Skip to content
Snippets Groups Projects
Commit 13e28b91 authored by simon.fanetti's avatar simon.fanetti
Browse files

fixe usage + start adapting Controller to the new architecture

parent da9daa3b
No related branches found
No related tags found
No related merge requests found
Show whitespace changes
Inline Side-by-side
includes/controller.h
+ 3
− 11
View file @ 13e28b91
......@@ -15,17 +15,13 @@ class Controller
cv::Mat getRGBFrame();
cv::Mat getDepthFrame();
void showImage(cv::Mat* image);
//void exportToAsc(cv::Mat frame, char *fileName);
//void exportFrame(cv::Mat src, char *fileName);
//bool importFrame(char *fileName, cv::Mat &output);
void setupConfig();
private:
const char *SANDBOX_POSITION_FILE = "./sandbox.dat";
const char *CALIBRATE_DISTANCE_FILE = "./distance.dat";
const char *CALIBRATE_MATRIX_FILE = "./matrixe.dat";
static const char CHAR_DELIM = ' ';
//const float SANDBOX_CONTOUR = 2.0f * (1020.0f + 770.0f);
//const float MARGE = 0.05 * SANDBOX_CONTOUR; // 5% of marge
static const int ESCAPE_CHAR = 27;
char *defaultWindowsName = (char*) "Image";
cv::Rect rectSandbox;
......@@ -34,13 +30,9 @@ class Controller
Beamer beamer;
void createWindowsFullScreen(char *windowName);
void showImage(cv::Mat* image, char *windowName);
//bool readSandboxPosition(std::vector<cv::Point> &rectPoints);
//void writeSandboxPosition(std::vector<cv::Point> rectPoints);
double toDegrees(double radians);
void sanboxBorder();
//void sandboxBorderLoad();
//bool configFilesFound();
void setupProjection(Camera *camera);
void setupBeamerLocation(Beamer *beamer, Camera *camera);
};
......
src/core/components/calibrate.cpp
+ 5
− 4
View file @ 13e28b91
......@@ -6,6 +6,7 @@ using namespace std;
Calibrate::Calibrate()
{
matRotation = getRotationMatrix2D(Point(0, 0), 0, 1);
}
Point2i Calibrate::rotatePixel(Point2i pixel)
......@@ -32,7 +33,7 @@ Point2i Calibrate::transformationPixel(int i, int j, float z, Camera camera, Poi
void Calibrate::transformationFrame(cv::Mat &src, cv::Mat &dst, Camera camera, Point3f beamer)
{
int64_t t1 = getTickCount();
//int64_t t1 = getTickCount();
//transformation on all pixel
for (int i = 0; i < src.rows; i++)
{
......@@ -44,7 +45,7 @@ void Calibrate::transformationFrame(cv::Mat &src, cv::Mat &dst, Camera camera, P
dst.at<uint16_t>(pixel) = src.at<uint16_t>(pixelIJ);
}
}
cout << "temps de calcul: " << (getTickCount() - t1) / getTickFrequency() << endl;
//cout << "temps de calcul: " << (getTickCount() - t1) / getTickFrequency() << endl;
warpAffine(dst, dst, matRotation, dst.size());
// medianBlur(dst, dst, 3);
......@@ -54,7 +55,7 @@ void Calibrate::transformationFrame(cv::Mat &depth, cv::Mat &src, cv::Mat &dst,
{
int nbChannel = src.channels();
//transformation on all pixel
int64_t t1 = getTickCount();
//int64_t t1 = getTickCount();
for (int i = 0; i < src.rows; i++)
{
for (int j = 0; j < src.cols; j++)
......@@ -70,7 +71,7 @@ void Calibrate::transformationFrame(cv::Mat &depth, cv::Mat &src, cv::Mat &dst,
}
}
}
cout << "temps de calcul: " << (getTickCount() - t1) / getTickFrequency() << endl;
//cout << "temps de calcul: " << (getTickCount() - t1) / getTickFrequency() << endl;
warpAffine(dst, dst, matRotation, dst.size());
dilate(dst, dst, Mat(), Point(-1, -1), 2, 1, 1);
erode(dst, dst, Mat(), Point(-1, -1), 2, 1, 1);
......
src/core/controller.cpp
+ 59
− 188
View file @ 13e28b91
......@@ -6,22 +6,20 @@
using namespace std;
using namespace cv;
/*
* MAIN
*/
Controller::Controller(){
bool configSanbox = true;
//cout << "All files there? " << configFilesFound() << endl;
if(configSanbox){
// Blue screen and edit colored frame routine
sanboxBorder();
// Matching cross under beamer routine
beamer.findBeamer(camera);
}else{
//sandboxBorderLoad();
//beamer.findBeamerLoad(camera);
}
// Set full screen parameter for show function
createWindowsFullScreen(defaultWindowsName);
}
/*
* PUBLIC
*/
Mat Controller::getRGBFrame(){
camera.captureFramesAlign();
return camera.getRGBFrameAlign()(rectSandbox);
......@@ -36,6 +34,34 @@ void Controller::showImage(cv::Mat* image){
showImage(image, defaultWindowsName);
}
void Controller::setupConfig(){
// Blue screen and edit colored frame routine
setupProjection(&camera);
// Matching cross under beamer routine
setupBeamerLocation(&beamer, &camera);
createWindowsFullScreen(defaultWindowsName);
// Debug
Mat matRotation = calibrate.getMatrixRotation();
cout << "Adjusting Matrix" << endl;
for (int y = 0; y < matRotation.rows; y++){
for (int x = 0; x < matRotation.cols; x++){
cout << matRotation.at<float>(y, x) << " ";
}
cout << endl;
}
cout << "Cropping Mask (base + size)" << endl;
cout << "(" << rectSandbox.x << "," << rectSandbox.y << ") + ";
cout << "(" << rectSandbox.width << "," << rectSandbox.height << ")" << endl;
}
/*
* PRIVATE
*/
void Controller::showImage(cv::Mat* image, char *windowName){
static Mat frameBeamer(Size(Beamer::width, Beamer::height), CV_8UC3);
camera.captureFramesAlign();
......@@ -54,209 +80,54 @@ double Controller::toDegrees(double radians){
return radians * (180.0 / M_PI);
}
/*
bool Sandbox::readSandboxPosition(vector<Point> &rectPoints)
{
std::ifstream infile(SANDBOX_POSITION_FILE);
if (infile.good())
{
int x, y;
while (infile >> x >> y)
{
rectPoints.push_back(Point(x, y));
cout << x << " " << y << endl;
}
}
infile.close();
return rectPoints.size() == 4;
}
void Sandbox::writeSandboxPosition(vector<Point> rectPoints)
{
//export points to file
std::ofstream myfile;
myfile.open(SANDBOX_POSITION_FILE);
for (unsigned int i = 0; i < rectPoints.size(); i++)
myfile << rectPoints[i].x << " " << rectPoints[i].y << endl;
myfile.close();
}*/
/*
void Sandbox::sandboxBorderLoad(){
float distancePlan;
Mat matRotation;
// Distance Plan
std::ifstream infile(CALIBRATE_DISTANCE_FILE);
if (infile.good()){
while (infile >> distancePlan){
cout << distancePlan << endl;
}
}
infile.close();
// Matrix Rotation
char *filename = "";
strcpy(filename, CALIBRATE_MATRIX_FILE);
importFrame(filename, matRotation);
calibrate.setDistancePlan(distancePlan);
}
void Sandbox::exportToAsc(Mat src, char *fileName)
{
std::ofstream myfile;
myfile.open(fileName);
Mat frameSand = src(rectSandbox);
for (int y = 0; y < src.rows; y++)
{
for (int x = 0; x < src.cols; x++)
{
myfile << x << " " << y << " " << frameSand.at<uint16_t>(y, x) << "\n";
}
}
myfile.close();
void Controller::createWindowsFullScreen(char *windowName){
namedWindow(windowName, CV_WINDOW_NORMAL);
setWindowProperty(windowName, CV_WND_PROP_FULLSCREEN, CV_WINDOW_FULLSCREEN);
}
void Sandbox::exportFrame(Mat src, char *fileName)
{
std::ofstream myfile;
myfile.open(fileName);
Mat frameSand = src(rectSandbox);
myfile << frameSand.cols << " " << frameSand.rows << endl;
for (int y = 0; y < frameSand.rows; y++)
{
for (int x = 0; x < frameSand.cols; x++)
{
myfile << frameSand.at<uint16_t>(y, x) << CHAR_DELIM;
}
myfile << endl;
}
myfile.close();
}
bool Sandbox::importFrame(char *fileName, Mat &output)
{
std::ifstream file(fileName);
if (file.is_open())
{
string elem;
int i = 0;
//read header
getline(file, elem, CHAR_DELIM);
int width = atoi(elem.c_str());
getline(file, elem, CHAR_DELIM);
int height = atoi(elem.c_str());
//create & read matrix
output = Mat(Size(width, height), CV_16UC1);
cout << width << " " << height << endl;
while (getline(file, elem, CHAR_DELIM))
{
output.at<uint16_t>(i / width, i % width) = (uint16_t)atoi(elem.c_str());
i++;
}
file.close();
return true;
}
return false;
}
bool Sandbox::configFilesFound(){
const char* files[] = { SANDBOX_POSITION_FILE,
CALIBRATE_DISTANCE_FILE,
CALIBRATE_MATRIX_FILE };
int size = (sizeof(files)/sizeof(char*));
for (int i = 0; i < size; i++)
{
char *filename = "";
strcpy(filename, files[i]);
std::ifstream infile(filename);
if(infile.fail()){
cout << "Configuration file missing...";
return false;
}
void Controller::setupBeamerLocation(Beamer *beamer, Camera *camera){
beamer->findBeamer(*camera);
}
return true;
}*/
void Controller::setupProjection(Camera *camera){
void Controller::sanboxBorder()
{
// Blue screen
char windowName[] = "border";
createWindowsFullScreen(windowName);
Mat frameBeamer(Size(Beamer::width, Beamer::height), CV_8UC3, Scalar(255, 0, 0));
// Show blue frame
imshow(windowName, frameBeamer);
waitKey(100);
camera.startAlign(); // 1 seconde of warming up
camera.captureFramesAlign();
Mat frameData = camera.getDepthFrameAlign();
Mat coloredFrame = camera.getRGBFrameAlign();
// Take picture
camera->startAlign(); // 1 seconde of warming up
camera->captureFramesAlign();
Mat frameData = camera->getDepthFrameAlign();
Mat coloredFrame = camera->getRGBFrameAlign();
Size s = frameData.size();
Point center(s.width / 2, s.height / 2);
// calibrate distance
//Point center(s.width / 2, 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();
vector<Point> rectPoints;
// Edit projection
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));
vector<Point> rectPoints{ Point(1.0/4*x, 1.0/4*y), Point(1.0/4*x, 3.0/4*y), Point(3.0/4*x, 3.0/4*y), Point(3.0/4*x, 1.0/4*y) };
cout << "Edit Rectangle" << endl;
BorderEdit::edit(coloredFrame, &rectPoints); // edit projected frame
// adjust model matrixe to forme a rectangle in sandbox
// Set adjusting matrix for the projection
int widthTop = rectPoints[3].x - rectPoints[0].x;
double angle1 = atan((double)(rectPoints[3].y - rectPoints[0].y) / widthTop);
Mat matRotation = getRotationMatrix2D(center, toDegrees(angle1), 1);
calibrate.setMatrixRotation(matRotation);
cout << "Calibrate Rotation Matrixe" << endl;
Mat matRotation = getRotationMatrix2D(center, toDegrees(angle1), 1); // adjustingMatrix
calibrate.setMatrixRotation(matRotation);
// Set cropping mask
Size rectSize = Size(widthTop, cvRound(widthTop / 1.33333) + 5);
Point p = calibrate.rotatePixel(rectPoints[0]);
// rectSandbox => CroppingMask
rectSandbox = Rect(p, rectSize);
//writeSandboxPosition(rectPoints); // update with adjusted sandbox's angles
rectSandbox = Rect(p, rectSize); // coppingMask
destroyAllWindows();
/*
TODO : save matRotation in config_file
*/
/*cout << "Saving matrixe in file..." << endl;
myfile.open(CALIBRATE_MATRIX_FILE);
cout << "Data : " << matRotation.rows << " : " << matRotation.cols << endl;
myfile << matRotation.cols << " " << matRotation.rows << endl;
for (int y = 0; y < matRotation.rows; y++)
{
for (int x = 0; x < matRotation.cols; x++)
{
myfile << matRotation.at<uint16_t>(y, x) << CHAR_DELIM;
}
myfile << endl;
}
myfile.close();
cout << "Done..." << endl;*/
}
void Controller::createWindowsFullScreen(char *windowName)
{
namedWindow(windowName, CV_WINDOW_NORMAL);
setWindowProperty(windowName, CV_WND_PROP_FULLSCREEN, CV_WINDOW_FULLSCREEN);
}
\ No newline at end of file
src/sandbox.cpp
+ 1
− 1
View file @ 13e28b91
#include "../includes/sandbox.h"
Sandbox::Sandbox(){
controller = Controller();
controller.setupConfig();
}
cv::Mat Sandbox::getRGBFrame(){
......
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Please register or to comment