From e0079671ee191a703749dd70a2ce3abc8a520cc0 Mon Sep 17 00:00:00 2001
From: "simon.fanetti" <simon.fanetti@etu.hesge.ch>
Date: Fri, 8 May 2020 17:50:34 +0200
Subject: [PATCH] cleaning
---
inc/beamer.h | 38 +++++++++++++++++++-------------------
inc/beamerProjection.h | 29 ++++++++++++++++-------------
inc/camera.h | 12 ++++--------
inc/sandbox.h | 1 -
sandbox.h | 1 -
src/components/beamer.cpp | 20 +++++++-------------
src/components/camera.cpp | 36 ++++++------------------------------
src/lib/sandbox.cpp | 8 ++++----
src/lib/sandboxSetup.cpp | 10 +++++-----
9 files changed, 61 insertions(+), 94 deletions(-)
diff --git a/inc/beamer.h b/inc/beamer.h
index ab68548..e614108 100644
--- a/inc/beamer.h
+++ b/inc/beamer.h
@@ -5,28 +5,28 @@
#define ESCAPE_CHAR 27
-class Beamer
-{
-private:
- const char *BEAMER_POSITION_FILE = "./beamer.dat";
- cv::Point3f beamerPosition;
- cv::Size resolution = cv::Size(256,144);
+class Beamer{
+ private:
+ const char *BEAMER_POSITION_FILE = "./beamer.dat";
+ cv::Point3f beamerPosition;
+ cv::Size resolution = cv::Size(256,144);
- cv::Point3f intersection(cv::Vec3f v1, cv::Point3f p1, cv::Vec3f v2, cv::Point3f p2, cv::Vec3f v3, cv::Point3f p3, bool &isFound);
- std::vector<int> findCercleZ(cv::Mat &rgb);
- cv::Point3d approximatePosition(std::vector<cv::Point3d> points1, std::vector<cv::Point3d> points2);
+ cv::Point3f intersection(cv::Vec3f v1, cv::Point3f p1, cv::Vec3f v2, cv::Point3f p2, cv::Vec3f v3, cv::Point3f p3, bool &isFound);
+ std::vector<int> findCercleZ(cv::Mat &rgb);
+ cv::Point3d approximatePosition(std::vector<cv::Point3d> points1, std::vector<cv::Point3d> points2);
-public:
- Beamer();
+ public:
+ Beamer();
- cv::Point3f getPosition(){ return beamerPosition; };
- void setPosition(cv::Point3f pos){ beamerPosition = pos; };
- void setWidth(int w){ resolution.width = w; };
- int getWidth(){ return resolution.width; };
- void setHeight(int h){ resolution.height = h; };
- int getHeight(){ return resolution.height; };
+ cv::Point3f getPosition(){ return beamerPosition; };
+ void setPosition(cv::Point3f pos){ beamerPosition = pos; };
+ void setWidth(int w){ resolution.width = w; };
+ int getWidth(){ return resolution.width; };
+ void setHeight(int h){ resolution.height = h; };
+ int getHeight(){ return resolution.height; };
- int findBeamerFrom(Camera camera);
- void printPosition();
+ int findBeamerFrom(Camera camera);
+ void printPosition();
+
};
#endif
diff --git a/inc/beamerProjection.h b/inc/beamerProjection.h
index bd28fd0..18a019c 100644
--- a/inc/beamerProjection.h
+++ b/inc/beamerProjection.h
@@ -5,19 +5,22 @@
#include "beamer.h"
#include "camera.h"
-class BeamerProjection
-{
-private:
- const char *wndname = (char *)"Sandbox";
- cv::Mat adjustingMatrix;
- cv::Point2i adjustPixel(int i, int j, float z, Camera camera, cv::Point3f beamer);
+class BeamerProjection{
+ private:
+ const char *wndname = (char *)"Sandbox";
+ cv::Mat adjustingMatrix;
+
+ cv::Point2i adjustPixel(int i, int j, float z, Camera camera, cv::Point3f beamer);
+
+ public:
+ BeamerProjection();
+
+ void setAdjustingMatrix(cv::Mat matrix){ matrix.clone(); }
+ cv::Mat getAdjustingMatrix(){ return adjustingMatrix.clone(); }
+
+ cv::Point2i rotatePixel(cv::Point2i pixel);
+ void adjustFrame(cv::Mat &depth, cv::Mat &src, cv::Mat &dst, Camera camera, cv::Point3f beamer);
+ void printAdjustingMatrix();
-public:
- BeamerProjection();
- cv::Point2i rotatePixel(cv::Point2i pixel);
- void adjustFrame(cv::Mat &depth, cv::Mat &src, cv::Mat &dst, Camera camera, cv::Point3f beamer);
- void setAdjustingMatrix(cv::Mat matrix){ matrix.clone(); }
- cv::Mat getAdjustingMatrix(){ return adjustingMatrix.clone(); }
- void printAdjustingMatrix();
};
#endif
\ No newline at end of file
diff --git a/inc/camera.h b/inc/camera.h
index 9c617e7..6f68e4c 100644
--- a/inc/camera.h
+++ b/inc/camera.h
@@ -5,13 +5,12 @@
#include <librealsense2/rsutil.h>
#include <opencv2/opencv.hpp>
-// camera definition : 640x480
+// camera resolution : 640x480
class Camera{
private:
rs2::spatial_filter spatFilter;
rs2::temporal_filter tempFilter;
- rs2::decimation_filter decFilter;
rs2::config cfg;
rs2::pipeline pipe;
rs2::pipeline_profile profile;
@@ -21,16 +20,13 @@ class Camera{
cv::Mat matRGB;
cv::Rect croppingMask;
- void flipMat(cv::Mat &m);
void filterDepthFrame(rs2::depth_frame &frameDepth);
- cv::Mat captureFrame();
- cv::Mat getAverageFrame(int numberFrame);
public:
Camera();
- cv::Mat getDepthFrameAlign(){ return matDepth; };
- cv::Mat getRGBFrameAlign(){ return matRGB.clone(); };
+ cv::Mat getDepthFrame(){ return matDepth; };
+ cv::Mat getRGBFrame(){ return matRGB.clone(); };
void setCroppingMask(cv::Rect mask){ croppingMask = mask; };
cv::Rect getCroppingMask(){ return croppingMask; };
@@ -39,7 +35,7 @@ class Camera{
void stop();
cv::Point3f deprojectPixelToPoint(float coord[], float z1);
cv::Point2i projectPointToPixel(cv::Point3f point3D);
- void captureFramesAlign();
+ void captureFrame();
void printCroppingMask();
};
diff --git a/inc/sandbox.h b/inc/sandbox.h
index bf0a907..d77df2c 100644
--- a/inc/sandbox.h
+++ b/inc/sandbox.h
@@ -24,7 +24,6 @@ class Sandbox{
cv::Mat getRGBFrame();
cv::Mat getDepthFrame();
-
cv::Mat* adjustProjection(cv::Mat* frame);
void showImage(cv::Mat* image);
int loadConfig();
diff --git a/sandbox.h b/sandbox.h
index bf0a907..d77df2c 100644
--- a/sandbox.h
+++ b/sandbox.h
@@ -24,7 +24,6 @@ class Sandbox{
cv::Mat getRGBFrame();
cv::Mat getDepthFrame();
-
cv::Mat* adjustProjection(cv::Mat* frame);
void showImage(cv::Mat* image);
int loadConfig();
diff --git a/src/components/beamer.cpp b/src/components/beamer.cpp
index 0d8da86..c1f6bdb 100644
--- a/src/components/beamer.cpp
+++ b/src/components/beamer.cpp
@@ -44,9 +44,9 @@ int Beamer::findBeamerFrom(Camera camera)
while (capturedPoints.size() < nbPoint){
// capture frame
- camera.captureFramesAlign();
- depth = camera.getDepthFrameAlign();
- rgb = camera.getRGBFrameAlign();
+ camera.captureFrame();
+ depth = camera.getDepthFrame();
+ rgb = camera.getRGBFrame();
// Look for the circle target
std::vector<int> crc = findCercleZ(rgb);
@@ -80,15 +80,10 @@ int Beamer::findBeamerFrom(Camera camera)
frameImage.setTo(cv::Scalar(0, 0, 0));
}
- // check for the end
- if (capturedPoints.size() == nbPoint){
-
- cv::Vec3f dir(capturedPoints[0].x - capturedPoints[1].x, capturedPoints[0].y - capturedPoints[1].y, capturedPoints[0].z - capturedPoints[1].z);
- 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]));
- }
+ 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]));
}
camera.stop();
@@ -208,7 +203,6 @@ std::vector<int> Beamer::findCercleZ(cv::Mat &rgb)
cv::Point3d Beamer::approximatePosition(std::vector<cv::Point3d> directions, std::vector<cv::Point3d> bases){
- // Regression Linéaire
cv::Point3d pa, pb;
double mua;
double mub;
diff --git a/src/components/camera.cpp b/src/components/camera.cpp
index d1772b0..dce1c6c 100644
--- a/src/components/camera.cpp
+++ b/src/components/camera.cpp
@@ -13,8 +13,11 @@ Camera::Camera() {
void Camera::start(){
-
- rs2::log_to_console(RS2_LOG_SEVERITY_ERROR);
+
+ std::remove("./camera.logs");
+ rs2::log_to_file(RS2_LOG_SEVERITY_DEBUG, "./camera.logs");
+
+ //rs2::log_to_console(RS2_LOG_SEVERITY_DEBUG);//RS2_LOG_SEVERITY_ERROR);
spatFilter.set_option(RS2_OPTION_HOLES_FILL, 5);
//cfg.enable_device_from_file("../input/flux/flux5.bag");
profile = pipe.start(cfg);
@@ -37,7 +40,6 @@ void Camera::warmingUp()
{
rs2::frameset data = pipe.wait_for_frames();
auto frameDepth = data.get_depth_frame();
- //frameDepth = decFilter.process(frameDepth);
frameDepth = spatFilter.process(frameDepth);
frameDepth = tempFilter.process(frameDepth);
}
@@ -49,7 +51,7 @@ void Camera::stop(){
}
-void Camera::captureFramesAlign(){
+void Camera::captureFrame(){
rs2::align align(RS2_STREAM_DEPTH);
auto frameset = pipe.wait_for_frames();
@@ -94,35 +96,9 @@ void Camera::printCroppingMask(){
*/
-cv::Mat Camera::captureFrame(){
-
- auto frame = pipe.wait_for_frames();
- auto frameDepth = frame.get_depth_frame();
- filterDepthFrame(frameDepth);
- cv::Mat matFrame(cv::Size(frameDepth.get_width(), frameDepth.get_height()), CV_16UC1, (void *)frameDepth.get_data(), cv::Mat::AUTO_STEP);
- return matFrame;
-}
-
-
void Camera::filterDepthFrame(rs2::depth_frame &frameDepth)
{
- // frameDepth = decFilter.process(frameDepth);
frameDepth = spatFilter.process(frameDepth);
frameDepth = tempFilter.process(frameDepth);
intrinsics = frameDepth.get_profile().as<rs2::video_stream_profile>().get_intrinsics();
}
-
-
-cv::Mat Camera::getAverageFrame(int numberFrame){
-
- cv::Mat averageFrame;
- Camera::captureFrame().copyTo(averageFrame);
- for (int i = 1; i <= numberFrame; i++)
- {
- averageFrame *= i;
- add(averageFrame, Camera::captureFrame(), averageFrame);
- averageFrame /= i + 1;
- }
- return averageFrame;
-}
-
diff --git a/src/lib/sandbox.cpp b/src/lib/sandbox.cpp
index 334b3af..1c74a63 100644
--- a/src/lib/sandbox.cpp
+++ b/src/lib/sandbox.cpp
@@ -15,13 +15,13 @@ Sandbox::Sandbox(){
*/
cv::Mat Sandbox::getRGBFrame(){
- camera.captureFramesAlign();
- return camera.getRGBFrameAlign()(camera.getCroppingMask());
+ camera.captureFrame();
+ return camera.getRGBFrame()(camera.getCroppingMask());
}
cv::Mat Sandbox::getDepthFrame(){
- camera.captureFramesAlign();
- return camera.getDepthFrameAlign()(camera.getCroppingMask());
+ camera.captureFrame();
+ return camera.getDepthFrame()(camera.getCroppingMask());
}
diff --git a/src/lib/sandboxSetup.cpp b/src/lib/sandboxSetup.cpp
index f2d60b6..d77d149 100644
--- a/src/lib/sandboxSetup.cpp
+++ b/src/lib/sandboxSetup.cpp
@@ -33,12 +33,12 @@ int SandboxSetup::setupBeamerResolution(){
int width = 0;
int height = 0;
- std::cout << "Enter width of the beamer's resolution :" << std::endl;
+ 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 beamer's resolution :" << std::endl;
+ std::cout << "Enter height of the frame projected :" << std::endl;
std::cin >> height;
if(std::cin.fail()){
return 1;
@@ -69,9 +69,9 @@ int SandboxSetup::setupProjection(){
// Take picture
camera.start(); // 1 seconde of warming up
- camera.captureFramesAlign();
- cv::Mat frameData = camera.getDepthFrameAlign();
- cv::Mat coloredFrame = camera.getRGBFrameAlign();
+ camera.captureFrame();
+ cv::Mat frameData = camera.getDepthFrame();
+ cv::Mat coloredFrame = camera.getRGBFrame();
cv::Size s = frameData.size();
cv::Point center(s.width / 2, s.height / 2);
camera.stop();
--
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