diff --git a/Calibration/mainwindow.cpp b/Calibration/mainwindow.cpp
index 30df88f518d77c672cd55204c71ed63fa0429f0e..c7c0149994ee96487cb60947b2a0cea95e872368 100644
--- a/Calibration/mainwindow.cpp
+++ b/Calibration/mainwindow.cpp
@@ -108,28 +108,22 @@ void MainWindow::reloadListRealSenseDevices() {
* Use the serialization of the API to save the configuration
*/
void MainWindow::saveConfiguration() {
- ofstream out("./device");
+ remove("./device");
+ ofstream out;
+ out.open("./device");
pteConsole_cursor.insertText("Serialize\n");
sandbox.serialize(out);
pteConsole_cursor.insertText("Serialized\n");
out.close();
- pteConsole_cursor.insertText(sandbox.getA());
- pteConsole_cursor.insertText("\n");
- pteConsole_cursor.insertText(QString::number(sandbox.getB()));
- pteConsole_cursor.insertText("\n");
-
- ifstream in("./device");
+ ifstream in;
+ in.open("./device");
pteConsole_cursor.insertText("Deserialize\n");
sandbox.deserialize(in);
pteConsole_cursor.insertText("Deserialized\n");
- out.close();
- pteConsole_cursor.insertText(sandbox.getA());
- pteConsole_cursor.insertText("\n");
- pteConsole_cursor.insertText(QString::number(sandbox.getB()));
- pteConsole_cursor.insertText("\n");
+ out.close();
}
@@ -171,7 +165,7 @@ void MainWindow::configure() {
}
case 2:
{
- if (!crcToDetectBeamer.empty())
+ if (!crcToDetectBeamer.empty() && crcToDetectBeamer.size() == 1)
{
sandbox.capturePointToDetectBeamer(crcToDetectBeamer);
indexCapturedPointToToSetDetectedPoint++;
diff --git a/Calibration/mainwindow.h b/Calibration/mainwindow.h
index 093807614a6c434d242926c0ca6d75d13939cd67..919d89fea62d1ce198eef1720b46cb50e2104d09 100644
--- a/Calibration/mainwindow.h
+++ b/Calibration/mainwindow.h
@@ -36,7 +36,7 @@ private:
Sandbox sandbox;
int selectedPoint = -1;
int stepConfiguration = 0;
- vector<int> crcToDetectBeamer;
+ vector<Vec3f> crcToDetectBeamer;
int indexPointToDetectBeamer = 0;
int indexCapturedPointToToSetDetectedPoint = 0;
const int nbPointToDetectBeamer = 3;
diff --git a/build-Calibration-Desktop-Debug/2020-05-05-20_34_14.log b/build-Calibration-Desktop-Debug/2020-05-12-17_40_49.log
similarity index 100%
rename from build-Calibration-Desktop-Debug/2020-05-05-20_34_14.log
rename to build-Calibration-Desktop-Debug/2020-05-12-17_40_49.log
diff --git a/build-Calibration-Desktop-Debug/2020-05-05-20_34_30.log b/build-Calibration-Desktop-Debug/2020-05-12-17_44_28.log
similarity index 100%
rename from build-Calibration-Desktop-Debug/2020-05-05-20_34_30.log
rename to build-Calibration-Desktop-Debug/2020-05-12-17_44_28.log
diff --git a/build-Calibration-Desktop-Debug/2020-05-05-20_35_37.log b/build-Calibration-Desktop-Debug/2020-05-12-17_58_20.log
similarity index 100%
rename from build-Calibration-Desktop-Debug/2020-05-05-20_35_37.log
rename to build-Calibration-Desktop-Debug/2020-05-12-17_58_20.log
diff --git a/build-Calibration-Desktop-Debug/2020-05-05-20_36_52.log b/build-Calibration-Desktop-Debug/2020-05-12-18_02_55.log
similarity index 100%
rename from build-Calibration-Desktop-Debug/2020-05-05-20_36_52.log
rename to build-Calibration-Desktop-Debug/2020-05-12-18_02_55.log
diff --git a/build-Calibration-Desktop-Debug/2020-05-05-20_36_58.log b/build-Calibration-Desktop-Debug/2020-05-12-18_10_23.log
similarity index 100%
rename from build-Calibration-Desktop-Debug/2020-05-05-20_36_58.log
rename to build-Calibration-Desktop-Debug/2020-05-12-18_10_23.log
diff --git a/build-Calibration-Desktop-Debug/2020-05-12-18_11_53.log b/build-Calibration-Desktop-Debug/2020-05-12-18_11_53.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/build-Calibration-Desktop-Debug/2020-05-12-18_19_29.log b/build-Calibration-Desktop-Debug/2020-05-12-18_19_29.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/build-Calibration-Desktop-Debug/2020-05-12-18_20_13.log b/build-Calibration-Desktop-Debug/2020-05-12-18_20_13.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/build-Calibration-Desktop-Debug/Calibration b/build-Calibration-Desktop-Debug/Calibration
index 03e6dfaa5c152f12a5f90a5b1ef6d1efdbc9375c..b214a6a59ea2ac94d770218c36684ba5dd4a95ab 100755
Binary files a/build-Calibration-Desktop-Debug/Calibration and b/build-Calibration-Desktop-Debug/Calibration differ
diff --git a/build-Calibration-Desktop-Debug/device b/build-Calibration-Desktop-Debug/device
index 24e1410b523618c1045463b038b256950d995014..ad3bec151ec3cf369a2885166e4989391d981fb5 100644
Binary files a/build-Calibration-Desktop-Debug/device and b/build-Calibration-Desktop-Debug/device differ
diff --git a/build-Calibration-Desktop-Debug/main.o b/build-Calibration-Desktop-Debug/main.o
index 9b1cfabb39aa6438dbaf96495ddc275f3aa25a00..e6b494c465ee9af638f93c92ba0aec86808fa129 100644
Binary files a/build-Calibration-Desktop-Debug/main.o and b/build-Calibration-Desktop-Debug/main.o differ
diff --git a/build-Calibration-Desktop-Debug/mainwindow.o b/build-Calibration-Desktop-Debug/mainwindow.o
index b2f6c8733450fd9681b8e0b1b6b2f8df81b7e527..f0527a137fae1900136a6ae128900b65c3062c76 100644
Binary files a/build-Calibration-Desktop-Debug/mainwindow.o and b/build-Calibration-Desktop-Debug/mainwindow.o differ
diff --git a/build-Calibration-Desktop-Debug/moc_mainwindow.o b/build-Calibration-Desktop-Debug/moc_mainwindow.o
index a5467cb02deb6ced170e990a71d7917f22a1a9ff..6193a3ff80565100081be63f7c7df4c0b3874457 100644
Binary files a/build-Calibration-Desktop-Debug/moc_mainwindow.o and b/build-Calibration-Desktop-Debug/moc_mainwindow.o differ
diff --git a/build-sandbox-Desktop-Debug/Makefile b/build-sandbox-Desktop-Debug/Makefile
index 7ba8be361b43c2ef12b15649fd82aa2c5e3864f1..9951d4c307e6d508c5b8cba05c6cbd9cbe57a73b 100644
--- a/build-sandbox-Desktop-Debug/Makefile
+++ b/build-sandbox-Desktop-Debug/Makefile
@@ -111,6 +111,7 @@ DIST = /usr/lib/x86_64-linux-gnu/qt5/mkspecs/features/spec_pre.prf \
/usr/lib/x86_64-linux-gnu/qt5/mkspecs/features/qt_config.prf \
/usr/lib/x86_64-linux-gnu/qt5/mkspecs/linux-g++/qmake.conf \
/usr/lib/x86_64-linux-gnu/qt5/mkspecs/features/spec_post.prf \
+ ../sandbox/.qmake.stash \
/usr/lib/x86_64-linux-gnu/qt5/mkspecs/features/exclusive_builds.prf \
/usr/lib/x86_64-linux-gnu/qt5/mkspecs/features/toolchain.prf \
/usr/lib/x86_64-linux-gnu/qt5/mkspecs/features/default_pre.prf \
@@ -209,6 +210,7 @@ Makefile: ../sandbox/sandbox.pro /usr/lib/x86_64-linux-gnu/qt5/mkspecs/linux-g++
/usr/lib/x86_64-linux-gnu/qt5/mkspecs/features/qt_config.prf \
/usr/lib/x86_64-linux-gnu/qt5/mkspecs/linux-g++/qmake.conf \
/usr/lib/x86_64-linux-gnu/qt5/mkspecs/features/spec_post.prf \
+ .qmake.stash \
/usr/lib/x86_64-linux-gnu/qt5/mkspecs/features/exclusive_builds.prf \
/usr/lib/x86_64-linux-gnu/qt5/mkspecs/features/toolchain.prf \
/usr/lib/x86_64-linux-gnu/qt5/mkspecs/features/default_pre.prf \
@@ -287,6 +289,7 @@ Makefile: ../sandbox/sandbox.pro /usr/lib/x86_64-linux-gnu/qt5/mkspecs/linux-g++
/usr/lib/x86_64-linux-gnu/qt5/mkspecs/features/qt_config.prf:
/usr/lib/x86_64-linux-gnu/qt5/mkspecs/linux-g++/qmake.conf:
/usr/lib/x86_64-linux-gnu/qt5/mkspecs/features/spec_post.prf:
+.qmake.stash:
/usr/lib/x86_64-linux-gnu/qt5/mkspecs/features/exclusive_builds.prf:
/usr/lib/x86_64-linux-gnu/qt5/mkspecs/features/toolchain.prf:
/usr/lib/x86_64-linux-gnu/qt5/mkspecs/features/default_pre.prf:
diff --git a/build-sandbox-Desktop-Debug/beamer.o b/build-sandbox-Desktop-Debug/beamer.o
index ba3a2f0b5078d815564fa951447e0289a2212c5f..84a2be5a2f151feee9064fb5d0a20c6a016b6090 100644
Binary files a/build-sandbox-Desktop-Debug/beamer.o and b/build-sandbox-Desktop-Debug/beamer.o differ
diff --git a/build-sandbox-Desktop-Debug/camera.o b/build-sandbox-Desktop-Debug/camera.o
index 53f583f1e29d4ffc8c75d5f04403adc5f4983a2d..d95cbab19f8bd491c37aaa72f0237b4f41810389 100644
Binary files a/build-sandbox-Desktop-Debug/camera.o and b/build-sandbox-Desktop-Debug/camera.o differ
diff --git a/build-sandbox-Desktop-Debug/libsandbox.a b/build-sandbox-Desktop-Debug/libsandbox.a
index 05d03dfd89a36eaee15bb353669b83f0fce8e0f9..5eecca2b7844ba27050daf17ee1b98ff3315ecb8 100644
Binary files a/build-sandbox-Desktop-Debug/libsandbox.a and b/build-sandbox-Desktop-Debug/libsandbox.a differ
diff --git a/build-sandbox-Desktop-Debug/sandbox.o b/build-sandbox-Desktop-Debug/sandbox.o
index 91ed6cadf2632348cb23dbcca5b0d4093878c036..5ba1e4ac154cee31f387a9c796614480755b023f 100644
Binary files a/build-sandbox-Desktop-Debug/sandbox.o and b/build-sandbox-Desktop-Debug/sandbox.o differ
diff --git a/sandbox/beamer.cpp b/sandbox/beamer.cpp
index a5d96fc10a197470e00fd8dd68fda977bbc9cdb3..f91b96db9ab51c12f379910f94ac1c6400bf033b 100644
--- a/sandbox/beamer.cpp
+++ b/sandbox/beamer.cpp
@@ -95,7 +95,7 @@ Beamer::~Beamer(){
* \param rgb colored Frame
* \return a vector for the detected circle (can be empty)
*/
-vector<int> Beamer::findCercleZ(Mat &rgb)
+vector<Vec3f> Beamer::findCercleZ(Mat &rgb)
{
Mat src_gray;
cvtColor(rgb, src_gray, CV_BGR2GRAY);
@@ -108,7 +108,8 @@ vector<int> Beamer::findCercleZ(Mat &rgb)
HoughCircles(src_gray, circles, CV_HOUGH_GRADIENT, 1, src_gray.rows / 4, 75, 50, 0, 0);
//doit tester si le cercle est bon (rayon);
- vector<int> result;
+ return circles;
+ /*vector<int> result;
if (!circles.empty())
{
for (int i = 0; i < 3; i++)
@@ -116,7 +117,7 @@ vector<int> Beamer::findCercleZ(Mat &rgb)
result.push_back(round(circles[0][i]));
}
}
- return result;
+ return result;*/
}
/*!
@@ -125,15 +126,19 @@ vector<int> Beamer::findCercleZ(Mat &rgb)
* \param i index of point to detect
* \return a tuple with the frame and the detected circle
*/
-tuple<Mat, vector<int>> Beamer::findPoint(Camera camera, int i) {
+tuple<Mat, vector<Vec3f>> Beamer::findPoint(Camera camera, int i) {
Mat rgb;
Point p = points[i];
camera.captureFramesAlign();
rgb = camera.getRGBFrameAlign();
Scalar color;
- vector<int> crc = findCercleZ(rgb);
- if (!crc.empty())
+ vector<Vec3f> crc = findCercleZ(rgb);
+
+ for (int i = 0; i < crc.size(); ++i) {
+ circle(rgb, Point(round(crc[i][0]), round(crc[i][1])),round(crc[i][2]), Scalar(0,0,255), 4);
+ }
+ if (!crc.empty() && crc.size() == 1)
color = Scalar(0, 255, 0);
else
color = Scalar(0, 0, 255);
@@ -150,12 +155,12 @@ tuple<Mat, vector<int>> Beamer::findPoint(Camera camera, int i) {
* \param crc detected circle
* Store the detect point
*/
-void Beamer::capturePoint(Camera camera, vector<int> crc) {
+void Beamer::capturePoint(Camera camera, vector<Vec3f> crc) {
Mat depth;
camera.captureFramesAlign();
depth = camera.getDepthFrameAlign();
- float coord[2] = {(float)crc[0], (float)crc[1]};
- float z = static_cast<float>(depth.at<uint16_t>(crc[1], crc[0]));
+ float coord[2] = {(float)crc[0][0], (float)crc[0][1]};
+ float z = static_cast<float>(depth.at<uint16_t>(crc[0][1], crc[0][0]));
Point3f p = camera.deprojectPixelToPoint(coord, z / 1000.0);
capturedPoints.push_back(p);
}
diff --git a/sandbox/beamer.h b/sandbox/beamer.h
index adabf109992fc1068fc02a8fc836efbf95fc4d87..a04ff25325453fb211bf49b65f37bafd2ef2f07b 100644
--- a/sandbox/beamer.h
+++ b/sandbox/beamer.h
@@ -12,7 +12,7 @@ class Beamer
private:
float solveD(Vec3f v, Point3f p);
Point3f intersection(Vec3f v1, Point3f p1, Vec3f v2, Point3f p2, Vec3f v3, Point3f p3, bool &isFound);
- vector<int> findCercleZ(Mat &rgb);
+ vector<Vec3f> findCercleZ(Mat &rgb);
Point3f beamerPosition;
vector<Point> points;
vector<Point3f> capturedPoints;
@@ -30,8 +30,8 @@ public:
beamerPosition = position;
}
void findBeamer(Camera camera);
- tuple<Mat, vector<int>> findPoint(Camera camera, int i);
- void capturePoint(Camera camera, vector<int> crc);
+ tuple<Mat, vector<Vec3f>> findPoint(Camera camera, int i);
+ void capturePoint(Camera camera, vector<Vec3f> crc);
void findBeamerPosition();
};
#endif
diff --git a/sandbox/camera.cpp b/sandbox/camera.cpp
index a4e241eecdf67b99a3b2eadf35a245d766592df2..b755a264b710431c536ee9df7a23e460216aa5b3 100644
--- a/sandbox/camera.cpp
+++ b/sandbox/camera.cpp
@@ -68,7 +68,7 @@ Mat Camera::captureFrame()
}
void Camera::captureFramesAlign()
{
- rs2::align align(RS2_STREAM_DEPTH);
+ rs2::align align(RS2_STREAM_COLOR);
auto frameset = pipe.wait_for_frames();
//Get processed aligned frame
frameset = align.process(frameset);
diff --git a/sandbox/sandbox.cpp b/sandbox/sandbox.cpp
index e516392a45b5b6b5a150aa43d092ee519bf97cd4..5d77ce9c6295d0ebe5587641d2b760edfe59ac39 100644
--- a/sandbox/sandbox.cpp
+++ b/sandbox/sandbox.cpp
@@ -70,15 +70,25 @@ void Sandbox::serialize(ostream& stream)
Mat matRotation = calibrate.getMatrixRotation();
int cols = matRotation.cols;
int rows = matRotation.rows;
+ int type = matRotation.type();
// Serialize beamer
- int x, y, z;
+ float x, y, z;
x = beamer.getPosition().x;
y = beamer.getPosition().y;
z = beamer.getPosition().z;
// Seriliazation
- stream << serialnumber << "\t" << distance << "\t" << cols << "\t" << rows << "\t" << x << "\t" << y << "\t" << z << "\t";
+ stream << serialnumber << CHAR_DELIM << distance << CHAR_DELIM << x << CHAR_DELIM << y << CHAR_DELIM << z << CHAR_DELIM << cols << CHAR_DELIM << rows << CHAR_DELIM << type << CHAR_DELIM;
+ std::cout << rows << " | " << cols << endl;
+ for (int a = 0; a < matRotation.rows; a++)
+ {
+ for (int b = 0; b < matRotation.cols; b++)
+ {
+ std::cout << a << " | " << b << " : " << matRotation.at<uint16_t>(a, b) << endl;
+ stream << matRotation.at<uint16_t>(a, b) << CHAR_DELIM;
+ }
+ }
}
/*!
@@ -90,19 +100,51 @@ void Sandbox::serialize(ostream& stream)
void Sandbox::deserialize(istream& stream)
{
// Deserialize the Intel RealSense Camera
- char* serialnumber;
+ string serialnumber;
// Deserialize calibrate
float distancePlan;
int cols, rows, type;
- Mat matRotation;
+
// Deserialize beamer
- int x, y, z;
+ float x, y, z;
+
+ std::cout << "serialnumber" << endl;
// Deseriliazation
- stream >> serialnumber >> distancePlan >> cols >> rows >> x >> y >> z;
+
+ stream >> serialnumber;
+ std::cout << "distancePlan" << endl;
+ stream >> distancePlan;
+ std::cout << "x" << endl;
+ stream >> x;
+ std::cout << "y" << endl;
+ stream >> y;
+ std::cout << "z" << endl;
+ stream >> z;
+ std::cout << "cols" << endl;
+ stream >> cols;
+ std::cout << "rows" << endl;
+ stream >> rows;
+ std::cout << "type" << endl;
+ stream >> type;
+ std::cout << "toto" << endl;
+
+ uint16_t* data[rows][cols];
+ for (int a = 0; a < rows; a++)
+ {
+ for (int b = 0; b < cols; b++)
+ {
+ uint16_t value;
+ stream >> value;
+ data[b][a];
+ std::cout << a << " | " << b << " : " << value << endl;
+ }
+ }
+
+ //Mat matRotation(rows, cols, type, data);
// Set Camera
int nbListRealSenseDevices = listRealSenseDevices.size();
@@ -116,13 +158,14 @@ void Sandbox::deserialize(istream& stream)
//Set calibraton
calibrate.setDistancePlan(distancePlan);
- calibrate.setMatrixRotation(matRotation);
+ //calibrate.setMatrixRotation(matRotation);
// Set beamer
- Point3f beamPosition(x, y, z);
- beamer.setPosition(beamPosition);
+ Point3f beamerPosition = Point3f(x, y, z);
+ beamer.setPosition(beamerPosition);
}
+
/*!
* \brief Sandbox::generateBorder
* \return the colored frame with a rectangle to place the border
@@ -210,7 +253,7 @@ void Sandbox::applyBorder() {
* \return a tuple, with the frame and a vector to detect circle
* Detect point with the circle to detect beamer
*/
-tuple<Mat, vector<int>> Sandbox::detectPointToDetectBeamer(int indexPoint) {
+tuple<Mat, vector<Vec3f>> Sandbox::detectPointToDetectBeamer(int indexPoint) {
return beamer.findPoint(camera, indexPoint);
}
@@ -218,7 +261,7 @@ tuple<Mat, vector<int>> Sandbox::detectPointToDetectBeamer(int indexPoint) {
* \brief Sandbox::capturePointToDetectBeamer
* \param crc circle vector
*/
-void Sandbox::capturePointToDetectBeamer(vector<int> crc) {
+void Sandbox::capturePointToDetectBeamer(vector<Vec3f> crc) {
beamer.capturePoint(camera, crc);
}
diff --git a/sandbox/sandbox.h b/sandbox/sandbox.h
index f65bde113a2e6e86e89ed48de55a93ffa4c99fc4..9204534466c8e30fd1967e43d8c0dac6e10ed366 100644
--- a/sandbox/sandbox.h
+++ b/sandbox/sandbox.h
@@ -33,6 +33,7 @@ private:
vector<Point> border;
Point center;
Beamer beamer;
+ const char* CHAR_DELIM = "\t";
public:
Sandbox();
@@ -50,16 +51,12 @@ public:
Mat generateBorder();
int findEdgeBorder(int x, int y);
Mat editEdgeBorder(int selectedPoint, int x, int y);
- tuple<Mat, vector<int>> detectPointToDetectBeamer(int indexPoint);
- void capturePointToDetectBeamer(vector<int> crc);
+ tuple<Mat, vector<Vec3f>> detectPointToDetectBeamer(int indexPoint);
+ void capturePointToDetectBeamer(vector<Vec3f> crc);
void findBeamerPosition();
void stopCamera();
- const char* getA() {
- return realSenseDevice.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER);
- }
- int getB() {
- return calibrate.getDistancePlan();
- }
};
+
+
#endif // SANDBOX_H