fixe cropping mask + add button Clear and Reset in setup app

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);
+    }
+}

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;

app/SandboxSetup/croppingmask.ui

@@ -77,6 +77,32 @@ p, li { white-space: pre-wrap; }
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;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.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</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/>

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();

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();
 

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);

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

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];

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());

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
 }