sandbox.cpp

#include "../../inc/sandbox.h"


/*
 *   MAIN
 */

Sandbox::Sandbox(){
    projection = new Projection();
    camera = new Camera();
    beamer = new Beamer();
}

Sandbox::~Sandbox(){
    delete beamer;
    delete camera;
    delete projection;
}


/*
 *   PUBLIC
 */

void Sandbox::init(){
    camera->start();
}

void Sandbox::captureFrame(){
    camera->capture();
}

cv::Mat Sandbox::getColorFrame(){
    return camera->getColorFrame()(camera->getCroppingMask());
}

cv::Mat Sandbox::getDepthFrame(){
    return camera->getDepthFrame()(camera->getCroppingMask());
}


cv::Mat Sandbox::adjustProjection(cv::Mat frame){
    
    captureFrame();
    cv::Mat depth = getDepthFrame();
    cv::Mat imageCalibrate = cv::Mat(cv::Size(beamer->getWidth(), beamer->getHeight()), CV_8UC3, cv::Scalar(0, 0, 0));
    projection->adjustFrame(depth, frame, imageCalibrate, camera, beamer->getPosition());

    // frame after process
    //cv::dilate(imageCalibrate, imageCalibrate, cv::Mat(), cv::Point(-1, -1), 2, 1, 1);
    //cv::erode(imageCalibrate, imageCalibrate, cv::Mat(), cv::Point(-1, -1), 2, 1, 1);
    
    return imageCalibrate;
}

int Sandbox::loadConfigFrom(char *path){

    int err = SandboxConfig::loadAdjustingMatrixFrom(path, projection);
    if(err){ return err; }
    err = SandboxConfig::loadDistanceToSandboxTop(path, projection);
    if(err){ return err; }
    err = SandboxConfig::loadCroppingMaskFrom(path, camera);
    if(err){ return err; }
    err = SandboxConfig::loadBeamerResolutionFrom(path, beamer);
    if(err){ return err; }
    err = SandboxConfig::loadBeamerPositionFrom(path, beamer);
    if(err){ return err; }
    return 0;
}

int Sandbox::loadConfig(){

    return loadConfigFrom(defaultConfigFilePath);
}