camerafocusgui.cpp
index 86349965ba5d0c3d5227896e96db14870e3ea593..724ebdaaf6467ae38af4739c0d6fd24c81f1951e 100644
--- a/app/SandboxSetup/camerafocusgui.cpp
+++ b/app/SandboxSetup/camerafocusgui.cpp
@@ -44,6 +44,7 @@ void CameraFocusGui::showEvent(QShowEvent *event){
cv::Mat black = cv::Mat(setup->getBeamer()->getHeight(), setup->getBeamer()->getWidth(), CV_8UC3, cv::Scalar(0, 0, 0));
cv::line(black, cv::Point(black.cols/2, 0), cv::Point(black.cols/2, black.rows-1), cv::Scalar(255, 0, 0), 4);
cv::line(black, cv::Point(0, black.rows/2), cv::Point(black.cols-1, black.rows/2), cv::Scalar(255, 0, 0), 4);
+ cv::rectangle(black, cv::Point(black.cols/2 -10, black.rows/2 -10), cv::Point(black.cols/2 +10, black.rows/2 +10), cv::Scalar(0, 180, 0), cv::FILLED, 8, 0 );
blackScreen->editGeometry(mg->getResolution());
blackScreen->imShow(black);
frameTimer->start(100);
@@ -98,6 +99,7 @@ void CameraFocusGui::refreshFrame(){
// Preview image for the user
cv::cvtColor(rgb, gray, CV_BGR2GRAY);
+ cv::GaussianBlur(gray, gray, cv::Size(9, 9), 2, 2);
gray = setup->getBeamer()->editContrast(gray, (double)profil->getContrast(), (double)profil->getBrightness());
cv::Canny(gray, cannyGray, profil->getCannyEdgeThreshold(), profil->getCannyEdgeThreshold()/2);
diff --git a/app/SandboxSetup/camerafocusgui.ui b/app/SandboxSetup/camerafocusgui.ui
index ac84b6fb1bb14708b26df670ac26734cc9ce5dd5..6c48d3ded8dfe116bd73e0df448f0ae35e6b48f1 100644
--- a/app/SandboxSetup/camerafocusgui.ui
+++ b/app/SandboxSetup/camerafocusgui.ui
@@ -39,7 +39,7 @@
<property name="geometry">
<rect>
<x>680</x>
- <y>270</y>
+ <y>260</y>
<width>89</width>
<height>25</height>
</rect>
@@ -100,7 +100,7 @@
<property name="geometry">
<rect>
<x>60</x>
- <y>310</y>
+ <y>290</y>
<width>671</width>
<height>311</height>
</rect>
@@ -389,6 +389,39 @@
</item>
</layout>
</widget>
+ <widget class="QLabel" name="label_6">
+ <property name="geometry">
+ <rect>
+ <x>50</x>
+ <y>610</y>
+ <width>161</width>
+ <height>17</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string>Instructions :</string>
+ </property>
+ </widget>
+ <widget class="QTextEdit" name="txtInstructions">
+ <property name="geometry">
+ <rect>
+ <x>60</x>
+ <y>630</y>
+ <width>671</width>
+ <height>31</height>
+ </rect>
+ </property>
+ <property name="readOnly">
+ <bool>true</bool>
+ </property>
+ <property name="html">
+ <string><!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'Ubuntu'; font-size:11pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Now you can remove the cardboard and adjust the parameters to easily detect the circle target.</p></body></html></string>
+ </property>
+ </widget>
</widget>
<resources/>
<connections/>
diff --git a/app/SandboxSetup/mainwindow.cpp b/app/SandboxSetup/mainwindow.cpp
index 69fa475c92bf387f21181a2154b5d622ba97d9af..2fa7223066ece3d6e30090ee60743c416dfbfedb 100644
--- a/app/SandboxSetup/mainwindow.cpp
+++ b/app/SandboxSetup/mainwindow.cpp
@@ -15,16 +15,16 @@ MainWindow::MainWindow(QWidget *parent) :
init = new InitCameraGui(setup);
mg = new MonitorGui(setup);
pg = new ProjectionGui(setup, mg);
- cf = new CameraFocusGui(setup, mg);
cm = new CroppingMaskGui(setup, mg);
+ cf = new CameraFocusGui(setup, mg);
bl = new BeamerLocationGui(setup, mg);
scfg = new SaveConfigGui(setup);
applist.push_back(init);
applist.push_back(mg);
applist.push_back(pg);
- applist.push_back(cf);
applist.push_back(cm);
+ applist.push_back(cf);
applist.push_back(bl);
applist.push_back(scfg);
@@ -38,8 +38,8 @@ MainWindow::~MainWindow()
{
delete scfg;
delete bl;
- delete cm;
delete cf;
+ delete cm;
delete pg;
delete mg;
delete init;
diff --git a/app/SandboxSetup/mainwindow.ui b/app/SandboxSetup/mainwindow.ui
index 1bed0271cfb6027a6a18489b3fa480750749c02f..5ad209fa47871ccb4f92382ca5c190a34bf6854c 100644
--- a/app/SandboxSetup/mainwindow.ui
+++ b/app/SandboxSetup/mainwindow.ui
@@ -10,7 +10,7 @@
<x>0</x>
<y>0</y>
<width>800</width>
- <height>747</height>
+ <height>789</height>
</rect>
</property>
<property name="focusPolicy">
@@ -26,7 +26,7 @@
<x>0</x>
<y>50</y>
<width>801</width>
- <height>621</height>
+ <height>661</height>
</rect>
</property>
<layout class="QVBoxLayout" name="apps"/>
@@ -38,7 +38,7 @@
<property name="geometry">
<rect>
<x>650</x>
- <y>680</y>
+ <y>720</y>
<width>89</width>
<height>25</height>
</rect>
@@ -54,7 +54,7 @@
<property name="geometry">
<rect>
<x>530</x>
- <y>680</y>
+ <y>720</y>
<width>89</width>
<height>25</height>
</rect>
@@ -70,7 +70,7 @@
<property name="geometry">
<rect>
<x>330</x>
- <y>680</y>
+ <y>720</y>
<width>89</width>
<height>25</height>
</rect>
diff --git a/app/SandboxSetup/monitorgui.cpp b/app/SandboxSetup/monitorgui.cpp
index 0f427a489e3cd9cd9816e83b33497e38561a02df..d2dbd2a6aae63cfec673a886e1a93a49aecab71c 100644
--- a/app/SandboxSetup/monitorgui.cpp
+++ b/app/SandboxSetup/monitorgui.cpp
@@ -1,7 +1,5 @@
#include "monitorgui.h"
#include "ui_monitorgui.h"
-#include <X11/Xlib.h>
-#include <X11/extensions/Xrandr.h>
MonitorGui::MonitorGui(SandboxSetup *_setup, QWidget *parent) :
SubApp("Monitors", "Cancel resolution", parent),
@@ -13,7 +11,7 @@ MonitorGui::MonitorGui(SandboxSetup *_setup, QWidget *parent) :
std::string path = ".monitors.tmp";
monitors = std::map<std::string, std::vector<std::string>>();
- initMonitorMap();
+ initMonitorMapWithFile(path);
QList<QScreen*> screens = QApplication::screens();
for(int i=0; i<screens.size(); i++){
@@ -82,42 +80,17 @@ void MonitorGui::on_cbxOutputs_currentIndexChanged(int index)
showMonitorsScreenshot(sc);
}
-void MonitorGui::initMonitorMap(){
-
- Display *dp = XOpenDisplay(NULL);
- if(dp){
- XRRScreenResources *screen = XRRGetScreenResources (dp, DefaultRootWindow(dp));
-
- // 4 display ports
- // physical caracteristics ?
- for(int i=0; i<screen->ncrtc; i++){
- XRRCrtcInfo *info = XRRGetCrtcInfo (dp, screen, screen->crtcs[i]);
-
- // 2 display port ON (main monitor + beamer)
- // display connected with modes vs display unconnected with no modes ?
- for(int j=0; j<info->noutput; j++){
-
- XRROutputInfo *output = XRRGetOutputInfo(dp, screen, info->outputs[j]);
- if(output->nmode > 0){
- std::string key = std::string(output->name);
- monitors[key] = std::vector<std::string>();
-
- for(int k=0; k<output->nmode; k++){
- XRRModeInfo resolution = screen->modes[k];
- std::string res = std::string(std::to_string(resolution.width) + "x" + std::to_string(resolution.height));
-
- if(std::find(monitors[key].begin(), monitors[key].end(), res) == monitors[key].end())
- monitors[key].push_back(res);
- }
- }
- XRRFreeOutputInfo(output);
- }
- XRRFreeCrtcInfo(info);
- }
- XRRFreeScreenResources(screen);
- XCloseDisplay(dp);
- }
+void MonitorGui::initMonitorMapWithFile(std::string path){
+
+ // Save in file the monitors and their resolutions
+ int err = system( ("xrandr | sed -n '1!p' > " + path).c_str() );
+ if(err){
+ std::cout << "Couldn't get screens and their resolutions" << std::endl;
+ exit(err);
+ }
+ loadResolutionsFromFile(path);
+ std::remove(path.c_str());
}
// load resolutions into GUI
@@ -146,6 +119,31 @@ std::vector<std::string> MonitorGui::splitResolution(std::string s){
return res;
}
+bool MonitorGui::isResolution(std::string s){
+ return splitResolution(s).size() == 2;
+}
+
+void MonitorGui::loadResolutionsFromFile(std::string path){
+ // Get monitors and their resolutions into a Map
+ std::ifstream infile(path);
+ std::string line;
+ std::string key;
+
+ while (std::getline(infile, line)){
+
+ std::istringstream iss(line);
+ std::string l;
+ iss >> l;
+
+ if(!isResolution(l)){
+ key = l;
+ monitors[key] = std::vector<std::string>();
+ }else{
+ monitors[key].push_back(l);
+ }
+ }
+}
+
void MonitorGui::showMonitorsScreenshot(QScreen *screen){
QPixmap px = screen->grabWindow(0);
ui->lblScreenshot->setPixmap(px);
diff --git a/app/SandboxSetup/monitorgui.h b/app/SandboxSetup/monitorgui.h
index 642272206139d76c9458033e49cf20e47908e57a..6d9c0856dc6596c0963478b1a031d96afca7ed68 100644
--- a/app/SandboxSetup/monitorgui.h
+++ b/app/SandboxSetup/monitorgui.h
@@ -50,8 +50,10 @@ private:
QScreen* getMonitor();
void loadResolutionsOf(QScreen* screen);
std::vector<std::string> splitResolution(std::string s);
+ bool isResolution(std::string s);
+ void loadResolutionsFromFile(std::string path);
+ void initMonitorMapWithFile(std::string path);
void showMonitorsScreenshot(QScreen *screen);
- void initMonitorMap();
};
#endif // MONITORGUI_H
diff --git a/inc/beamer.h b/inc/beamer.h
index b881f128ec5418eb28a9fbf7b9707c40c012fbd2..d5dff5d5eaf1106bc9ae3d273923feea258891a7 100644
--- a/inc/beamer.h
+++ b/inc/beamer.h
@@ -39,7 +39,7 @@ class Beamer{
std::vector<cv::Point2i> getCrossList();
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);
+ void findLinearLine(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);
void printPosition();
diff --git a/inc/sandbox.h b/inc/sandbox.h
index c07945d215ac4d6935f8341999ab39ff3b9735bb..5fc8e3b407c18a31d675504246d8cbed1e4e9a1c 100644
--- a/inc/sandbox.h
+++ b/inc/sandbox.h
@@ -7,6 +7,10 @@
#include "beamer.h"
#include "sandboxConfig.h"
+/*!
+* @class Sandbox
+* API to build augmented reality applications which use the configuration file
+*/
class Sandbox{
private:
char *defaultConfigFilePath = (char *)"./sandbox_conf.yaml";
@@ -23,13 +27,55 @@ class Sandbox{
Beamer* getBeamer(){ return beamer; };
Projection* getProjection(){ return projection; };
+ /*!
+ * Initialize the components needed for the applications
+ * @return int indicating if there was an error, where 0 indicates no error
+ */
int init();
+
+ /*!
+ * Capture a frame from the camera, this update the depth buffer and the color buffer of the camera
+ */
void captureFrame();
+
+ /*!
+ * Get a copy of the colored RGB frame from the buffer
+ * @return Colored frame represented by a matrix filled of 3 bytes values
+ */
cv::Mat_<cv::Vec3b> getColorFrame();
+
+ /*!
+ * Get a copy of the depth frame from the buffer with values in meter
+ * @return Depth frame represented by a matrix filled of float values
+ */
cv::Mat_<float> getDepthFrame();
+
+ /*!
+ * Adjust the frame to the topology by taking a picture with the depth camera
+ * @param frame Image to be adapted on the sandbox
+ * @return The image adjusted to the topology in RGB
+ */
cv::Mat_<cv::Vec3b> adjustProjection(cv::Mat_<cv::Vec3b> &frame);
+
+ /*!
+ * Adjust the frame to the topology by adapting to the topology passed with the frame
+ * @param frame Image to be adapted on the sandbox
+ * @param depth Depth frame representing the topology of the sand
+ * @return The image adjusted to the topology in RGB
+ */
cv::Mat_<cv::Vec3b> adjustProjection(cv::Mat_<cv::Vec3b> &frame, cv::Mat_<float> &depth);
+
+ /*!
+ * Load the configuration from the file at the default location
+ * @return int indicating if there was an error, where 0 indicates no error
+ */
int loadConfig();
+
+ /*!
+ * Load the configuration from the file at the specified location
+ * @param path to the configuration file
+ * @return int indicating if there was an error, where 0 indicates no error
+ */
int loadConfig(char *path);
};
diff --git a/inc/sandboxSetup.h b/inc/sandboxSetup.h
index 5449a2ae17cd8408ce3ffa3fb34ee6a876dd5a85..6a436c30aa42d6a0e5e32f440df8e1e99a56aaa9 100644
--- a/inc/sandboxSetup.h
+++ b/inc/sandboxSetup.h
@@ -7,6 +7,10 @@
#include "camera.h"
#include "sandboxConfig.h"
+/*!
+* @class SandboxSetup
+* API to build setup applications which will generate the configuration file
+*/
class SandboxSetup{
private:
char *defaultConfigFilePath = (char *)"./sandbox_conf.yaml";
@@ -27,17 +31,57 @@ class SandboxSetup{
Beamer* getBeamer(){ return beamer; };
- // save config in file => persistant
+ /*!
+ * Save the configuration in the file at the path indicated
+ * @param path Location of the file will be save
+ * @return int indicating if there was an error, where 0 indicates no error
+ */
int saveConfig(char *path);
+
+ /*!
+ * Save the configuration in the file at default path
+ * @return int indicating if there was an error, where 0 indicates no error
+ */
int saveConfig();
+ /*!
+ * Load the FrameProcessProfil from a specific file
+ * @param path Location of the file to read from
+ * @return int indicating if there was an error, where 0 indicates no error
+ */
int loadFrameProcessProfil(char *path);
+
+ /*!
+ * Load the FrameProcessProfil from the default location
+ * @return int indicating if there was an error, where 0 indicates no error
+ */
int loadFrameProcessProfil();
+
+ /*!
+ * Load the CroppingMask and the AdjusingMatrix from a specific file
+ * @param path Location of the file to read from
+ * @return int indicating if there was an error, where 0 indicates no error
+ */
int loadCroppingMaskAndAdjustingMatrix(char *path);
+
+ /*!
+ * Load the FrameProcessProfil from the default location
+ * @return int indicating if there was an error, where 0 indicates no error
+ */
int loadCroppingMaskAndAdjustingMatrix();
- // edit variables of config => not persistant
+ /*!
+ * Find the adjusting matrix from the coordinates of the corner of the rectangle and the center of rotation
+ * @param rectPoints List of the points forming the rectangle
+ * @param center Coordinates of the center of rotation
+ */
void setupAdjustMatrix(std::vector<cv::Point2i> rectPoints, cv::Point2i center);
+
+ /*!
+ * Find the cropping mask from the coordinates of the corner of the rectangle and the center of rotation by applying the rotation on the corners
+ * @param rectPoints List of the points forming the rectangle
+ * @param center Coordinates of the center of rotation
+ */
void setupCroppingMask(std::vector<cv::Point2i> rectPoints, cv::Point2i center);
};
diff --git a/src/components/beamer.cpp b/src/components/beamer.cpp
index f1eefbe5bf428a166077f2dd4f3b2cd416c876b3..d5a4f5cc9e882a159a5f096c94d7b8c67c6a656e 100644
--- a/src/components/beamer.cpp
+++ b/src/components/beamer.cpp
@@ -55,12 +55,12 @@ cv::Mat Beamer::editContrast(cv::Mat image, double contrast, int brightness){
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();
+ 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);
src_gray = editContrast(src_gray, (double)contrast, (double)brightness);
/// Apply the Hough Transform to find the circles
@@ -88,7 +88,7 @@ cv::Mat Beamer::buildCrossFrame(cv::Point projectedCross, int step, int max, boo
cv::Mat frameImage(resolution, CV_8UC3, cv::Scalar(0, 0, 0));
cv::Scalar red = cv::Scalar(0, 0, 255);
- cv::Scalar color = (circlesFound) ? cv::Scalar(0, 255, 0) : cv::Scalar(0, 0, 255);
+ cv::Scalar color = (circlesFound) ? cv::Scalar(0, 180, 0) : cv::Scalar(0, 0, 255);
cv::line(frameImage, cv::Point(projectedCross.x, 0), cv::Point(projectedCross.x, frameImage.rows - 1), red, 4);
cv::line(frameImage, cv::Point(0, projectedCross.y), cv::Point(frameImage.cols - 1, projectedCross.y), red, 4);
@@ -111,7 +111,7 @@ cv::Mat Beamer::buildCrossFrame(cv::Point projectedCross, int step, int max, boo
}
-void Beamer::findLinearLineFrom(std::vector<cv::Point3f> *capturedPoints, std::vector<cv::Point3d> *bases, std::vector<cv::Point3d> *directions){
+void Beamer::findLinearLine(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);