diff --git a/app/SandboxSetup/croppingmask.cpp b/app/SandboxSetup/croppingmask.cpp
index d68e1810372a5e95f71adc68c01c6b4db0169e56..cf84ff2556a3cd567052ecb2cb71df69fcdc579e 100644
--- a/app/SandboxSetup/croppingmask.cpp
+++ b/app/SandboxSetup/croppingmask.cpp
@@ -15,7 +15,6 @@ CroppingMask::CroppingMask(SandboxSetup *sandbox, MonitorGui *_mg, QWidget *pare
blueScreen = new QtFullScreen(mg->getResolution(), true, this);
- // TODO : try to load cropping mask from file
timer = new QTimer(this);
connect(timer, &QTimer::timeout, this, &CroppingMask::refreshFrame);
}
@@ -36,6 +35,7 @@ void CroppingMask::valideRoutine(){
std::vector<cv::Point> rectPoints = getRectPoints();
cv::Mat depthFrame = setup->getCamera()->getDepthFrame();
+ // TODO : center should be defined by the quadrilateral from rectPoints
setup->setupAdjustMatrix(rectPoints, center);
setup->setupCroppingMask(rectPoints);
setup->getProjection()->setDistanceTopSandbox(depthFrame.at<float>(center));
@@ -72,13 +72,26 @@ void CroppingMask::init(){
setup->getCamera()->capture();
cameraColoredFrame = setup->getCamera()->getColorFrame();
- // no config found
+ // load from config
if(rectPoints.empty()){
- if(!maskValideInFrame(&cameraColoredFrame)){
+ if(!setup->loadCroppingMask()){
+ cv::Rect mask = setup->getCamera()->getCroppingMask();
+ std::vector<cv::Point2i> pts = { cv::Point2i(mask.x, mask.y),
+ cv::Point2i(mask.x, mask.y+mask.height),
+ cv::Point2i(mask.x+mask.width, mask.y+mask.height),
+ cv::Point2i(mask.x+mask.width, mask.y) };
+ for(cv::Point2i pt : pts){
+ loadedMask.push_back(setup->getProjection()->revertRotatePixel(pt));
+ }
+ rectPoints = loadedMask;
+ }
+ }
+
+ // no config found
+ if(rectPoints.empty() || !maskValideInFrame(&cameraColoredFrame)){
float y = cameraColoredFrame.size().height;
float x = cameraColoredFrame.size().width;
- rectPoints = std::vector<cv::Point>{ cv::Point(1.0/4*x, 1.0/4*y), cv::Point(1.0/4*x, 3.0/4*y), cv::Point(3.0/4*x, 3.0/4*y), cv::Point(3.0/4*x, 1.0/4*y) };
- }
+ rectPoints = std::vector<cv::Point2i>{ cv::Point2i(1.0/4*x, 1.0/4*y), cv::Point2i(1.0/4*x, 3.0/4*y), cv::Point2i(3.0/4*x, 3.0/4*y), cv::Point2i(3.0/4*x, 1.0/4*y) };
}
maskEdit->updateFrame(&cameraColoredFrame, &rectPoints);
@@ -106,3 +119,21 @@ bool CroppingMask::maskValideInFrame(cv::Mat *rgb){
return true;
}
+
+void CroppingMask::on_btnClear_clicked()
+{
+ if(cameraColoredFrame.size().height != 0 && cameraColoredFrame.size().width != 0){
+ float y = cameraColoredFrame.size().height;
+ float x = cameraColoredFrame.size().width;
+ rectPoints = std::vector<cv::Point2i>{ cv::Point2i(1.0/4*x, 1.0/4*y), cv::Point2i(1.0/4*x, 3.0/4*y), cv::Point2i(3.0/4*x, 3.0/4*y), cv::Point2i(3.0/4*x, 1.0/4*y) };
+ maskEdit->updateFrame(&rectPoints);
+ }
+}
+
+void CroppingMask::on_btnReset_clicked()
+{
+ if(!loadedMask.empty()){
+ rectPoints = loadedMask;
+ maskEdit->updateFrame(&rectPoints);
+ }
+}
diff --git a/app/SandboxSetup/croppingmask.h b/app/SandboxSetup/croppingmask.h
index 33853a66b03e010ba54a86f330a4cafb52910bcf..6fb694cee50f389179a2ec7cfbea640aa670479f 100644
--- a/app/SandboxSetup/croppingmask.h
+++ b/app/SandboxSetup/croppingmask.h
@@ -21,7 +21,7 @@ class CroppingMask : public SubApp
public:
explicit CroppingMask(SandboxSetup *sandbox, MonitorGui *_mg, QWidget *parent = 0);
~CroppingMask();
- std::vector<cv::Point> getRectPoints(){ return rectPoints; };
+ std::vector<cv::Point2i> getRectPoints(){ return rectPoints; };
void valideRoutine();
void cancelRoutine();
@@ -29,10 +29,16 @@ protected:
void showEvent(QShowEvent *event);
void closeEvent(QCloseEvent *event);
+private slots:
+ void on_btnClear_clicked();
+
+ void on_btnReset_clicked();
+
private:
Ui::CroppingMask *ui;
SandboxSetup *setup;
- std::vector<cv::Point> rectPoints;
+ std::vector<cv::Point2i> rectPoints;
+ std::vector<cv::Point2i> loadedMask;
cv::Mat cameraColoredFrame;
MaskEdit *maskEdit;
MonitorGui *mg;
diff --git a/app/SandboxSetup/croppingmask.ui b/app/SandboxSetup/croppingmask.ui
index 2f4ec8e1ce233ee9dd1b8e644f7e8b540551aad5..f7d7133767ec43152913256cb7a32670d529d2ec 100644
--- a/app/SandboxSetup/croppingmask.ui
+++ b/app/SandboxSetup/croppingmask.ui
@@ -77,6 +77,32 @@ p, li { white-space: pre-wrap; }
<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">At this point, the beamer and the blue screen should be set correctly. So now we want to determine the edges of the blue screen. To do that, be sure to have a flat surface to have a clean blue rectangle projected. (ie. you can use a cardboard as support). Then drag the corners of the green rectangle to match the bluescreen's corners.</p></body></html></string>
</property>
</widget>
+ <widget class="QPushButton" name="btnClear">
+ <property name="geometry">
+ <rect>
+ <x>520</x>
+ <y>40</y>
+ <width>89</width>
+ <height>25</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string>Clear</string>
+ </property>
+ </widget>
+ <widget class="QPushButton" name="btnReset">
+ <property name="geometry">
+ <rect>
+ <x>520</x>
+ <y>80</y>
+ <width>89</width>
+ <height>25</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string>Reset</string>
+ </property>
+ </widget>
</widget>
<resources/>
<connections/>
diff --git a/inc/beamer.h b/inc/beamer.h
index 3a20048153b3e096f422a222006220c28c086f45..18328202e18d89d4dbaddbd1960fc3a0cf970fd2 100644
--- a/inc/beamer.h
+++ b/inc/beamer.h
@@ -9,11 +9,9 @@
class Beamer{
private:
cv::Point3f beamerPosition;
- cv::Size resolution = cv::Size(256,144);
+ cv::Size resolution;
FrameProcessProfil *profil;
-
- //cv::Point3f intersection(cv::Vec3f v1, cv::Point3f p1, cv::Vec3f v2, cv::Point3f p2, cv::Vec3f v3, cv::Point3f p3, bool &isFound);
-
+
public:
Beamer();
~Beamer();
diff --git a/inc/projection.h b/inc/projection.h
index ff33e10554683e4a4dd2233131450f1482df7d4b..6d906b5a26c7d585ae7c585f2e77b3d340b5524a 100644
--- a/inc/projection.h
+++ b/inc/projection.h
@@ -26,6 +26,7 @@ class Projection{
float getDistanceTopSandbox(){ return distanceTopSandbox; };
cv::Point2i rotatePixel(cv::Point2i pixel);
+ cv::Point2i revertRotatePixel(cv::Point2i pixel);
void adjustFrame(cv::Mat depth, cv::Mat src, cv::Mat &dst, Camera *camera, cv::Point3f beamer_pos);
void printAdjustingMatrix();
diff --git a/inc/sandboxSetup.h b/inc/sandboxSetup.h
index 3d2e37036dd9dc28172477c5e3b42e78a129da02..94cbf17a797db29dd46f9c1a5962bba5c7f8dc22 100644
--- a/inc/sandboxSetup.h
+++ b/inc/sandboxSetup.h
@@ -31,6 +31,8 @@ class SandboxSetup{
int loadFrameProcessProfilFrom(char *path);
int loadFrameProcessProfil();
+ int loadCroppingMask(char *path);
+ int loadCroppingMask();
// edit variables of config => not persistant
void setupAdjustMatrix(std::vector<cv::Point> rectPoints, cv::Point center);
diff --git a/src/components/beamer.cpp b/src/components/beamer.cpp
index b5bbf1283692553d49fab9ff6155f3224602187f..7f92c3bcdf76e277293949d37c4eeb2ca598518a 100644
--- a/src/components/beamer.cpp
+++ b/src/components/beamer.cpp
@@ -4,6 +4,7 @@
Beamer::Beamer(){
beamerPosition = cv::Point3f(0.0f, 0.265f, -0.205f);
+ resolution = cv::Size(256,144);
profil = new FrameProcessProfil();
}
@@ -218,11 +219,10 @@ cv::Point3d Beamer::approximatePosition(std::vector<cv::Point3d> *bases, std::ve
}
cv::Point3d beamerPoint(0.0, 0.0, 0.0);
- for (unsigned int i = 0; i < beamerPoints.size(); i++)
- {
+ for (unsigned int i = 0; i < beamerPoints.size(); i++){
beamerPoint += beamerPoints[i];
}
- beamerPoint /= 6.0;
+ beamerPoint /= (double)beamerPoints.size();
return beamerPoint;
}
\ No newline at end of file
diff --git a/src/components/camera.cpp b/src/components/camera.cpp
index d75ae16ab740e09abf1bcd3e0d356a1f150de719..dda660ff849927a75a5979df80813c18e0d08d1e 100644
--- a/src/components/camera.cpp
+++ b/src/components/camera.cpp
@@ -91,7 +91,7 @@ void Camera::capture(){
}
}
-// get the coordinates of the pixel matching the point relative to the real world
+// Get the coordinates of the pixel matching the point relative to the real world
cv::Point2i Camera::projectPointToPixel(cv::Point3f point3D){
float point[3] = {point3D.x, point3D.y, point3D.z};
@@ -101,7 +101,7 @@ cv::Point2i Camera::projectPointToPixel(cv::Point3f point3D){
return cv::Point2i(pixel[0], pixel[1]);
}
-// get the point relative to the real world matching the coordinates of the pixel
+// Get the point relative to the real world matching the coordinates of the pixel
cv::Point3f Camera::deprojectPixelToPoint(float coord[], float z){
float p[3];
diff --git a/src/components/projection.cpp b/src/components/projection.cpp
index bc069937ddcaf0286553fd9bfe1698606027ce95..77b8a5112bde020a7b86e366b940c191898f65a7 100644
--- a/src/components/projection.cpp
+++ b/src/components/projection.cpp
@@ -18,6 +18,16 @@ cv::Point2i Projection::rotatePixel(cv::Point2i pixel){
return cv::Point2i(tmp.at<cv::Vec2f>(0, 0));
}
+cv::Point2i Projection::revertRotatePixel(cv::Point2i pixel){
+
+ cv::Mat tmp = (cv::Mat_<cv::Vec2f>(1, 1) << cv::Vec2f(pixel.x, pixel.y));
+ cv::Mat invMat;
+ cv::invertAffineTransform(adjustingMatrix, invMat);
+ cv::transform(tmp, tmp, invMat);
+ return cv::Point2i(tmp.at<cv::Vec2f>(0, 0));
+}
+
+
// Adjust the projected frame with the topology from the camera to the beamer POV
void Projection::adjustFrame(cv::Mat depth, cv::Mat src, cv::Mat &dst, Camera *camera, cv::Point3f beamer_pos){
@@ -36,8 +46,9 @@ void Projection::adjustFrame(cv::Mat depth, cv::Mat src, cv::Mat &dst, Camera *c
filterHighestDeprojectedPoints(depth, pixelsDeprojectMap, pixelsDeprojectHighestMap);
+ // TODO : Holefilling method
+
buildFrame(depth, pixelsDeprojectHighestMap, src, dst);
-
cv::resize(dst, dst, dst_size);
cv::warpAffine(dst, dst, adjustingMatrix, dst.size());
diff --git a/src/lib/sandboxSetup.cpp b/src/lib/sandboxSetup.cpp
index caf24db46a94bd2b3be91f0d0c28ae42167f272a..6b969a39842eb2a2e3ce60a95be445d9e93dda42 100644
--- a/src/lib/sandboxSetup.cpp
+++ b/src/lib/sandboxSetup.cpp
@@ -46,6 +46,14 @@ int SandboxSetup::saveConfig(){
return saveConfigInto(defaultConfigFilePath);
}
+int SandboxSetup::loadCroppingMask(char *path){
+ return SandboxConfig::loadCroppingMaskFrom(path, camera);
+}
+
+int SandboxSetup::loadCroppingMask(){
+ return loadCroppingMask(defaultConfigFilePath);
+}
+
int SandboxSetup::loadFrameProcessProfilFrom(char *path){
return SandboxConfig::loadFrameProcessProfil(path, beamer->getProfil());
}
@@ -54,7 +62,14 @@ int SandboxSetup::loadFrameProcessProfil(){
return loadFrameProcessProfilFrom(defaultConfigFilePath);
}
-
+/* Assuming points positions are :
+ * pts[0] : top left
+ * pts[1] : bottom left
+ * pts[2] : bottom right
+ * pts[3] : top right
+ *
+ * center : center of the rotation in the projected frame
+ */
void SandboxSetup::setupAdjustMatrix(std::vector<cv::Point> rectPoints, cv::Point center){
// Set adjusting matrix for the projection
@@ -64,13 +79,23 @@ void SandboxSetup::setupAdjustMatrix(std::vector<cv::Point> rectPoints, cv::Poin
projection->setAdjustingMatrix(matRotation);
}
-void SandboxSetup::setupCroppingMask(std::vector<cv::Point> rectPoints){
+/* Assuming points positions are :
+ * pts[0] : top left
+ * pts[1] : bottom left
+ * pts[2] : bottom right
+ * pts[3] : top right
+ */
+void SandboxSetup::setupCroppingMask(std::vector<cv::Point2i> 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
+ cv::Point2i pbl = projection->rotatePixel(rectPoints[1]);
+ cv::Point2i pbr = projection->rotatePixel(rectPoints[2]);
+ cv::Point2i pbot = (pbl.y < pbr.y) ? pbl : pbr;
+ cv::Point2i ptop = projection->rotatePixel(rectPoints[0]);
+
+ cv::Size rectSize = cv::Size(widthTop, pbot.y - rectPoints[0].y);
+ camera->setCroppingMask(cv::Rect(ptop, rectSize)); // croppingMask
}