diff --git a/Calibration/mainwindow.cpp b/Calibration/mainwindow.cpp
index a2ba4dfd3568bb9dcfcf1a0a0ed16fa618348610..612b5bd7a3a5b2c6316f743eb5c6ef49f958ee05 100644
--- a/Calibration/mainwindow.cpp
+++ b/Calibration/mainwindow.cpp
@@ -19,10 +19,9 @@ MainWindow::MainWindow(QWidget *parent)
parent->connect(ui->btnReload, SIGNAL (released()),this, SLOT(reloadListRealSenseDevices()));
parent->connect(ui->btnSave, SIGNAL (released()),this, SLOT(saveConfiguration()));
parent->connect(ui->btnConfig, SIGNAL (released()),this, SLOT(configure()));
- //parent->connect(ui->lblImage, SIGNAL (mousePressed()),this, SLOT(selectEdgeBorder()));
parent->connect(ui->lblImage, SIGNAL (mousePos()),this, SLOT(moveEdgeBorder()));
parent->connect(ui->lblImage, SIGNAL (mouseLeft()),this, SLOT(deselectEdgeBorder()));
- //parent->connect(ui->MainWindow, SIGNAL (mousePressEvent(QMouseEvent*)),this, SLOT(test(QMouseEvent*)));
+
// init cursor for console
pteConsole_cursor = QTextCursor(ui->pteConsole->document());
pteConsole_cursor.movePosition(QTextCursor::End);
@@ -36,6 +35,7 @@ MainWindow::MainWindow(QWidget *parent)
*/
MainWindow::~MainWindow()
{
+ sandbox.stopCamera();
delete ui;
}
@@ -111,47 +111,82 @@ void MainWindow::saveConfiguration() {
sandbox.serialize(out);
pteConsole_cursor.insertText("Serialized\n");
out.close();
+
+ ifstream in("./device");
+
+ pteConsole_cursor.insertText("Deserialize\n");
+ sandbox.deserialize(in);
+ pteConsole_cursor.insertText("Deserialized\n");
+ out.close();
}
/*!
* \brief MainWindow::configure
* Launch the process to configure the matrix
*/
-void MainWindow::configure() {
- Mat coloredFrame = sandbox.generateBorder();
- ui->lblImage->setPixmap(QPixmap::fromImage(QImage(coloredFrame.data, coloredFrame.cols, coloredFrame.rows, coloredFrame.step, QImage::Format_RGB888)));
- pteConsole_cursor.insertText("Ready to init\n");
- borderEdition = true;
-}
-
-void MainWindow::selectEdgeBorder()
-{
- if (borderEdition) {
- selectedPoint = sandbox.findEdgeBorder(ui->lblImage->x, ui->lblImage->y);
+void MainWindow::configure() {
+ switch (stepConfiguration) {
+ case 0: // Edit the border
+ {
+ Mat coloredFrame = sandbox.generateBorder();
+ ui->lblImage->setPixmap(QPixmap::fromImage(QImage(coloredFrame.data, coloredFrame.cols, coloredFrame.rows, coloredFrame.step, QImage::Format_RGB888)));
+ pteConsole_cursor.insertText("Ready to init\n");
+ ui->btnConfig->setText("Generate matrix");
+ stepConfiguration = 1;
+ break;
+ }
+ case 1: // Valid the border for the matrix deformation and start beamer detection
+ {
+ sandbox.applyBorder();
+ ui->btnConfig->setText("Capture Point");
+ Mat frameDetection;
+ stepConfiguration = 2;
+ do {
+ tie(frameDetection, crcToDetectBeamer) = sandbox.detectPointToDetectBeamer(indexPointToDetectBeamer);
+ ui->lblImage->setPixmap(QPixmap::fromImage(QImage(frameDetection.data, frameDetection.cols, frameDetection.rows, frameDetection.step, QImage::Format_RGB888)));
+ waitKey(500);
+ } while(indexPointToDetectBeamer < 3);
+ ui->lblImage->setPixmap(QPixmap());
+ stepConfiguration = 3;
+ break;
+ }
+ case 2:
+ {
+ if (!crcToDetectBeamer.empty())
+ {
+ sandbox.capturePointToDetectBeamer(crcToDetectBeamer);
+ indexPointToDetectBeamer++;
+ pteConsole_cursor.insertText("add element\n");
+ }
+ }
+ default:
+ break;
}
}
+/*!
+ * \brief MainWindow::moveEdgeBorder
+ * mouseMoveEvent when the mouse is pressed on the label
+ * selected the edge of border the nearest of the mouse
+ */
void MainWindow::moveEdgeBorder() {
- pteConsole_cursor.insertText(QString::number(ui->lblImage->x));
- pteConsole_cursor.insertText(" ");
- pteConsole_cursor.insertText(QString::number(ui->lblImage->y));
- pteConsole_cursor.insertText("\n");
- if (borderEdition) {
+
+ if (stepConfiguration == 1) {
if (selectedPoint == -1) {
selectedPoint = sandbox.findEdgeBorder(ui->lblImage->x, ui->lblImage->y);
- //pteConsole_cursor.insertText(QString::number(selectedPoint));
- //pteConsole_cursor.insertText("\n");
} else {
- pteConsole_cursor.insertText(QString::number(selectedPoint));
- pteConsole_cursor.insertText("\n");
Mat coloredFrame = sandbox.editEdgeBorder(selectedPoint,ui->lblImage->x, ui->lblImage->y);
ui->lblImage->setPixmap(QPixmap::fromImage(QImage(coloredFrame.data, coloredFrame.cols, coloredFrame.rows, coloredFrame.step, QImage::Format_RGB888)));
}
}
}
+/*!
+ * \brief MainWindow::deselectEdgeBorder
+ * mouseReleaseEvent which deselect the edge of the border
+ */
void MainWindow::deselectEdgeBorder() {
- if (borderEdition) {
+ if (stepConfiguration == 1) {
selectedPoint = -1;
}
}
diff --git a/Calibration/mainwindow.h b/Calibration/mainwindow.h
index 8b4c2e6e0ea253be50a78b56a14f60713eb1eeb9..378a6e005a4eb565009751fa58df922bd7a132be 100644
--- a/Calibration/mainwindow.h
+++ b/Calibration/mainwindow.h
@@ -35,7 +35,9 @@ private:
device_list listRealSenseDevices;
Sandbox sandbox;
int selectedPoint = -1;
- bool borderEdition = false;
+ int stepConfiguration = 0;
+ vector<int> crcToDetectBeamer;
+ int indexPointToDetectBeamer = 0;
// Methods
void showListRealSenseDevices();
@@ -47,7 +49,6 @@ private slots:
void reloadListRealSenseDevices();
void saveConfiguration();
void configure();
- void selectEdgeBorder();
void moveEdgeBorder();
void deselectEdgeBorder();
};
diff --git a/Calibration/mainwindow.ui b/Calibration/mainwindow.ui
index fd1257837cf5afa779cb060a5d0298db1acc2582..ae688999522c1d539d8cd901f64c93ba2d6c1014 100644
--- a/Calibration/mainwindow.ui
+++ b/Calibration/mainwindow.ui
@@ -10,7 +10,7 @@
<x>0</x>
<y>0</y>
<width>1920</width>
- <height>445</height>
+ <height>800</height>
</rect>
</property>
<property name="windowTitle">
@@ -103,13 +103,13 @@
</spacer>
</item>
<item>
- <widget class="ReactiveLabel" name="lblImage">
+ <widget class="ReactiveLabel" name="lblImage" native="true">
<property name="styleSheet">
<string notr="true">border-color: rgb(46, 52, 54);
border-width: 1px;
border-style: solid;</string>
</property>
- <property name="text">
+ <property name="text" stdset="0">
<string/>
</property>
</widget>
@@ -209,6 +209,13 @@ border-style: solid;</string>
</widget>
<widget class="QStatusBar" name="statusbar"/>
</widget>
+ <customwidgets>
+ <customwidget>
+ <class>ReactiveLabel</class>
+ <extends>QWidget</extends>
+ <header>reactivelabel.h</header>
+ </customwidget>
+ </customwidgets>
<resources/>
<connections/>
</ui>
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deleted file mode 100644
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..0000000000000000000000000000000000000000
diff --git a/build-Calibration-Desktop-Debug/2020-04-21-13_10_49.log b/build-Calibration-Desktop-Debug/2020-04-21-13_10_49.log
deleted file mode 100644
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..0000000000000000000000000000000000000000
diff --git a/build-Calibration-Desktop-Debug/2020-04-21-13_48_22.log b/build-Calibration-Desktop-Debug/2020-04-21-13_48_22.log
deleted file mode 100644
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..0000000000000000000000000000000000000000
diff --git a/build-Calibration-Desktop-Debug/2020-04-21-14_55_14.log b/build-Calibration-Desktop-Debug/2020-04-21-14_55_14.log
deleted file mode 100644
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..0000000000000000000000000000000000000000
diff --git a/build-Calibration-Desktop-Debug/2020-04-21-15_01_09.log b/build-Calibration-Desktop-Debug/2020-04-21-15_01_09.log
deleted file mode 100644
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..0000000000000000000000000000000000000000
diff --git a/build-Calibration-Desktop-Debug/2020-04-21-15_01_51.log b/build-Calibration-Desktop-Debug/2020-04-21-15_01_51.log
deleted file mode 100644
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..0000000000000000000000000000000000000000
diff --git a/build-Calibration-Desktop-Debug/2020-04-21-15_03_46.log b/build-Calibration-Desktop-Debug/2020-04-21-15_03_46.log
deleted file mode 100644
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..0000000000000000000000000000000000000000
diff --git a/build-Calibration-Desktop-Debug/2020-04-21-15_05_58.log b/build-Calibration-Desktop-Debug/2020-04-21-15_05_58.log
deleted file mode 100644
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..0000000000000000000000000000000000000000
diff --git a/build-Calibration-Desktop-Debug/2020-04-21-15_06_41.log b/build-Calibration-Desktop-Debug/2020-04-21-15_06_41.log
deleted file mode 100644
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..0000000000000000000000000000000000000000
diff --git a/build-Calibration-Desktop-Debug/2020-04-21-15_10_24.log b/build-Calibration-Desktop-Debug/2020-04-21-15_10_24.log
deleted file mode 100644
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..0000000000000000000000000000000000000000
diff --git a/build-Calibration-Desktop-Debug/2020-04-21-15_12_53.log b/build-Calibration-Desktop-Debug/2020-04-21-15_12_53.log
deleted file mode 100644
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..0000000000000000000000000000000000000000
diff --git a/build-Calibration-Desktop-Debug/2020-04-21-15_17_02.log b/build-Calibration-Desktop-Debug/2020-04-21-15_17_02.log
deleted file mode 100644
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..0000000000000000000000000000000000000000
diff --git a/build-Calibration-Desktop-Debug/2020-04-21-16_15_35.log b/build-Calibration-Desktop-Debug/2020-04-21-16_15_35.log
deleted file mode 100644
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..0000000000000000000000000000000000000000
diff --git a/build-Calibration-Desktop-Debug/2020-04-21-16_16_17.log b/build-Calibration-Desktop-Debug/2020-04-21-16_16_17.log
deleted file mode 100644
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..0000000000000000000000000000000000000000
diff --git a/build-Calibration-Desktop-Debug/2020-04-21-16_20_08.log b/build-Calibration-Desktop-Debug/2020-04-21-16_20_08.log
deleted file mode 100644
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..0000000000000000000000000000000000000000
diff --git a/build-Calibration-Desktop-Debug/2020-04-21-16_20_56.log b/build-Calibration-Desktop-Debug/2020-04-21-16_20_56.log
deleted file mode 100644
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..0000000000000000000000000000000000000000
diff --git a/build-Calibration-Desktop-Debug/2020-04-21-16_22_11.log b/build-Calibration-Desktop-Debug/2020-04-21-16_22_11.log
deleted file mode 100644
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..0000000000000000000000000000000000000000
diff --git a/build-Calibration-Desktop-Debug/2020-04-21-16_24_00.log b/build-Calibration-Desktop-Debug/2020-04-21-16_24_00.log
deleted file mode 100644
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..0000000000000000000000000000000000000000
diff --git a/build-Calibration-Desktop-Debug/2020-04-21-16_26_23.log b/build-Calibration-Desktop-Debug/2020-04-21-16_26_23.log
deleted file mode 100644
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..0000000000000000000000000000000000000000
diff --git a/build-Calibration-Desktop-Debug/2020-04-21-16_32_00.log b/build-Calibration-Desktop-Debug/2020-04-21-16_32_00.log
deleted file mode 100644
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..0000000000000000000000000000000000000000
diff --git a/build-Calibration-Desktop-Debug/2020-04-21-16_38_19.log b/build-Calibration-Desktop-Debug/2020-04-21-16_38_19.log
deleted file mode 100644
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..0000000000000000000000000000000000000000
diff --git a/build-Calibration-Desktop-Debug/2020-04-21-16_39_22.log b/build-Calibration-Desktop-Debug/2020-04-21-16_39_22.log
deleted file mode 100644
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..0000000000000000000000000000000000000000
diff --git a/build-Calibration-Desktop-Debug/2020-04-21-16_49_28.log b/build-Calibration-Desktop-Debug/2020-04-21-16_49_28.log
deleted file mode 100644
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..0000000000000000000000000000000000000000
diff --git a/build-Calibration-Desktop-Debug/2020-04-21-16_50_29.log b/build-Calibration-Desktop-Debug/2020-04-21-16_50_29.log
deleted file mode 100644
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..0000000000000000000000000000000000000000
diff --git a/build-Calibration-Desktop-Debug/2020-04-21-16_54_34.log b/build-Calibration-Desktop-Debug/2020-04-21-16_54_34.log
deleted file mode 100644
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..0000000000000000000000000000000000000000
diff --git a/build-Calibration-Desktop-Debug/2020-04-21-16_55_18.log b/build-Calibration-Desktop-Debug/2020-04-21-16_55_18.log
deleted file mode 100644
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..0000000000000000000000000000000000000000
diff --git a/build-Calibration-Desktop-Debug/2020-04-21-16_56_10.log b/build-Calibration-Desktop-Debug/2020-04-21-16_56_10.log
deleted file mode 100644
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..0000000000000000000000000000000000000000
diff --git a/build-Calibration-Desktop-Debug/2020-04-21-16_58_22.log b/build-Calibration-Desktop-Debug/2020-04-21-16_58_22.log
deleted file mode 100644
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..0000000000000000000000000000000000000000
diff --git a/build-Calibration-Desktop-Debug/2020-04-21-16_59_02.log b/build-Calibration-Desktop-Debug/2020-04-21-16_59_02.log
deleted file mode 100644
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..0000000000000000000000000000000000000000
diff --git a/build-Calibration-Desktop-Debug/2020-04-21-17_00_49.log b/build-Calibration-Desktop-Debug/2020-04-21-17_00_49.log
deleted file mode 100644
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..0000000000000000000000000000000000000000
diff --git a/build-Calibration-Desktop-Debug/2020-04-21-17_03_09.log b/build-Calibration-Desktop-Debug/2020-04-21-17_03_09.log
deleted file mode 100644
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..0000000000000000000000000000000000000000
diff --git a/build-Calibration-Desktop-Debug/2020-04-21-17_04_47.log b/build-Calibration-Desktop-Debug/2020-04-21-17_04_47.log
deleted file mode 100644
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..0000000000000000000000000000000000000000
diff --git a/build-Calibration-Desktop-Debug/2020-04-21-17_05_34.log b/build-Calibration-Desktop-Debug/2020-04-21-17_05_34.log
deleted file mode 100644
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..0000000000000000000000000000000000000000
diff --git a/build-Calibration-Desktop-Debug/2020-04-21-17_06_56.log b/build-Calibration-Desktop-Debug/2020-04-21-17_06_56.log
deleted file mode 100644
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..0000000000000000000000000000000000000000
diff --git a/build-Calibration-Desktop-Debug/2020-04-21-17_09_27.log b/build-Calibration-Desktop-Debug/2020-04-21-17_09_27.log
deleted file mode 100644
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..0000000000000000000000000000000000000000
diff --git a/build-Calibration-Desktop-Debug/2020-04-07-11_51_26.log b/build-Calibration-Desktop-Debug/2020-04-28-16_09_19.log
similarity index 100%
rename from build-Calibration-Desktop-Debug/2020-04-07-11_51_26.log
rename to build-Calibration-Desktop-Debug/2020-04-28-16_09_19.log
diff --git a/build-Calibration-Desktop-Debug/2020-04-07-12_26_28.log b/build-Calibration-Desktop-Debug/2020-04-28-16_10_49.log
similarity index 100%
rename from build-Calibration-Desktop-Debug/2020-04-07-12_26_28.log
rename to build-Calibration-Desktop-Debug/2020-04-28-16_10_49.log
diff --git a/build-Calibration-Desktop-Debug/2020-04-07-12_31_31.log b/build-Calibration-Desktop-Debug/2020-04-28-16_13_14.log
similarity index 100%
rename from build-Calibration-Desktop-Debug/2020-04-07-12_31_31.log
rename to build-Calibration-Desktop-Debug/2020-04-28-16_13_14.log
diff --git a/build-Calibration-Desktop-Debug/2020-04-07-12_32_21.log b/build-Calibration-Desktop-Debug/2020-04-28-17_37_14.log
similarity index 100%
rename from build-Calibration-Desktop-Debug/2020-04-07-12_32_21.log
rename to build-Calibration-Desktop-Debug/2020-04-28-17_37_14.log
diff --git a/build-Calibration-Desktop-Debug/2020-04-07-13_52_49.log b/build-Calibration-Desktop-Debug/2020-04-28-17_39_58.log
similarity index 100%
rename from build-Calibration-Desktop-Debug/2020-04-07-13_52_49.log
rename to build-Calibration-Desktop-Debug/2020-04-28-17_39_58.log
diff --git a/build-Calibration-Desktop-Debug/Calibration b/build-Calibration-Desktop-Debug/Calibration
index 26220f47cb1e03889c4466243c332c6a51868bf2..a4fafe057ad6dcd1ffef2533400e03f66c695f0f 100755
Binary files a/build-Calibration-Desktop-Debug/Calibration and b/build-Calibration-Desktop-Debug/Calibration differ
diff --git a/build-Calibration-Desktop-Debug/Makefile b/build-Calibration-Desktop-Debug/Makefile
index b44fc81ff20b817b2c91cfddd5dac3de97b0d01d..174a00c4df4399310f2bdd8da3296956b839b91e 100644
--- a/build-Calibration-Desktop-Debug/Makefile
+++ b/build-Calibration-Desktop-Debug/Makefile
@@ -113,7 +113,6 @@ 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 \
- ../Calibration/.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 \
@@ -203,7 +202,6 @@ Makefile: ../Calibration/Calibration.pro /usr/lib/x86_64-linux-gnu/qt5/mkspecs/l
/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 \
@@ -282,7 +280,6 @@ Makefile: ../Calibration/Calibration.pro /usr/lib/x86_64-linux-gnu/qt5/mkspecs/l
/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:
@@ -364,7 +361,6 @@ moc_mainwindow.cpp: ../sandbox/sandbox.h \
../sandbox/beamer.h \
../sandbox/calibrate.h \
../sandbox/borderedit.h \
- ../sandbox/borderfinder.h \
../Calibration/reactivelabel.h \
../Calibration/mainwindow.h \
moc_predefs.h \
@@ -382,7 +378,8 @@ compiler_uic_make_all: ui_mainwindow.h
compiler_uic_clean:
-$(DEL_FILE) ui_mainwindow.h
ui_mainwindow.h: ../Calibration/mainwindow.ui \
- /usr/lib/qt5/bin/uic
+ /usr/lib/qt5/bin/uic \
+ ../Calibration/reactivelabel.h
/usr/lib/qt5/bin/uic ../Calibration/mainwindow.ui -o ui_mainwindow.h
compiler_yacc_decl_make_all:
@@ -402,7 +399,6 @@ main.o: ../Calibration/main.cpp ../Calibration/mainwindow.h \
../sandbox/beamer.h \
../sandbox/calibrate.h \
../sandbox/borderedit.h \
- ../sandbox/borderfinder.h \
../Calibration/reactivelabel.h
$(CXX) -c $(CXXFLAGS) $(INCPATH) -o main.o ../Calibration/main.cpp
@@ -413,7 +409,6 @@ mainwindow.o: ../Calibration/mainwindow.cpp ../Calibration/mainwindow.h \
../sandbox/beamer.h \
../sandbox/calibrate.h \
../sandbox/borderedit.h \
- ../sandbox/borderfinder.h \
../Calibration/reactivelabel.h \
ui_mainwindow.h
$(CXX) -c $(CXXFLAGS) $(INCPATH) -o mainwindow.o ../Calibration/mainwindow.cpp
diff --git a/build-Calibration-Desktop-Debug/device b/build-Calibration-Desktop-Debug/device
index b8120bf67851c45898ceaef49b0c91f4aa555395..d1f2d150cbe022e463d39e98d639cec274e06cc8 100644
--- a/build-Calibration-Desktop-Debug/device
+++ b/build-Calibration-Desktop-Debug/device
@@ -1 +1 @@
-840412061564
\ No newline at end of file
+8404120615642598.6332600.265-0.205
\ No newline at end of file
diff --git a/build-Calibration-Desktop-Debug/main.o b/build-Calibration-Desktop-Debug/main.o
index c9c9beb19b2d440be548242b03c27931e0444fa8..9b1cfabb39aa6438dbaf96495ddc275f3aa25a00 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 fcfa0f0d630a550a80a818ea74c80982b22eb678..ade5df0929bf2d64d55cdda42007697834114a82 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.cpp b/build-Calibration-Desktop-Debug/moc_mainwindow.cpp
index 5bc5ba9f7dcbfa66cbc289e23d8a78633e82a09f..bdd65a4cf3225c4d18fc258932621313dc64c4cc 100644
--- a/build-Calibration-Desktop-Debug/moc_mainwindow.cpp
+++ b/build-Calibration-Desktop-Debug/moc_mainwindow.cpp
@@ -21,8 +21,8 @@ QT_BEGIN_MOC_NAMESPACE
QT_WARNING_PUSH
QT_WARNING_DISABLE_DEPRECATED
struct qt_meta_stringdata_MainWindow_t {
- QByteArrayData data[11];
- char stringdata0[173];
+ QByteArrayData data[10];
+ char stringdata0[156];
};
#define QT_MOC_LITERAL(idx, ofs, len) \
Q_STATIC_BYTE_ARRAY_DATA_HEADER_INITIALIZER_WITH_OFFSET(len, \
@@ -39,16 +39,14 @@ QT_MOC_LITERAL(4, 50, 16), // "QListWidgetItem*"
QT_MOC_LITERAL(5, 67, 26), // "reloadListRealSenseDevices"
QT_MOC_LITERAL(6, 94, 17), // "saveConfiguration"
QT_MOC_LITERAL(7, 112, 9), // "configure"
-QT_MOC_LITERAL(8, 122, 16), // "selectEdgeBorder"
-QT_MOC_LITERAL(9, 139, 14), // "moveEdgeBorder"
-QT_MOC_LITERAL(10, 154, 18) // "deselectEdgeBorder"
+QT_MOC_LITERAL(8, 122, 14), // "moveEdgeBorder"
+QT_MOC_LITERAL(9, 137, 18) // "deselectEdgeBorder"
},
"MainWindow\0quitApplication\0\0"
"selectRealSenseDevice\0QListWidgetItem*\0"
"reloadListRealSenseDevices\0saveConfiguration\0"
- "configure\0selectEdgeBorder\0moveEdgeBorder\0"
- "deselectEdgeBorder"
+ "configure\0moveEdgeBorder\0deselectEdgeBorder"
};
#undef QT_MOC_LITERAL
@@ -58,7 +56,7 @@ static const uint qt_meta_data_MainWindow[] = {
7, // revision
0, // classname
0, 0, // classinfo
- 8, 14, // methods
+ 7, 14, // methods
0, 0, // properties
0, 0, // enums/sets
0, 0, // constructors
@@ -66,14 +64,13 @@ static const uint qt_meta_data_MainWindow[] = {
0, // signalCount
// slots: name, argc, parameters, tag, flags
- 1, 0, 54, 2, 0x08 /* Private */,
- 3, 1, 55, 2, 0x08 /* Private */,
- 5, 0, 58, 2, 0x08 /* Private */,
- 6, 0, 59, 2, 0x08 /* Private */,
- 7, 0, 60, 2, 0x08 /* Private */,
- 8, 0, 61, 2, 0x08 /* Private */,
- 9, 0, 62, 2, 0x08 /* Private */,
- 10, 0, 63, 2, 0x08 /* Private */,
+ 1, 0, 49, 2, 0x08 /* Private */,
+ 3, 1, 50, 2, 0x08 /* Private */,
+ 5, 0, 53, 2, 0x08 /* Private */,
+ 6, 0, 54, 2, 0x08 /* Private */,
+ 7, 0, 55, 2, 0x08 /* Private */,
+ 8, 0, 56, 2, 0x08 /* Private */,
+ 9, 0, 57, 2, 0x08 /* Private */,
// slots: parameters
QMetaType::Void,
@@ -82,7 +79,6 @@ static const uint qt_meta_data_MainWindow[] = {
QMetaType::Void,
QMetaType::Void,
QMetaType::Void,
- QMetaType::Void,
QMetaType::Void,
0 // eod
@@ -99,9 +95,8 @@ void MainWindow::qt_static_metacall(QObject *_o, QMetaObject::Call _c, int _id,
case 2: _t->reloadListRealSenseDevices(); break;
case 3: _t->saveConfiguration(); break;
case 4: _t->configure(); break;
- case 5: _t->selectEdgeBorder(); break;
- case 6: _t->moveEdgeBorder(); break;
- case 7: _t->deselectEdgeBorder(); break;
+ case 5: _t->moveEdgeBorder(); break;
+ case 6: _t->deselectEdgeBorder(); break;
default: ;
}
}
@@ -132,13 +127,13 @@ int MainWindow::qt_metacall(QMetaObject::Call _c, int _id, void **_a)
if (_id < 0)
return _id;
if (_c == QMetaObject::InvokeMetaMethod) {
- if (_id < 8)
+ if (_id < 7)
qt_static_metacall(this, _c, _id, _a);
- _id -= 8;
+ _id -= 7;
} else if (_c == QMetaObject::RegisterMethodArgumentMetaType) {
- if (_id < 8)
+ if (_id < 7)
*reinterpret_cast<int*>(_a[0]) = -1;
- _id -= 8;
+ _id -= 7;
}
return _id;
}
diff --git a/build-Calibration-Desktop-Debug/moc_mainwindow.o b/build-Calibration-Desktop-Debug/moc_mainwindow.o
index 706b7a4ab0e921d8eb286569e5a2b13a3e3c45a0..9d5cf281077b3fa1dd7650c40573158777baadaf 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-Calibration-Desktop-Debug/ui_mainwindow.h b/build-Calibration-Desktop-Debug/ui_mainwindow.h
index 968784cc6975eb8f622c8735c0b53a0f8885b471..e49e929d4500fab7c2985e302a754273a7c28c39 100644
--- a/build-Calibration-Desktop-Debug/ui_mainwindow.h
+++ b/build-Calibration-Desktop-Debug/ui_mainwindow.h
@@ -25,7 +25,7 @@
#include <QtWidgets/QStatusBar>
#include <QtWidgets/QVBoxLayout>
#include <QtWidgets/QWidget>
-#include <reactivelabel.h>
+#include "reactivelabel.h"
QT_BEGIN_NAMESPACE
@@ -62,7 +62,7 @@ public:
if (MainWindow->objectName().isEmpty())
MainWindow->setObjectName(QStringLiteral("MainWindow"));
MainWindow->setWindowModality(Qt::WindowModal);
- MainWindow->resize(1920, 445);
+ MainWindow->resize(1920, 800);
centralwidget = new QWidget(MainWindow);
centralwidget->setObjectName(QStringLiteral("centralwidget"));
verticalLayoutWidget = new QWidget(centralwidget);
@@ -182,7 +182,7 @@ public:
MainWindow->setWindowTitle(QApplication::translate("MainWindow", "MainWindow", Q_NULLPTR));
lblDevices->setText(QApplication::translate("MainWindow", "list of Intel RealSense Cameras", Q_NULLPTR));
btnReload->setText(QApplication::translate("MainWindow", "Reload", Q_NULLPTR));
- lblImage->setText(QString());
+ lblImage->setProperty("text", QVariant(QString()));
lblConsole->setText(QApplication::translate("MainWindow", "Console", Q_NULLPTR));
btnConfig->setText(QApplication::translate("MainWindow", "Configure", Q_NULLPTR));
btnSave->setText(QApplication::translate("MainWindow", "Save Configuration", Q_NULLPTR));
diff --git a/build-sandbox-Desktop-Debug/Makefile b/build-sandbox-Desktop-Debug/Makefile
index ea286a10f0b09cdc19ed5b05d572339ce7c258be..7ba8be361b43c2ef12b15649fd82aa2c5e3864f1 100644
--- a/build-sandbox-Desktop-Debug/Makefile
+++ b/build-sandbox-Desktop-Debug/Makefile
@@ -51,14 +51,12 @@ SOURCES = ../sandbox/beamer.cpp \
../sandbox/calibrate.cpp \
../sandbox/camera.cpp \
../sandbox/sandbox.cpp \
- ../sandbox/borderedit.cpp \
- ../sandbox/borderfinder.cpp
+ ../sandbox/borderedit.cpp
OBJECTS = beamer.o \
calibrate.o \
camera.o \
sandbox.o \
- borderedit.o \
- borderfinder.o
+ borderedit.o
DIST = /usr/lib/x86_64-linux-gnu/qt5/mkspecs/features/spec_pre.prf \
/usr/lib/x86_64-linux-gnu/qt5/mkspecs/common/unix.conf \
/usr/lib/x86_64-linux-gnu/qt5/mkspecs/common/linux.conf \
@@ -137,13 +135,11 @@ DIST = /usr/lib/x86_64-linux-gnu/qt5/mkspecs/features/spec_pre.prf \
../sandbox/camera.h \
../sandbox/sandbox.h \
../sandbox/serializable.h \
- ../sandbox/borderedit.h \
- ../sandbox/borderfinder.h ../sandbox/beamer.cpp \
+ ../sandbox/borderedit.h ../sandbox/beamer.cpp \
../sandbox/calibrate.cpp \
../sandbox/camera.cpp \
../sandbox/sandbox.cpp \
- ../sandbox/borderedit.cpp \
- ../sandbox/borderfinder.cpp
+ ../sandbox/borderedit.cpp
QMAKE_TARGET = sandbox
DESTDIR =
TARGET = libsandbox.a
@@ -329,8 +325,8 @@ distdir: FORCE
@test -d $(DISTDIR) || mkdir -p $(DISTDIR)
$(COPY_FILE) --parents $(DIST) $(DISTDIR)/
$(COPY_FILE) --parents /usr/lib/x86_64-linux-gnu/qt5/mkspecs/features/data/dummy.cpp $(DISTDIR)/
- $(COPY_FILE) --parents ../sandbox/beamer.h ../sandbox/calibrate.h ../sandbox/camera.h ../sandbox/sandbox.h ../sandbox/serializable.h ../sandbox/borderedit.h ../sandbox/borderfinder.h $(DISTDIR)/
- $(COPY_FILE) --parents ../sandbox/beamer.cpp ../sandbox/calibrate.cpp ../sandbox/camera.cpp ../sandbox/sandbox.cpp ../sandbox/borderedit.cpp ../sandbox/borderfinder.cpp $(DISTDIR)/
+ $(COPY_FILE) --parents ../sandbox/beamer.h ../sandbox/calibrate.h ../sandbox/camera.h ../sandbox/sandbox.h ../sandbox/serializable.h ../sandbox/borderedit.h $(DISTDIR)/
+ $(COPY_FILE) --parents ../sandbox/beamer.cpp ../sandbox/calibrate.cpp ../sandbox/camera.cpp ../sandbox/sandbox.cpp ../sandbox/borderedit.cpp $(DISTDIR)/
clean: compiler_clean
@@ -395,16 +391,12 @@ sandbox.o: ../sandbox/sandbox.cpp ../sandbox/sandbox.h \
../sandbox/camera.h \
../sandbox/beamer.h \
../sandbox/calibrate.h \
- ../sandbox/borderedit.h \
- ../sandbox/borderfinder.h
+ ../sandbox/borderedit.h
$(CXX) -c $(CXXFLAGS) $(INCPATH) -o sandbox.o ../sandbox/sandbox.cpp
borderedit.o: ../sandbox/borderedit.cpp ../sandbox/borderedit.h
$(CXX) -c $(CXXFLAGS) $(INCPATH) -o borderedit.o ../sandbox/borderedit.cpp
-borderfinder.o: ../sandbox/borderfinder.cpp ../sandbox/borderfinder.h
- $(CXX) -c $(CXXFLAGS) $(INCPATH) -o borderfinder.o ../sandbox/borderfinder.cpp
-
####### Install
install_target: first FORCE
diff --git a/build-sandbox-Desktop-Debug/beamer.o b/build-sandbox-Desktop-Debug/beamer.o
index 94fd78a994f37d51ef224d1851db7c561f4bda1c..b8eab859e95e6d8e1740bcde2ae208e420f339ca 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/borderedit.o b/build-sandbox-Desktop-Debug/borderedit.o
index 43c4ff8ad936fed272a813b3fcdf35aeb043d68a..ce174f6b631b14ad37e4e4b64edc10f93b40a9cb 100644
Binary files a/build-sandbox-Desktop-Debug/borderedit.o and b/build-sandbox-Desktop-Debug/borderedit.o differ
diff --git a/build-sandbox-Desktop-Debug/borderfinder.o b/build-sandbox-Desktop-Debug/borderfinder.o
deleted file mode 100644
index 60183584e89e3ab1631648a01b33c2d3212cc213..0000000000000000000000000000000000000000
Binary files a/build-sandbox-Desktop-Debug/borderfinder.o and /dev/null differ
diff --git a/build-sandbox-Desktop-Debug/calibrate.o b/build-sandbox-Desktop-Debug/calibrate.o
index 53249fa3d94d78800df8aed65bd4ad65d2c2d713..8e683ae507b0caa4cea9e4902cfb48f3c9b568fd 100644
Binary files a/build-sandbox-Desktop-Debug/calibrate.o and b/build-sandbox-Desktop-Debug/calibrate.o differ
diff --git a/build-sandbox-Desktop-Debug/camera.o b/build-sandbox-Desktop-Debug/camera.o
index 4e1816186f47aae4ffe4dcd6f102018dc7dd58bf..53f583f1e29d4ffc8c75d5f04403adc5f4983a2d 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 531b3d3ef45842ae3d70ae21787d7e336557da67..459fdda59d720e12d6807bccb8db03b124961b7c 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 d14490bb1d7c9cc12d38889297c665320af9e583..e72752be32480b5dab14b36d73d42d1d472f38b1 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 72d35aee1fefa1a03a1f4569ff9bf994ab41fc24..49468b5638e512601cbb052a835dcc38423ac1c8 100644
--- a/sandbox/beamer.cpp
+++ b/sandbox/beamer.cpp
@@ -67,6 +67,13 @@ int LineLineIntersect(
Beamer::Beamer(){
//position par défaut
beamerPosition = Point3f(0.0f, 0.265f, -0.205f);
+ points.push_back(Point(500, 500));
+ points.push_back(Point(1000, 300));
+ points.push_back(Point(300, 800));
+
+}
+
+Beamer::~Beamer(){
}
@@ -94,67 +101,44 @@ vector<int> Beamer::findCercleZ(Mat &rgb)
return result;
}
-void Beamer::findBeamer(Camera camera)
-{
- char wname[] = "FindBeamer";
- namedWindow(wname, CV_WINDOW_NORMAL);
- setWindowProperty(wname, CV_WND_PROP_FULLSCREEN, CV_WINDOW_FULLSCREEN);
- Mat depth;
+tuple<Mat, vector<int>> Beamer::findPoint(Camera camera, int i) {
Mat rgb;
- Mat frameImage(Size(1400, 1050), CV_8UC3, Scalar(0, 0, 0));
- vector<Point> points;
- points.push_back(Point(500, 500));
- points.push_back(Point(1000, 300));
- points.push_back(Point(300, 800));
- unsigned int nbPoint = 3; //number of point to calculate 1 vector
+
+
+ Point p = points[i];
+ camera.captureFramesAlign();
+ rgb = camera.getRGBFrameAlign();
+ Scalar color;
+ vector<int> crc = findCercleZ(rgb);
+ if (!crc.empty())
+ color = Scalar(0, 255, 0);
+ else
+ color = Scalar(0, 0, 255);
+
+ line(rgb, Point(p.x, 0), Point(p.x, rgb.rows - 1), color, 4);
+ line(rgb, Point(0, p.y), Point(rgb.cols - 1, p.y), color, 4);
+
+ return make_tuple(rgb, crc);
+}
+
+void Beamer::capturePoint(Camera camera, vector<int> 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]));
+ Point3f p = camera.deprojectPixelToPoint(coord, z / 1000.0);
+ capturedPoints.push_back(p);
+}
+
+void Beamer::findBeamerPosition() {
vector<Point3d> points1; //vectors calculate for each point
vector<Point3d> points2; //1 point for each vector (to calculate constante d)
double fact = -20.0;
-
- for (int i = 0; i < (int)points.size(); i++)
- {
- vector<Point3f> capturedPoints;
- Point p = points[i];
- while (1)
- {
- camera.captureFramesAlign();
- depth = camera.getDepthFrameAlign();
- rgb = camera.getRGBFrameAlign();
- Scalar color;
- vector<int> crc = findCercleZ(rgb);
- if (!crc.empty())
- color = Scalar(0, 255, 0);
- else
- color = Scalar(0, 0, 255);
-
- line(frameImage, Point(p.x, 0), Point(p.x, frameImage.rows - 1), color, 4);
- line(frameImage, Point(0, p.y), Point(frameImage.cols - 1, p.y), color, 4);
- putText(frameImage, to_string(capturedPoints.size() + 1) + "/" + to_string(nbPoint), Point(400, 400), FONT_HERSHEY_SIMPLEX, 1, Scalar(255, 255, 255));
- imshow(wname, frameImage);
- char keyCode = waitKey(500);
- if (keyCode == ESCAPE_CHAR)
- exit(0);
- else if (keyCode == ' ' && !crc.empty())
- {
- float coord[2] = {(float)crc[0], (float)crc[1]};
- float z = static_cast<float>(depth.at<uint16_t>(crc[1], crc[0]));
- Point3f p = camera.deprojectPixelToPoint(coord, z / 1000.0);
- capturedPoints.push_back(p);
- }
-
- if (capturedPoints.size() == nbPoint)
- {
- Vec3f dir(capturedPoints[0].x - capturedPoints[1].x, capturedPoints[0].y - capturedPoints[1].y, capturedPoints[0].z - capturedPoints[1].z);
- Vec6f line;
- fitLine(capturedPoints, line, CV_DIST_L2, 0, 0.01, 0.01);
- points1.push_back(Point3d(line[3] * fact, line[4] * fact, line[5] * fact));
- points2.push_back(Point3d(line[0], line[1], line[2]));
- frameImage.setTo(Scalar(0, 0, 0));
- break;
- }
- frameImage.setTo(Scalar(0, 0, 0));
- }
- }
+ Vec6f line;
+ fitLine(capturedPoints, line, CV_DIST_L2, 0, 0.01, 0.01);
+ points1.push_back(Point3d(line[3] * fact, line[4] * fact, line[5] * fact));
+ points2.push_back(Point3d(line[0], line[1], line[2]));
Point3d pa, pb;
double mua;
@@ -176,23 +160,8 @@ void Beamer::findBeamer(Camera camera)
beamerPoint += beamerPoints[i];
}
beamerPoint /= 6.0;
- cout << "Beamer position: " << beamerPoint.x << " " << beamerPoint.y << " " << beamerPoint.z << "\n";
//set beamer position
beamerPosition.x = (float)beamerPoint.x;
beamerPosition.y = (float)beamerPoint.y;
beamerPosition.z = (float)beamerPoint.z;
-
- /*
-
- TODO : save beamerPosition in config_file
-
- */
- cout << "Saving beamer position in file..." << endl;
- ofstream myfile;
- myfile.open(BEAMER_POSITION_FILE);
- myfile << beamerPosition.x << " " << beamerPosition.y << " " << beamerPosition.z << endl;
- myfile.close();
- cout << "Done!" << endl;
-
- destroyAllWindows();
}
diff --git a/sandbox/beamer.h b/sandbox/beamer.h
index df21b8ed360763c2850cf85568d313c594ca04f3..adabf109992fc1068fc02a8fc836efbf95fc4d87 100644
--- a/sandbox/beamer.h
+++ b/sandbox/beamer.h
@@ -9,20 +9,29 @@ using namespace std;
class Beamer
{
-
- const char *BEAMER_POSITION_FILE = "./backend/config/beamer.dat";
+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);
Point3f beamerPosition;
+ vector<Point> points;
+ vector<Point3f> capturedPoints;
+
public:
Beamer();
+ ~Beamer();
static const int width = 1400;
static const int height = 1050;
Point3f getPosition()
{
return beamerPosition;
- };
+ }
+ void setPosition(Point3f position) {
+ beamerPosition = position;
+ }
void findBeamer(Camera camera);
+ tuple<Mat, vector<int>> findPoint(Camera camera, int i);
+ void capturePoint(Camera camera, vector<int> crc);
+ void findBeamerPosition();
};
#endif
diff --git a/sandbox/borderedit.cpp b/sandbox/borderedit.cpp
index c4f5363309a87387e16888a47000ea5b62c5abb6..80244685f6158bb03bbb6b43667e8bf9491e0c2c 100644
--- a/sandbox/borderedit.cpp
+++ b/sandbox/borderedit.cpp
@@ -1,17 +1,33 @@
#include <algorithm>
#include "borderedit.h"
+/*!
+ * \brief BorderEdit::frameImage
+ * The original frame without border
+ */
Mat BorderEdit::frameImage;
-Mat BorderEdit::drawSquare(Point *p, int n)
+/*!
+ * \brief BorderEdit::drawBorder
+ * \param p first point of the border
+ * \param n the number of points of the border
+ * \return the colored frame with the border
+ */
+Mat BorderEdit::drawBorder(Point *p, int n)
{
Mat imageCopy = frameImage.clone();
polylines(imageCopy, &p, &n, 1, true, Scalar(0, 255, 0), 1, LINE_AA);
- //imshow(wndname, imageCopy);
return imageCopy;
}
+/*!
+ * \brief BorderEdit::findPoints
+ * \param x position of the mouse
+ * \param y position of the mouse
+ * \param posSandbox list of points of the border
+ * \return the index of the selected border
+ */
int BorderEdit::findPoints(int x, int y, vector<Point> *posSandbox)
{
for (int i = 0; i < (int)posSandbox->size(); i++)
@@ -23,15 +39,31 @@ int BorderEdit::findPoints(int x, int y, vector<Point> *posSandbox)
return -1; //not found
}
+/*!
+ * \brief BorderEdit::edit
+ * \param selectedPoint of the border
+ * \param x position of the mouse
+ * \param y position of the mouse
+ * \param posSandbox list of points of the border
+ * \return the colored frame with the border
+ * Set the position of the mouse to the selected edge of the border
+ */
Mat BorderEdit::edit(int selectedPoint, int x, int y, vector<Point> *posSandbox)
{
posSandbox->at(selectedPoint).x = x;
posSandbox->at(selectedPoint).y = y;
- return BorderEdit::drawSquare(&posSandbox->at(0), (int)posSandbox->size());
+ return BorderEdit::drawBorder(&posSandbox->at(0), (int)posSandbox->size());
}
+/*!
+ * \brief BorderEdit::initBorder
+ * \param frame Original colored frame
+ * \param posSandbox list of points of the border
+ * \return the colored frame with the border
+ * Store the original frame and draw the border
+ */
Mat BorderEdit::initBorder(Mat frame, vector<Point> *posSandbox)
{
frame.copyTo(frameImage);
- return BorderEdit::drawSquare(&posSandbox->at(0), (int)posSandbox->size());
+ return BorderEdit::drawBorder(&posSandbox->at(0), (int)posSandbox->size());
}
diff --git a/sandbox/borderedit.h b/sandbox/borderedit.h
index a90a409790f8f0147a15dbd45434b1d83258f8d2..1d2120e08f343f74b2dd9ceef00f1f93236a1b30 100644
--- a/sandbox/borderedit.h
+++ b/sandbox/borderedit.h
@@ -7,14 +7,18 @@
using namespace cv;
using namespace std;
+/*!
+ * \brief The BorderEdit class
+ * Use the colored frame of the Intel RealSense
+ * Apply a border inside and move to correspond
+ * of the projected image of the beamer
+ */
class BorderEdit
{
private:
static const int margeClick = 10;
- static constexpr char *wndname = (char *)"Sandbox Border Finder";
static Mat frameImage;
- // OPENCV - MANUEL RECT CHANGE
- static Mat drawSquare(cv::Point *p, int n);
+ static Mat drawBorder(cv::Point *p, int n);
public:
static Mat initBorder(Mat frame, vector<Point> *posSandbox);
diff --git a/sandbox/borderfinder.cpp b/sandbox/borderfinder.cpp
deleted file mode 100644
index 3584032815e13fc4a7daed448086d8bf4aca048d..0000000000000000000000000000000000000000
--- a/sandbox/borderfinder.cpp
+++ /dev/null
@@ -1,92 +0,0 @@
-#include <algorithm>
-#include "borderfinder.h"
-
-double BorderFinder::angle(Point pt1, Point pt2, Point pt0)
-{
- double dx1 = pt1.x - pt0.x;
- double dy1 = pt1.y - pt0.y;
- double dx2 = pt2.x - pt0.x;
- double dy2 = pt2.y - pt0.y;
- return (dx1 * dx2 + dy1 * dy2) / sqrt((dx1 * dx1 + dy1 * dy1) * (dx2 * dx2 + dy2 * dy2) + 1e-10);
-}
-
-// returns sequence of squares detected on the image.
-bool BorderFinder::find(Rect &rect)
-{
- vector<vector<Point>> rectDetect;
-
- Mat pyr, timg, gray0(frameImage.size(), CV_8U);
-
- // down-scale and upscale the image to filter out the noise
- pyrDown(frameImage, pyr, Size(frameImage.cols / 2, frameImage.rows / 2));
- pyrUp(pyr, timg, frameImage.size());
- vector<vector<Point>> contours;
- int c = 1;
- int ch[] = {c, 0};
- mixChannels(&timg, 1, &gray0, 1, ch, 1);
- gray0 = gray0 > 10;
- waitKey(0);
- findContours(gray0, contours, RETR_LIST, CHAIN_APPROX_SIMPLE);
- vector<Point> approx;
- // test each contour
- cout << "nb rect: " << contours.size() << endl;
- for (size_t i = 0; i < contours.size(); i++)
- {
- // approximate contour with accuracy proportional
- // to the contour perimeter
- approxPolyDP(contours[i], approx, arcLength(contours[i], true) * 0.02, true);
- if (approx.size() == 4 &&
- fabs(contourArea(approx)) > 1000 &&
- isContourConvex(approx))
- {
- double maxCosine = 0;
-
- for (int j = 2; j < 5; j++)
- {
- // find the maximum cosine of the angle between joint edges
- double cosine = fabs(angle(approx[j % 4], approx[j - 2], approx[j - 1]));
- maxCosine = MAX(maxCosine, cosine);
- }
-
- // if cosines of all angles are small
- // (all angles are ~90 degree) then write quandrange
- // vertices to resultant sequence
- // if (maxCosine < 0.3)
- // {
- rect = rotateRect(boundingRect(approx), 90, 90);
- const Point *p = &approx[0];
- int n = (int)approx.size();
- polylines(frameImage, &p, &n, 1, true, Scalar(0, 0, 255), 3, LINE_AA);
- //return true;
- //}
- }
- }
- //imshow("ff", frameImage);
- //waitKey(0);
- return true;
-}
-
-Rect BorderFinder::rotateRect(Rect rect, int heightPercentage, int widthPercetange)
-{
- int rwidth = rect.width;
- int rheight = rect.height;
-
- rect.width = round((rect.width * widthPercetange) / 100.0f);
- rect.height = round((rect.height * heightPercentage) / 100.0f);
- rect.x += (rwidth - rect.width) / 2;
- rect.y += (rheight - rect.height) / 2;
-
- return rect;
-}
-
-float BorderFinder::calculDistance(float point1[], float point2[])
-{
- return sqrt(pow(point1[0] - point2[0], 2) +
- pow(point1[1] - point2[1], 2) +
- pow(point1[2] - point2[2], 2));
-}
-
-BorderFinder::BorderFinder(Mat frame)
-{
- frame.copyTo(frameImage);
-}
diff --git a/sandbox/borderfinder.h b/sandbox/borderfinder.h
deleted file mode 100644
index e43b39ffee365065ac8c41a21dbb7f6dba9ac9ba..0000000000000000000000000000000000000000
--- a/sandbox/borderfinder.h
+++ /dev/null
@@ -1,23 +0,0 @@
-#ifndef BORDERFINDER_H
-#define BORDERFINDER_H
-#include <opencv2/opencv.hpp>
-
-using namespace cv;
-using namespace std;
-
-class BorderFinder
-{
-private:
- // helper function:
- // finds a cosine of angle between vectors
- // from pt0->pt1 and from pt0->pt2
- double angle(Point pt1, Point pt2, Point pt0);
- Mat frameImage;
- Rect rotateRect(Rect rect, int heightPercentage, int widthPercetange);
-
-public:
- float calculDistance(float point1[], float point2[]);
- BorderFinder(Mat frame);
- bool find(Rect &rect);
-};
-#endif
diff --git a/sandbox/calibrate.h b/sandbox/calibrate.h
index 2c908ce7b2c60e570a9f9d50db86fe2094bb1706..2581b5b8b339afbbdd52907d788c8bf40eff7de0 100644
--- a/sandbox/calibrate.h
+++ b/sandbox/calibrate.h
@@ -9,7 +9,6 @@ using namespace cv;
class Calibrate
{
private:
- const char *wndname = (char *)"Sandbox";
Mat matRotation;
float distancePlan;
@@ -19,10 +18,18 @@ public:
Point2i rotatePixel(Point2i pixel);
void transformationFrame(Mat &src, Mat &dst, Camera camera, Point3f beamer);
void transformationFrame(Mat &depth, Mat &src, Mat &dst, Camera camera, Point3f beamer);
+ Mat getMatrixRotation()
+ {
+ return matRotation;
+ }
void setMatrixRotation(Mat matrix)
{
matRotation = matrix.clone();
}
+ float getDistancePlan()
+ {
+ return distancePlan;
+ }
void setDistancePlan(float distance)
{
distancePlan = distance;
diff --git a/sandbox/camera.cpp b/sandbox/camera.cpp
index fb8fd539c1b9ac7e271bc160b1d095adc897e0c9..a4e241eecdf67b99a3b2eadf35a245d766592df2 100644
--- a/sandbox/camera.cpp
+++ b/sandbox/camera.cpp
@@ -2,6 +2,10 @@
Camera::Camera() {}
+Camera::~Camera() {
+
+}
+
// Capture 30 frames to give autoexposure, etc. a chance to settle
void Camera::warmingUp()
{
diff --git a/sandbox/camera.h b/sandbox/camera.h
index 577d3b1522ce02492ea076053cbef63fb6783ce2..9c871f9178bedf94ae0fcd2fcb370c5b0295d7b2 100644
--- a/sandbox/camera.h
+++ b/sandbox/camera.h
@@ -33,6 +33,7 @@ private:
public:
Camera();
+ ~Camera();
void start();
void stop();
// Capture 30 frames to give autoexposure, etc. a chance to settle
diff --git a/sandbox/sandbox.cpp b/sandbox/sandbox.cpp
index 37f273701fcca7bd77c9afbc21252a9a548b2850..b4372cd591469567c6ec995184b60afb28c6e779 100644
--- a/sandbox/sandbox.cpp
+++ b/sandbox/sandbox.cpp
@@ -12,6 +12,11 @@ Sandbox::Sandbox()
}
}
+Sandbox::~Sandbox()
+{
+ delete realSenseDeviceSerialNumber;
+}
+
/*!
* \brief Sandbox::getListRealSenseDevices
* \return list of Intel RealSense devices
@@ -58,6 +63,15 @@ void Sandbox::serialize(ostream& stream)
{
// Serialize ID for the Intel RealSense Camera
stream << realSenseDevice.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER);
+
+ // Serialize calibrate
+ stream << calibrate.getDistancePlan();
+ Mat matRotation = calibrate.getMatrixRotation();
+ stream << matRotation.cols << matRotation.rows << matRotation.type();
+
+ // Serialize beamer
+ stream << beamer.getPosition().x << beamer.getPosition().y << beamer.getPosition().z;
+
}
/*!
@@ -79,9 +93,31 @@ string Sandbox::deserialize(istream& stream)
}
}
+ // Serialize calibrate
+ int cols, rows, type;
+ stream >> type >> rows >> cols;
+ Mat matRotation(cols, rows, type);
+ calibrate.setMatrixRotation(matRotation);
+
+ float distancePlan;
+ stream >> distancePlan;
+ calibrate.setDistancePlan(distancePlan);
+
+ // Serialize beamer
+ int x, y, z;
+ stream >> z >> y >> x;
+ Point3f beamPosition(x, y, z);
+ beamer.setPosition(beamPosition);
+
return "Problem to load";
}
+/*!
+ * \brief Sandbox::generateBorder
+ * \return the colored frame with a rectangle to place the border
+ * Set a rectangle used to define the border of the image of the beamer
+ * inside the colored frame of the Intel RealSense Camera to generate the deformation matrix for the beamer
+ */
Mat Sandbox::generateBorder() {
// Start the Intel RealSense Camera
camera.startAlign(); // 1 seconde of warming up
@@ -96,42 +132,79 @@ Mat Sandbox::generateBorder() {
center.y = s.height / 2;
float distancePlan = static_cast<float>(mean(frameData(Rect(center, Size(10, 10))))[0]); // get sandbox distance from center of camera
calibrate.setDistancePlan(distancePlan);
- //destroyAllWindows();
-
+ // original rectangle to draw to define the deformation matrix
float y = coloredFrame.size().height;
float x = coloredFrame.size().width;
- rectPoints.push_back(Point(1.0/4*x, 1.0/4*y));
- rectPoints.push_back(Point(1.0/4*x, 3.0/4*y));
- rectPoints.push_back(Point(3.0/4*x, 3.0/4*y));
- rectPoints.push_back(Point(3.0/4*x, 1.0/4*y));
+ border.push_back(Point(1.0/4*x, 1.0/4*y));
+ border.push_back(Point(1.0/4*x, 3.0/4*y));
+ border.push_back(Point(3.0/4*x, 3.0/4*y));
+ border.push_back(Point(3.0/4*x, 1.0/4*y));
- coloredFrame = BorderEdit::initBorder(coloredFrame, &rectPoints); // edit projected frame
+ coloredFrame = BorderEdit::initBorder(coloredFrame, &border); // edit projected frame
return coloredFrame;
}
+/*!
+ * \brief Sandbox::toDegrees
+ * \param radians
+ * \return degrees
+ */
+double Sandbox::toDegrees(double radians)
+{
+ return radians * (180.0 / M_PI);
+}
+
+/*!
+ * \brief Sandbox::findEdgeBorder
+ * \param x position of the mouse
+ * \param y position of the mouse
+ * \return index of edge of border to move
+ */
+int Sandbox::findEdgeBorder(int x, int y) {
+ return BorderEdit::findPoints(x, y, &border);
+}
+
+/*!
+ * \brief Sandbox::editEdgeBorder
+ * \param selectedPoint selected edge of border
+ * \param x position of the mouse
+ * \param y position of the mouse
+ * \return the frame updated with the new border
+ */
+Mat Sandbox::editEdgeBorder(int selectedPoint, int x, int y) {
+ return BorderEdit::edit(selectedPoint, x, y, &border);
+}
+
+/*!
+ * \brief Sandbox::applyBorder
+ * Generate the deformation matrix with the border
+ */
void Sandbox::applyBorder() {
- // adjust model matrixe to forme a rectangle in sandbox
- int widthTop = rectPoints[3].x - rectPoints[0].x;
- double angle1 = atan((double)(rectPoints[3].y - rectPoints[0].y) / widthTop);
+ // adjust model matrix to forme a rectangle in sandbox
+ int widthTop = border[3].x - border[0].x;
+ double angle1 = atan((double)(border[3].y - border[0].y) / widthTop);
Mat matRotation = getRotationMatrix2D(center, toDegrees(angle1), 1);
calibrate.setMatrixRotation(matRotation);
Size rectSize = Size(widthTop, cvRound(widthTop / 1.33333) + 5);
- Point p = calibrate.rotatePixel(rectPoints[0]);
+ Point p = calibrate.rotatePixel(border[0]);
rectSandbox = Rect(p, rectSize);
}
-double Sandbox::toDegrees(double radians)
-{
- return radians * (180.0 / M_PI);
+tuple<Mat, vector<int>> Sandbox::detectPointToDetectBeamer(int indexPoint) {
+ return beamer.findPoint(camera, indexPoint);
}
-int Sandbox::findEdgeBorder(int x, int y) {
- return BorderEdit::findPoints(x, y, &rectPoints);
+void Sandbox::capturePointToDetectBeamer(vector<int> crc) {
+ beamer.capturePoint(camera, crc);
}
-Mat Sandbox::editEdgeBorder(int selectedPoint, int x, int y) {
- return BorderEdit::edit(selectedPoint, x, y, &rectPoints);
+void Sandbox::findBeamerPosition() {
+ beamer.findBeamerPosition();
+}
+
+void Sandbox::stopCamera() {
+ camera.stop();
}
diff --git a/sandbox/sandbox.h b/sandbox/sandbox.h
index 901021bf4931b10085b8e8fd863f62a8936ca7d1..844d093799fde3b764aae7d787ffefd9e427a3f1 100644
--- a/sandbox/sandbox.h
+++ b/sandbox/sandbox.h
@@ -13,7 +13,6 @@
#include "beamer.h"
#include "calibrate.h"
#include "borderedit.h"
-#include "borderfinder.h"
#include <QPixmap>
#include <QLabel>
#include <QImage>
@@ -23,7 +22,6 @@ using namespace std;
class Sandbox : Serializable
{
-public:
private:
context ctx;
device_list listRealSenseDevices;
@@ -32,11 +30,13 @@ private:
Camera camera;
Calibrate calibrate;
Rect rectSandbox;
- vector<Point> rectPoints;
+ vector<Point> border;
Point center;
+ Beamer beamer;
public:
Sandbox();
+ ~Sandbox();
device_list getListRealSenseDevices();
void setRealSenseDevices(device device);
device getRealSenseDevice();
@@ -50,6 +50,10 @@ 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);
+ void findBeamerPosition();
+ void stopCamera();
};
#endif // SANDBOX_H
diff --git a/sandbox/sandbox.pro b/sandbox/sandbox.pro
index f6002099499060b0cc098a2f7c827108ba65fde8..2e4f76fdd6499365589d9853d2ea8053b01e768a 100644
--- a/sandbox/sandbox.pro
+++ b/sandbox/sandbox.pro
@@ -21,8 +21,7 @@ SOURCES += \
calibrate.cpp \
camera.cpp \
sandbox.cpp \
- borderedit.cpp \
- borderfinder.cpp
+ borderedit.cpp
HEADERS += \
beamer.h \
@@ -30,8 +29,7 @@ HEADERS += \
camera.h \
sandbox.h \
serializable.h \
- borderedit.h \
- borderfinder.h
+ borderedit.h
# Default rules for deployment.
unix {