diff --git a/Calibration/mainwindow.cpp b/Calibration/mainwindow.cpp
index 612b5bd7a3a5b2c6316f743eb5c6ef49f958ee05..30df88f518d77c672cd55204c71ed63fa0429f0e 100644
--- a/Calibration/mainwindow.cpp
+++ b/Calibration/mainwindow.cpp
@@ -26,6 +26,8 @@ MainWindow::MainWindow(QWidget *parent)
pteConsole_cursor = QTextCursor(ui->pteConsole->document());
pteConsole_cursor.movePosition(QTextCursor::End);
+ ui->btnSave->setEnabled(false);
+
searchRealSenseDevices();
}
@@ -45,6 +47,7 @@ MainWindow::~MainWindow()
*/
void MainWindow::quitApplication()
{
+ sandbox.stopCamera();
this->close();
}
@@ -112,12 +115,22 @@ void MainWindow::saveConfiguration() {
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");
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");
+
}
/*!
@@ -128,6 +141,10 @@ void MainWindow::configure() {
switch (stepConfiguration) {
case 0: // Edit the border
{
+ indexCapturedPointToToSetDetectedPoint = 0;
+ indexPointToDetectBeamer = 0;
+ ui->btnSave->setEnabled(false);
+
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");
@@ -144,10 +161,12 @@ void MainWindow::configure() {
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);
+ waitKey(100);
+ } while(indexPointToDetectBeamer < nbPointToDetectBeamer);
ui->lblImage->setPixmap(QPixmap());
- stepConfiguration = 3;
+ stepConfiguration = 0;
+ ui->btnSave->setEnabled(true);
+ sandbox.stopCamera();
break;
}
case 2:
@@ -155,8 +174,13 @@ void MainWindow::configure() {
if (!crcToDetectBeamer.empty())
{
sandbox.capturePointToDetectBeamer(crcToDetectBeamer);
- indexPointToDetectBeamer++;
+ indexCapturedPointToToSetDetectedPoint++;
pteConsole_cursor.insertText("add element\n");
+
+ if (indexCapturedPointToToSetDetectedPoint == nbCapturedPointToToSetDetectedPoint) {
+ indexCapturedPointToToSetDetectedPoint = 0;
+ indexPointToDetectBeamer++;
+ }
}
}
default:
diff --git a/Calibration/mainwindow.h b/Calibration/mainwindow.h
index 378a6e005a4eb565009751fa58df922bd7a132be..093807614a6c434d242926c0ca6d75d13939cd67 100644
--- a/Calibration/mainwindow.h
+++ b/Calibration/mainwindow.h
@@ -38,6 +38,9 @@ private:
int stepConfiguration = 0;
vector<int> crcToDetectBeamer;
int indexPointToDetectBeamer = 0;
+ int indexCapturedPointToToSetDetectedPoint = 0;
+ const int nbPointToDetectBeamer = 3;
+ const int nbCapturedPointToToSetDetectedPoint = 3;
// Methods
void showListRealSenseDevices();
diff --git a/build-Calibration-Desktop-Debug/2020-04-28-16_09_19.log b/build-Calibration-Desktop-Debug/2020-05-05-20_34_14.log
similarity index 100%
rename from build-Calibration-Desktop-Debug/2020-04-28-16_09_19.log
rename to build-Calibration-Desktop-Debug/2020-05-05-20_34_14.log
diff --git a/build-Calibration-Desktop-Debug/2020-04-28-16_10_49.log b/build-Calibration-Desktop-Debug/2020-05-05-20_34_30.log
similarity index 100%
rename from build-Calibration-Desktop-Debug/2020-04-28-16_10_49.log
rename to build-Calibration-Desktop-Debug/2020-05-05-20_34_30.log
diff --git a/build-Calibration-Desktop-Debug/2020-04-28-16_13_14.log b/build-Calibration-Desktop-Debug/2020-05-05-20_35_37.log
similarity index 100%
rename from build-Calibration-Desktop-Debug/2020-04-28-16_13_14.log
rename to build-Calibration-Desktop-Debug/2020-05-05-20_35_37.log
diff --git a/build-Calibration-Desktop-Debug/2020-04-28-17_37_14.log b/build-Calibration-Desktop-Debug/2020-05-05-20_36_52.log
similarity index 100%
rename from build-Calibration-Desktop-Debug/2020-04-28-17_37_14.log
rename to build-Calibration-Desktop-Debug/2020-05-05-20_36_52.log
diff --git a/build-Calibration-Desktop-Debug/2020-04-28-17_39_58.log b/build-Calibration-Desktop-Debug/2020-05-05-20_36_58.log
similarity index 100%
rename from build-Calibration-Desktop-Debug/2020-04-28-17_39_58.log
rename to build-Calibration-Desktop-Debug/2020-05-05-20_36_58.log
diff --git a/build-Calibration-Desktop-Debug/Calibration b/build-Calibration-Desktop-Debug/Calibration
index a4fafe057ad6dcd1ffef2533400e03f66c695f0f..03e6dfaa5c152f12a5f90a5b1ef6d1efdbc9375c 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 d1f2d150cbe022e463d39e98d639cec274e06cc8..24e1410b523618c1045463b038b256950d995014 100644
Binary files a/build-Calibration-Desktop-Debug/device and b/build-Calibration-Desktop-Debug/device differ
diff --git a/build-Calibration-Desktop-Debug/mainwindow.o b/build-Calibration-Desktop-Debug/mainwindow.o
index ade5df0929bf2d64d55cdda42007697834114a82..b2f6c8733450fd9681b8e0b1b6b2f8df81b7e527 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 9d5cf281077b3fa1dd7650c40573158777baadaf..a5467cb02deb6ced170e990a71d7917f22a1a9ff 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/beamer.o b/build-sandbox-Desktop-Debug/beamer.o
index b8eab859e95e6d8e1740bcde2ae208e420f339ca..ba3a2f0b5078d815564fa951447e0289a2212c5f 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/libsandbox.a b/build-sandbox-Desktop-Debug/libsandbox.a
index 459fdda59d720e12d6807bccb8db03b124961b7c..05d03dfd89a36eaee15bb353669b83f0fce8e0f9 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 e72752be32480b5dab14b36d73d42d1d472f38b1..91ed6cadf2632348cb23dbcca5b0d4093878c036 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 49468b5638e512601cbb052a835dcc38423ac1c8..a5d96fc10a197470e00fd8dd68fda977bbc9cdb3 100644
--- a/sandbox/beamer.cpp
+++ b/sandbox/beamer.cpp
@@ -16,6 +16,19 @@ typedef struct
double x, y, z;
} XYZ;
+/*!
+ * \brief LineLineIntersect
+ * \param p1
+ * \param p2
+ * \param p3
+ * \param p4
+ * \param pa
+ * \param pb
+ * \param mua
+ * \param mub
+ * \return
+ * Use 4 points to calculate the unprecised intersection of two lines
+ */
int LineLineIntersect(
Point3d p1, Point3d p2, Point3d p3, Point3d p4, Point3d *pa, Point3d *pb,
double *mua, double *mub)
@@ -69,7 +82,7 @@ Beamer::Beamer(){
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));
+ points.push_back(Point(300, 700));
}
@@ -77,6 +90,11 @@ Beamer::~Beamer(){
}
+/*!
+ * \brief Beamer::findCercleZ
+ * \param rgb colored Frame
+ * \return a vector for the detected circle (can be empty)
+ */
vector<int> Beamer::findCercleZ(Mat &rgb)
{
Mat src_gray;
@@ -101,10 +119,15 @@ vector<int> Beamer::findCercleZ(Mat &rgb)
return result;
}
+/*!
+ * \brief Beamer::findPoint
+ * \param camera Intel RealSense Camera
+ * \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) {
Mat rgb;
-
Point p = points[i];
camera.captureFramesAlign();
rgb = camera.getRGBFrameAlign();
@@ -121,6 +144,12 @@ tuple<Mat, vector<int>> Beamer::findPoint(Camera camera, int i) {
return make_tuple(rgb, crc);
}
+/*!
+ * \brief Beamer::capturePoint
+ * \param camera
+ * \param crc detected circle
+ * Store the detect point
+ */
void Beamer::capturePoint(Camera camera, vector<int> crc) {
Mat depth;
camera.captureFramesAlign();
@@ -131,6 +160,10 @@ void Beamer::capturePoint(Camera camera, vector<int> crc) {
capturedPoints.push_back(p);
}
+/*!
+ * \brief Beamer::findBeamerPosition
+ * Calculate the position of the beamer with the detected points
+ */
void Beamer::findBeamerPosition() {
vector<Point3d> points1; //vectors calculate for each point
vector<Point3d> points2; //1 point for each vector (to calculate constante d)
diff --git a/sandbox/sandbox.cpp b/sandbox/sandbox.cpp
index b4372cd591469567c6ec995184b60afb28c6e779..e516392a45b5b6b5a150aa43d092ee519bf97cd4 100644
--- a/sandbox/sandbox.cpp
+++ b/sandbox/sandbox.cpp
@@ -62,16 +62,23 @@ void Sandbox::loadListRealSenseDevices()
void Sandbox::serialize(ostream& stream)
{
// Serialize ID for the Intel RealSense Camera
- stream << realSenseDevice.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER);
+ const char* serialnumber = realSenseDevice.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER);
// Serialize calibrate
- stream << calibrate.getDistancePlan();
+ float distance = calibrate.getDistancePlan();
+
Mat matRotation = calibrate.getMatrixRotation();
- stream << matRotation.cols << matRotation.rows << matRotation.type();
+ int cols = matRotation.cols;
+ int rows = matRotation.rows;
// Serialize beamer
- stream << beamer.getPosition().x << beamer.getPosition().y << beamer.getPosition().z;
+ int 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";
}
/*!
@@ -80,36 +87,40 @@ void Sandbox::serialize(ostream& stream)
* \return a text to log the result
* Deserialization to load a configuration file
*/
-string Sandbox::deserialize(istream& stream)
+void Sandbox::deserialize(istream& stream)
{
- // Deserialization the Intel RealSense Camera
- stream >> realSenseDeviceSerialNumber;
+ // Deserialize the Intel RealSense Camera
+ char* serialnumber;
+
+ // Deserialize calibrate
+ float distancePlan;
+
+ int cols, rows, type;
+ Mat matRotation;
+
+ // Deserialize beamer
+ int x, y, z;
+
+ // Deseriliazation
+ stream >> serialnumber >> distancePlan >> cols >> rows >> x >> y >> z;
+
+ // Set Camera
int nbListRealSenseDevices = listRealSenseDevices.size();
for (int i = 0; i < nbListRealSenseDevices; ++i) {
- if (listRealSenseDevices[i].get_info(RS2_CAMERA_INFO_SERIAL_NUMBER) == realSenseDeviceSerialNumber){
+ if (listRealSenseDevices[i].get_info(RS2_CAMERA_INFO_SERIAL_NUMBER) == serialnumber){
realSenseDevice = listRealSenseDevices[i];
i = nbListRealSenseDevices;
- return "Device Connected\n";
}
}
- // Serialize calibrate
- int cols, rows, type;
- stream >> type >> rows >> cols;
- Mat matRotation(cols, rows, type);
- calibrate.setMatrixRotation(matRotation);
-
- float distancePlan;
- stream >> distancePlan;
+ //Set calibraton
calibrate.setDistancePlan(distancePlan);
- // Serialize beamer
- int x, y, z;
- stream >> z >> y >> x;
+ calibrate.setMatrixRotation(matRotation);
+
+ // Set beamer
Point3f beamPosition(x, y, z);
beamer.setPosition(beamPosition);
-
- return "Problem to load";
}
/*!
@@ -193,18 +204,38 @@ void Sandbox::applyBorder() {
rectSandbox = Rect(p, rectSize);
}
+/*!
+ * \brief Sandbox::detectPointToDetectBeamer
+ * \param indexPoint
+ * \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) {
return beamer.findPoint(camera, indexPoint);
}
+/*!
+ * \brief Sandbox::capturePointToDetectBeamer
+ * \param crc circle vector
+ */
void Sandbox::capturePointToDetectBeamer(vector<int> crc) {
beamer.capturePoint(camera, crc);
}
+/*!
+ * \brief Sandbox::findBeamerPosition
+ * Find the position with the detected points
+ */
void Sandbox::findBeamerPosition() {
beamer.findBeamerPosition();
}
+/*!
+ * \brief Sandbox::stopCamera
+ * Stop the pipe
+ */
void Sandbox::stopCamera() {
camera.stop();
}
+
+
diff --git a/sandbox/sandbox.h b/sandbox/sandbox.h
index 844d093799fde3b764aae7d787ffefd9e427a3f1..f65bde113a2e6e86e89ed48de55a93ffa4c99fc4 100644
--- a/sandbox/sandbox.h
+++ b/sandbox/sandbox.h
@@ -43,7 +43,7 @@ public:
void loadListRealSenseDevices();
void saveConfiguration();
void serialize(ostream& stream);
- string deserialize(istream& stream);
+ void deserialize(istream& stream);
Mat configure();
double toDegrees(double radians);
void applyBorder();
@@ -54,6 +54,12 @@ public:
void capturePointToDetectBeamer(vector<int> 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
diff --git a/sandbox/serializable.h b/sandbox/serializable.h
index 4e9410dd04a0e2b5e7a166b7a32f1acb6d6b7402..9af9037d070ee9bc93584983f045a99e7b96c1b6 100644
--- a/sandbox/serializable.h
+++ b/sandbox/serializable.h
@@ -13,7 +13,7 @@ public:
virtual ~Serializable(){}
virtual void serialize(ostream& stream) = 0;
- virtual string deserialize(istream& stream) = 0;
+ virtual void deserialize(istream& stream) = 0;
};
#endif // SERIALIZABLE_H