diff --git a/includes/beamer.h b/includes/beamer.h
index 93eaab6b285dc47c6a6f81f24f8ac35c9c3ad98b..cce6df0a35cc63f00eefc3831fffeeb7eae90f40 100644
--- a/includes/beamer.h
+++ b/includes/beamer.h
@@ -21,5 +21,7 @@ public:
int getWidth(){ return width; };
int getHeight(){ return height; };
void findBeamerFrom(Camera camera);
+
+ void printPosition();
};
#endif
diff --git a/includes/beamerProjection.h b/includes/beamerProjection.h
index 28c11e525d0750f7da376cdc62e21d6ee8b605ff..366b2483aa8826d7e27add5a2a6d9a9658283caf 100644
--- a/includes/beamerProjection.h
+++ b/includes/beamerProjection.h
@@ -16,7 +16,8 @@ public:
cv::Point2i rotatePixel(cv::Point2i pixel);
void adjustFrame(cv::Mat &src, cv::Mat &dst, Camera camera, cv::Point3f beamer);
void adjustFrame(cv::Mat &depth, cv::Mat &src, cv::Mat &dst, Camera camera, cv::Point3f beamer);
- void setAdjustingMatrix(cv::Mat matrix){ adjustingMatrix = matrix.clone(); }
+ 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/includes/camera.h b/includes/camera.h
index e5e0dc4dd229e06d098c284633999f7a17861cec..0cc36ca4b4b669fe24ead233dea9a6e8c9ccbb4f 100644
--- a/includes/camera.h
+++ b/includes/camera.h
@@ -40,5 +40,7 @@ public:
cv::Mat getRGBFrameAlign(){ return matRGB.clone(); };
void setCroppingMask(cv::Rect mask){ croppingMask = mask; };
cv::Rect getCroppingMask(){ return croppingMask; };
+
+ void printCroppingMask();
};
#endif
\ No newline at end of file
diff --git a/includes/controller.h b/includes/controller.h
index 3b85f26306ab4bcb2209bc7c53e9ed75eb720987..2b6f55589224d73a79f7cb619a4867613b1d2a72 100644
--- a/includes/controller.h
+++ b/includes/controller.h
@@ -10,24 +10,26 @@
class Controller
{
- public:
- Controller();
- cv::Mat getRGBFrame();
- cv::Mat getDepthFrame();
- void showImage(cv::Mat* image);
- void loadConfig();
- void loadConfigFrom(char *path);
- void initWindowsFullScreen();
-
private:
static const int ESCAPE_CHAR = 27;
char *defaultConfigFilePath = (char *)"./sandbox_conf.yaml";
- char *defaultWindowsName = (char*) "Image";
+ char *defaultWindowsName = (char*) "ShowApp";
BeamerProjection projection;
Camera camera;
Beamer beamer;
void initWindowsFullScreen(char *windowName);
void showImage(cv::Mat* image, char *windowName);
+
+ public:
+ Controller();
+ cv::Mat getRGBFrame();
+ cv::Mat getDepthFrame();
+ cv::Mat* adjustProjection(cv::Mat* frame);
+ void showImage(cv::Mat* image);
+ int loadConfig();
+ int loadConfigFrom(char *path);
+ void initWindowsFullScreen();
+
};
#endif
diff --git a/includes/sandbox.h b/includes/sandbox.h
index 90e55e5542d5fb07f6dfa081d746349898cbf98a..594fca61a5d463eb666180bb37964fc2d2b69aa0 100644
--- a/includes/sandbox.h
+++ b/includes/sandbox.h
@@ -6,14 +6,17 @@
class Sandbox
{
+ private:
+ Controller controller;
+
public:
Sandbox();
cv::Mat getRGBFrame();
cv::Mat getDepthFrame();
+ cv::Mat* adjustProjection(cv::Mat* frame);
+ void initWindowsFullScreen();
void showImage(cv::Mat* image);
- void loadConfig();
-
- private:
- Controller controller;
+ int loadConfig();
+
};
#endif
diff --git a/src/core/components/beamer.cpp b/src/core/components/beamer.cpp
index 25f5760b5bb05b3cef691521228110ddd98fb26d..97d2aa72a88611fd38364a070d8107cb225f61d7 100644
--- a/src/core/components/beamer.cpp
+++ b/src/core/components/beamer.cpp
@@ -113,6 +113,9 @@ void Beamer::findBeamerFrom(Camera camera)
vector<Point3d> points2; //1 point for each vector (to calculate constante d)
double fact = -20.0;
+
+ camera.startAlign();
+
for (int i = 0; i < (int)points.size(); i++)
{
vector<Point3f> capturedPoints;
@@ -158,6 +161,8 @@ void Beamer::findBeamerFrom(Camera camera)
}
}
+ camera.stop();
+
Point3d pa, pb;
double mua;
double mub;
@@ -186,3 +191,9 @@ void Beamer::findBeamerFrom(Camera camera)
destroyAllWindows();
}
+
+
+void Beamer::printPosition(){
+ cv::Point3f pos = getPosition();
+ std::cout << "(" << pos.x << "," << pos.y << "," << pos.z << ")" << std::endl;
+}
diff --git a/src/core/components/beamerProjection.cpp b/src/core/components/beamerProjection.cpp
index fc66a89e62e3b5283272df68d078c2b88cb5be62..f6047fa2c2baead6ae80e08f43f76901e876fa26 100644
--- a/src/core/components/beamerProjection.cpp
+++ b/src/core/components/beamerProjection.cpp
@@ -15,8 +15,8 @@ Point2i BeamerProjection::rotatePixel(Point2i pixel)
return Point2i(tmp.at<Vec2f>(0, 0));
}
-Point2i BeamerProjection::adjustPixel(int i, int j, float z, Camera camera, Point3f beamer)
-{
+Point2i BeamerProjection::adjustPixel(int i, int j, float z, Camera camera, Point3f beamer){
+
//pixel to point 3d
float coord[2] = {static_cast<float>(j), static_cast<float>(i)};
Point3f p = camera.deprojectPixelToPoint(coord, z / 1000.0);
@@ -50,8 +50,8 @@ void BeamerProjection::adjustFrame(cv::Mat &src, cv::Mat &dst, Camera camera, Po
// medianBlur(dst, dst, 3);
}
-void BeamerProjection::adjustFrame(cv::Mat &depth, cv::Mat &src, cv::Mat &dst, Camera camera, Point3f beamer)
-{
+void BeamerProjection::adjustFrame(cv::Mat &depth, cv::Mat &src, cv::Mat &dst, Camera camera, Point3f beamer){
+
int nbChannel = src.channels();
//transformation on all pixel
//int64_t t1 = getTickCount();
@@ -75,3 +75,14 @@ void BeamerProjection::adjustFrame(cv::Mat &depth, cv::Mat &src, cv::Mat &dst, C
dilate(dst, dst, Mat(), Point(-1, -1), 2, 1, 1);
erode(dst, dst, Mat(), Point(-1, -1), 2, 1, 1);
}
+
+
+void BeamerProjection::printAdjustingMatrix(){
+ cv::Mat matrix = getAdjustingMatrix();
+ for (int y = 0; y < matrix.rows; y++){
+ for (int x = 0; x < matrix.cols; x++){
+ std::cout << (float)matrix.at<double>(y, x) << " ";
+ }
+ std::cout << std::endl;
+ }
+}
\ No newline at end of file
diff --git a/src/core/components/camera.cpp b/src/core/components/camera.cpp
index 0e98056e84811acf5597bc287803578f41099c47..0c9f43083e48f128379d34e8a66cd0daf94ee920 100644
--- a/src/core/components/camera.cpp
+++ b/src/core/components/camera.cpp
@@ -1,6 +1,9 @@
#include "../../../includes/camera.h"
using namespace cv;
-Camera::Camera() {}
+
+Camera::Camera() {
+
+}
// Capture 30 frames to give autoexposure, etc. a chance to settle
void Camera::warmingUp()
@@ -147,4 +150,10 @@ void Camera::startAlign()
void Camera::stop()
{
pipe.stop();
+}
+
+
+void Camera::printCroppingMask(){
+ cv::Rect mask = getCroppingMask();
+ std::cout << "(" << mask.x << "," << mask.y << ") + " << mask.width << "," << mask.height << std::endl;
}
\ No newline at end of file
diff --git a/src/core/controller.cpp b/src/core/controller.cpp
index 88579b284df831a2c7f314c4b8ec236b52f92af3..39f745a9055fc78b68d5f5f0bcf1f940cb480fce 100644
--- a/src/core/controller.cpp
+++ b/src/core/controller.cpp
@@ -11,7 +11,7 @@ using namespace std;
*/
Controller::Controller(){
-
+ camera.startAlign();
}
@@ -29,42 +29,72 @@ cv::Mat Controller::getDepthFrame(){
return camera.getDepthFrameAlign()(camera.getCroppingMask());
}
+
+cv::Mat* Controller::adjustProjection(cv::Mat* frame){
+
+ static cv::Mat frameBeamer(cv::Size(beamer.getWidth(), beamer.getHeight()), CV_8UC3);
+
+ cv::Mat depth = getDepthFrame();
+ cv::Mat imageCalibrate(depth.size(), CV_8UC3, cv::Scalar(0, 0, 0));
+
+ cv::resize(*frame, *frame, depth.size());
+ projection.adjustFrame(depth, *frame, imageCalibrate, camera, beamer.getPosition());
+ //flip to align frame with beamer
+ cv::flip(imageCalibrate, imageCalibrate, 1);
+ cv::flip(imageCalibrate, imageCalibrate, 0);
+
+ cv::resize(imageCalibrate, frameBeamer, frameBeamer.size());
+ frameBeamer.copyTo(*frame);
+ return frame;
+}
+
void Controller::showImage(cv::Mat* image){
- showImage(image, defaultWindowsName);
+
+ initWindowsFullScreen(defaultWindowsName);
+ adjustProjection(image);
+ cv::imshow(defaultWindowsName, *image);
}
-void Controller::loadConfigFrom(char *path){
- SandboxConfig::loadAdjustingMatrixInto(path, &projection);
- SandboxConfig::loadCroppingMaskInto(path, &camera);
- SandboxConfig::loadBeamerPositionInto(path, &beamer);
+int Controller::loadConfigFrom(char *path){
+
+ int err = SandboxConfig::loadAdjustingMatrixInto(path, &projection);
+ if(err){ return err; }
+ err = SandboxConfig::loadCroppingMaskInto(path, &camera);
+ if(err){ return err; }
+ err = SandboxConfig::loadBeamerPositionInto(path, &beamer);
+ if(err){ return err; }
+ return 0;
}
-void Controller::loadConfig(){
- loadConfigFrom(defaultConfigFilePath);
+int Controller::loadConfig(){
+
+ std::cout << "Config loading..." << std::endl;
+
+ int err = loadConfigFrom(defaultConfigFilePath);
+ if(err){
+ std::cout << "error config" << std::endl;
+ return err;
+ }
+
+ std::cout << "Adjusting Matrix :" << std::endl;
+ projection.printAdjustingMatrix();
+ std::cout << "Cropping mask (base+size) :" << std::endl;
+ camera.printCroppingMask();
+ std::cout << "Beamer position :" << std::endl;
+ beamer.printPosition();
+
+ return 0;
}
void Controller::initWindowsFullScreen(){
initWindowsFullScreen(defaultWindowsName);
}
+
/*
* PRIVATE
*/
-void Controller::showImage(cv::Mat* image, char *windowName){
- static cv::Mat frameBeamer(cv::Size(beamer.getWidth(), beamer.getHeight()), CV_8UC3);
- camera.captureFramesAlign();
- cv::Mat depth = camera.getDepthFrameAlign()(camera.getCroppingMask());
- resize(*image, *image, depth.size());
- cv::Mat imageCalibrate(depth.size(), CV_8UC3, cv::Scalar(0, 0, 0));
- projection.adjustFrame(depth, *image, imageCalibrate, camera, beamer.getPosition());
- //flip to align frame with beamer
- cv::flip(imageCalibrate, imageCalibrate, 1);
- cv::flip(imageCalibrate, imageCalibrate, 0);
- cv::resize(imageCalibrate, frameBeamer, frameBeamer.size());
- cv::imshow(windowName, frameBeamer);
-}
-
void Controller::initWindowsFullScreen(char *windowName){
cv::namedWindow(windowName, CV_WINDOW_NORMAL);
cv::setWindowProperty(windowName, CV_WND_PROP_FULLSCREEN, CV_WINDOW_FULLSCREEN);
diff --git a/src/core/tools/sandboxConfig.cpp b/src/core/tools/sandboxConfig.cpp
index 81a9efa437096c8a52a368e5314dcce6e91fc713..65c30a50c533cc91e7772aa45c2824260f53c2af 100644
--- a/src/core/tools/sandboxConfig.cpp
+++ b/src/core/tools/sandboxConfig.cpp
@@ -9,10 +9,9 @@ int SandboxConfig::saveAdjustingMatrixInto(char *path, cv::Mat matrix){
YAML::Node vec = YAML::Load("[]");
for (int y = 0; y < matrix.rows; y++){
for (int x = 0; x < matrix.cols; x++){
- vec.push_back(matrix.at<float>(y, x));
+ vec.push_back((float)matrix.at<double>(y, x));
}
}
-
YAML::Node val;
@@ -29,14 +28,6 @@ int SandboxConfig::saveAdjustingMatrixInto(char *path, cv::Mat matrix){
config[MATRIX] = val;
- std::cout << "Adjusting Matrix" << std::endl;
- for (int y = 0; y < matrix.rows; y++){
- for (int x = 0; x < matrix.cols; x++){
- std::cout << matrix.at<float>(y, x) << " ";
- }
- std::cout << std::endl;
- }
-
return saveConfigIn(path, config);
}
@@ -59,10 +50,6 @@ int SandboxConfig::saveCroppingMaskInto(char *path, cv::Rect mask){
config[MASK] = val;
- std::cout << "Cropping Mask (base + size)" << std::endl;
- std::cout << "(" << mask.x << "," << mask.y << ") + ";
- std::cout << "(" << mask.width << "," << mask.height << ")" << std::endl;
-
return saveConfigIn(path, config);
}
@@ -84,8 +71,6 @@ int SandboxConfig::saveBeamerPositionInto(char *path, cv::Point3f pos){
config[POSITION] = val;
- std::cout << "Beamer position: " << pos.x << " " << pos.y << " " << pos.z << std::endl;
-
return saveConfigIn(path, config);
}
@@ -131,16 +116,6 @@ int SandboxConfig::loadAdjustingMatrixInto(char *path, BeamerProjection *project
projection->setAdjustingMatrix(matrix);
- // Debug
- matrix = projection->getAdjustingMatrix();
- std::cout << "Adjusting Matrix" << std::endl;
- for (int y = 0; y < matrix.rows; y++){
- for (int x = 0; x < matrix.cols; x++){
- std::cout << matrix.at<float>(y, x) << " ";
- }
- std::cout << std::endl;
- }
-
return 0;
}
@@ -173,10 +148,6 @@ int SandboxConfig::loadCroppingMaskInto(char *path, Camera *camera){
camera->setCroppingMask(mask);
- // Debug
- mask = camera->getCroppingMask();
- std::cout << "Cropping mask (base+size): (" << mask.x << "," << mask.y << ") + " << mask.width << "," << mask.height << std::endl;
-
return 0;
}
@@ -208,10 +179,6 @@ int SandboxConfig::loadBeamerPositionInto(char *path, Beamer *beamer){
beamer->setPosition(pos);
- // Debug
- pos = beamer->getPosition();
- std::cout << "Beamer position :" << std::endl << "(" << pos.x << "," << pos.y << "," << pos.z << ")" << std::endl;
-
return 0;
}
diff --git a/src/sandbox.cpp b/src/sandbox.cpp
index a737a50fb6bd158df8e22f6dfd6618ef6656f7a2..292c1d3204665a2a8239b3c5382f308ad854a8ba 100644
--- a/src/sandbox.cpp
+++ b/src/sandbox.cpp
@@ -1,7 +1,7 @@
#include "../includes/sandbox.h"
Sandbox::Sandbox(){
- controller.initWindowsFullScreen();
+
}
cv::Mat Sandbox::getRGBFrame(){
@@ -12,10 +12,18 @@ cv::Mat Sandbox::getDepthFrame(){
return controller.getDepthFrame();
}
+cv::Mat* Sandbox::adjustProjection(cv::Mat* frame){
+ return controller.adjustProjection(frame);
+}
+
+void Sandbox::initWindowsFullScreen(){
+ controller.initWindowsFullScreen();
+}
+
void Sandbox::showImage(cv::Mat* image){
controller.showImage(image);
}
-void Sandbox::loadConfig(){
- controller.loadConfig();
+int Sandbox::loadConfig(){
+ return controller.loadConfig();
}
\ No newline at end of file
diff --git a/src/sandboxSetup.cpp b/src/sandboxSetup.cpp
index 061d62cf5e1697301667ec5434c0e9ddfa277db4..36e95dd10d0286327e4d76529f99ded19c1529a9 100644
--- a/src/sandboxSetup.cpp
+++ b/src/sandboxSetup.cpp
@@ -37,6 +37,7 @@ void SandboxSetup::setupProjection(){
cv::Mat coloredFrame = camera.getRGBFrameAlign();
cv::Size s = frameData.size();
cv::Point center(s.width / 2, s.height / 2);
+ camera.stop();
cv::destroyAllWindows();
// Edit projection