add app

Makefile

+API_PATH=../ar_sanbox_lib
+CFLAGS=-std=c++11 -Wall -Wextra -g
+OPENCVFLAG=`pkg-config --libs --cflags opencv`
+CAMERAFLAG=-lrealsense2
+CCP=g++
+
+app: app.o
+	$(CCP) $(OPENCVFLAG) $(CAMERAFLAG) -L$(API_PATH) -lsandbox $^ -o $@
+
+%.o: %.cpp
+	$(CCP) $(CFLAGS) -I$(API_PATH)/includes -c $< -o $@ 
+
+clean:
+	rm -f *.o app

app.cpp

+
+#include "sandbox.h"
+#include <numeric>
+#include <fstream>
+#include <string>
+#include <opencv2/opencv.hpp>
+
+using namespace std;
+using namespace cv;
+
+#define ESCAPE_CHAR 27
+
+Sandbox client;
+
+Mat coloredFrame(Mat frameDepth)
+{
+    Mat depthFrameColored(frameDepth.size(), CV_8U);
+    int width = frameDepth.cols, height = frameDepth.rows;
+    static uint32_t histogram[0x10000];
+    memset(histogram, 0, sizeof(histogram));
+
+    for (int i = 0; i < height; ++i)
+    {
+        for (int j = 0; j < width; ++j)
+        {
+            ++histogram[frameDepth.at<ushort>(i, j)];
+        }
+    }
+
+    for (int i = 2; i < 0x10000; ++i)
+        histogram[i] += histogram[i - 1]; // Build a cumulative histogram for the indices in [1,0xFFFF]
+
+    for (int i = 0; i < height; ++i)
+    {
+        for (int j = 0; j < width; ++j)
+        {
+            if (uint16_t d = frameDepth.at<ushort>(i, j))
+            {
+                int f = histogram[d] * 255 / histogram[0xFFFF]; // 0-255 based on histogram location
+                depthFrameColored.at<uchar>(i, j) = static_cast<uchar>(f);
+            }
+            else
+            {
+                depthFrameColored.at<uchar>(i, j) = 0;
+            }
+        }
+    }
+    bitwise_not(depthFrameColored, depthFrameColored); //reverse colormap
+    applyColorMap(depthFrameColored, depthFrameColored, cv::COLORMAP_JET);
+    depthFrameColored.setTo(cv::Scalar(0, 0, 0), (frameDepth == 0));
+    return depthFrameColored;
+}
+
+void showLevel()
+{
+    char windowName[] = "Sandbox";
+    Mat frameData;
+    client.getDepthFrame().copyTo(frameData);
+    Mat colored;
+    do
+    {
+        client.getDepthFrame().copyTo(frameData);
+        colored = coloredFrame(frameData);
+        client.showImage(&colored);
+    } while (waitKey(10) != ESCAPE_CHAR);
+    destroyAllWindows();
+}
+/*
+void showDiff(Mat frameBase)
+{
+    Mat frameData;
+    client.getDepthFrame(&frameData);
+    resize(frameBase, frameBase, frameData.size()); //to match with camera frame
+    Mat diff(frameData.size(), CV_16S);
+    Mat frameColor(frameData.size(), CV_8UC3, Scalar(0, 0, 0));
+    int toBlue[] = {0, 2};
+    int toRed[] = {0, 0};
+    int keyCode;
+    do
+    {
+        client.getDepthFrame(&frameData);
+        subtract(frameBase, frameData, diff, noArray(), CV_16S);
+        Mat isNeg = diff < -5;
+        Mat isPos = diff > 5;
+        //colorize red & blue
+        mixChannels(&isNeg, 1, &frameColor, 1, toBlue, 1);
+        mixChannels(&isPos, 1, &frameColor, 1, toRed, 1);
+        client.showImage(frameColor);
+        keyCode = waitKey(10);
+    } while (keyCode!= ESCAPE_CHAR);
+    destroyAllWindows();
+}
+
+vector<int> findCercleZ(Mat &rgb)
+{
+    Mat src_gray;
+    cvtColor(rgb, src_gray, CV_BGR2GRAY);
+    /// Reduce the noise so we avoid false circle detection
+    GaussianBlur(src_gray, src_gray, Size(9, 9), 2, 2);
+    vector<Vec3f> circles;
+    circles.clear();
+    /// Apply the Hough Transform to find the circles
+    //source, output, method, inverse ratio of resolution, Minimum distance between detected centers, threeshold canny, threeshold center, min radius, max radius
+    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;
+    if (!circles.empty())
+    {
+        for (int i = 0; i < 3; i++)
+        {
+            result.push_back(round(circles[0][i]));
+        }
+    }
+    return result;
+}
+
+void trackCircle()
+{
+    Mat frameRGB;
+    client.getRGBFrame(&frameRGB);
+    Mat frameColor(frameRGB.size(), CV_8UC3, Scalar(0, 0, 0));
+
+    do
+    {
+        client.getRGBFrame(&frameRGB);
+        vector<int> cercle = findCercleZ(frameRGB);
+        if (!cercle.empty())
+        {
+            Point circlePosition(cercle[0], cercle[1]);
+            cv::circle(frameColor, circlePosition, 3, Scalar(0, 255, 0), -1, 8, 0); // point without transformation
+            cout << circlePosition.x << "x" << circlePosition.y << endl;
+        }
+        client.showImage(frameColor);
+        frameColor.setTo(Scalar(0,0,0));
+
+    } while (waitKey(100) != ESCAPE_CHAR);
+    destroyAllWindows();
+}*/
+
+int main(int argc, char *argv[])
+{
+
+    if (argc != 3)
+    {
+        printf("Usage : %s <addr_ip> <port>\n", argv[0]);
+        exit(1);
+    }
+    //client = Sandbox(argv[1], atoi(argv[2]));
+    client = Sandbox();
+    cout << "Press: \n 0: Show difference \n 1: Show level \n";
+    int f = 0;
+    cin >> f;
+    if (f == 0)
+    {
+        //Mat frameData;
+        //client.getDepthFrame(&frameData);
+        //showDiff(frameData);
+    }
+    else if (f == 1)
+        showLevel();
+}
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