cleaning

inc/beamer.h

@@ -5,8 +5,7 @@
 
 #define ESCAPE_CHAR 27
 
-class Beamer
-{
+class Beamer{
     private:
         const char *BEAMER_POSITION_FILE = "./beamer.dat";
         cv::Point3f beamerPosition;
@@ -28,5 +27,6 @@ public:
 
         int findBeamerFrom(Camera camera);
         void printPosition();
+        
 };
 #endif

inc/beamerProjection.h

@@ -5,19 +5,22 @@
 #include "beamer.h"
 #include "camera.h"
 
-class BeamerProjection
-{
+class BeamerProjection{
     private:
         const char *wndname = (char *)"Sandbox";
         cv::Mat adjustingMatrix;
+
         cv::Point2i adjustPixel(int i, int j, float z, Camera camera, cv::Point3f beamer);
 
     public:
         BeamerProjection();
-    cv::Point2i rotatePixel(cv::Point2i pixel);
-    void adjustFrame(cv::Mat &depth, cv::Mat &src, cv::Mat &dst, Camera camera, cv::Point3f beamer);
+
         void setAdjustingMatrix(cv::Mat matrix){ matrix.clone(); }
         cv::Mat getAdjustingMatrix(){ return adjustingMatrix.clone(); }
+
+        cv::Point2i rotatePixel(cv::Point2i pixel);
+        void adjustFrame(cv::Mat &depth, cv::Mat &src, cv::Mat &dst, Camera camera, cv::Point3f beamer);
         void printAdjustingMatrix();
+
 };
 #endif
\ No newline at end of file

inc/camera.h

@@ -5,13 +5,12 @@
 #include <librealsense2/rsutil.h>
 #include <opencv2/opencv.hpp>
 
-// camera definition : 640x480
+// camera resolution : 640x480
 
 class Camera{
     private:
         rs2::spatial_filter spatFilter;
         rs2::temporal_filter tempFilter;
-        rs2::decimation_filter decFilter;
         rs2::config cfg;
         rs2::pipeline pipe;
         rs2::pipeline_profile profile;
@@ -21,16 +20,13 @@ class Camera{
         cv::Mat matRGB;
         cv::Rect croppingMask;
 
-        void flipMat(cv::Mat &m);
         void filterDepthFrame(rs2::depth_frame &frameDepth);
-        cv::Mat captureFrame();
-        cv::Mat getAverageFrame(int numberFrame);
 
     public:
         Camera();
 
-        cv::Mat getDepthFrameAlign(){ return matDepth; };
-        cv::Mat getRGBFrameAlign(){ return matRGB.clone(); };
+        cv::Mat getDepthFrame(){ return matDepth; };
+        cv::Mat getRGBFrame(){ return matRGB.clone(); };
         void setCroppingMask(cv::Rect mask){ croppingMask = mask; };
         cv::Rect getCroppingMask(){ return croppingMask; };
         
@@ -39,7 +35,7 @@ class Camera{
         void stop();
         cv::Point3f deprojectPixelToPoint(float coord[], float z1);
         cv::Point2i projectPointToPixel(cv::Point3f point3D);
-        void captureFramesAlign();
+        void captureFrame();
         void printCroppingMask();
 
 };

inc/sandbox.h

@@ -24,7 +24,6 @@ class Sandbox{
 
         cv::Mat getRGBFrame();
         cv::Mat getDepthFrame();
-
         cv::Mat* adjustProjection(cv::Mat* frame);
         void showImage(cv::Mat* image);
         int loadConfig();

sandbox.h

@@ -24,7 +24,6 @@ class Sandbox{
 
         cv::Mat getRGBFrame();
         cv::Mat getDepthFrame();
-
         cv::Mat* adjustProjection(cv::Mat* frame);
         void showImage(cv::Mat* image);
         int loadConfig();

src/components/beamer.cpp

@@ -44,9 +44,9 @@ int Beamer::findBeamerFrom(Camera camera)
         while (capturedPoints.size() < nbPoint){
 
             // capture frame
-            camera.captureFramesAlign();
-            depth = camera.getDepthFrameAlign();
-            rgb = camera.getRGBFrameAlign();
+            camera.captureFrame();
+            depth = camera.getDepthFrame();
+            rgb = camera.getRGBFrame();
 
             // Look for the circle target
             std::vector<int> crc = findCercleZ(rgb);
@@ -80,16 +80,11 @@ int Beamer::findBeamerFrom(Camera camera)
             frameImage.setTo(cv::Scalar(0, 0, 0));
         }
 
-        // check for the end
-        if (capturedPoints.size() == nbPoint){
-
-            cv::Vec3f dir(capturedPoints[0].x - capturedPoints[1].x, capturedPoints[0].y - capturedPoints[1].y, capturedPoints[0].z - capturedPoints[1].z);
         cv::Vec6f line;
         cv::fitLine(capturedPoints, line, CV_DIST_L2, 0, 0.01, 0.01);
         directions.push_back(cv::Point3d(line[3] * fact, line[4] * fact, line[5] * fact));
         bases.push_back(cv::Point3d(line[0], line[1], line[2]));
     }
-    }
 
     camera.stop();
     cv::destroyAllWindows();
@@ -208,7 +203,6 @@ std::vector<int> Beamer::findCercleZ(cv::Mat &rgb)
 
 cv::Point3d Beamer::approximatePosition(std::vector<cv::Point3d> directions, std::vector<cv::Point3d> bases){
 
-    // Regression Linéaire
     cv::Point3d pa, pb;
     double mua;
     double mub;

src/components/camera.cpp

@@ -14,7 +14,10 @@ Camera::Camera() {
 
 void Camera::start(){
     
-    rs2::log_to_console(RS2_LOG_SEVERITY_ERROR);
+    std::remove("./camera.logs");
+    rs2::log_to_file(RS2_LOG_SEVERITY_DEBUG, "./camera.logs");
+    
+    //rs2::log_to_console(RS2_LOG_SEVERITY_DEBUG);//RS2_LOG_SEVERITY_ERROR);
     spatFilter.set_option(RS2_OPTION_HOLES_FILL, 5);
     //cfg.enable_device_from_file("../input/flux/flux5.bag");
     profile = pipe.start(cfg);
@@ -37,7 +40,6 @@ void Camera::warmingUp()
     {
         rs2::frameset data = pipe.wait_for_frames();
         auto frameDepth = data.get_depth_frame();
-        //frameDepth = decFilter.process(frameDepth);
         frameDepth = spatFilter.process(frameDepth);
         frameDepth = tempFilter.process(frameDepth);
     }
@@ -49,7 +51,7 @@ void Camera::stop(){
 }
 
 
-void Camera::captureFramesAlign(){
+void Camera::captureFrame(){
 
     rs2::align align(RS2_STREAM_DEPTH);
     auto frameset = pipe.wait_for_frames();
@@ -94,35 +96,9 @@ void Camera::printCroppingMask(){
 */
 
 
-cv::Mat Camera::captureFrame(){
-    
-    auto frame = pipe.wait_for_frames();
-    auto frameDepth = frame.get_depth_frame();
-    filterDepthFrame(frameDepth);
-    cv::Mat matFrame(cv::Size(frameDepth.get_width(), frameDepth.get_height()), CV_16UC1, (void *)frameDepth.get_data(), cv::Mat::AUTO_STEP);
-    return matFrame;
-}
-
-
 void Camera::filterDepthFrame(rs2::depth_frame &frameDepth)
 {
-    // frameDepth = decFilter.process(frameDepth);
     frameDepth = spatFilter.process(frameDepth);
     frameDepth = tempFilter.process(frameDepth);
     intrinsics = frameDepth.get_profile().as<rs2::video_stream_profile>().get_intrinsics();
 }
-
-
-cv::Mat Camera::getAverageFrame(int numberFrame){
-
-    cv::Mat averageFrame;
-    Camera::captureFrame().copyTo(averageFrame);
-    for (int i = 1; i <= numberFrame; i++)
-    {
-        averageFrame *= i;
-        add(averageFrame, Camera::captureFrame(), averageFrame);
-        averageFrame /= i + 1;
-    }
-    return averageFrame;
-}
-

src/lib/sandbox.cpp

@@ -15,13 +15,13 @@ Sandbox::Sandbox(){
  */
 
 cv::Mat Sandbox::getRGBFrame(){
-    camera.captureFramesAlign();
-    return camera.getRGBFrameAlign()(camera.getCroppingMask());
+    camera.captureFrame();
+    return camera.getRGBFrame()(camera.getCroppingMask());
 }
 
 cv::Mat Sandbox::getDepthFrame(){
-    camera.captureFramesAlign();
-    return camera.getDepthFrameAlign()(camera.getCroppingMask());
+    camera.captureFrame();
+    return camera.getDepthFrame()(camera.getCroppingMask());
 }
 
 

src/lib/sandboxSetup.cpp

@@ -33,12 +33,12 @@ int SandboxSetup::setupBeamerResolution(){
     int width = 0;
     int height = 0;
 
-    std::cout << "Enter width of the beamer's resolution :" << std::endl;
+    std::cout << "Enter width of the frame projected :" << std::endl;
     std::cin >> width;
     if(std::cin.fail()){
         return 1;
     }
-    std::cout << "Enter height of the beamer's resolution :" << std::endl;
+    std::cout << "Enter height of the frame projected :" << std::endl;
     std::cin >> height;
     if(std::cin.fail()){
         return 1;
@@ -69,9 +69,9 @@ int SandboxSetup::setupProjection(){
 
     // Take picture
     camera.start(); // 1 seconde of warming up
-    camera.captureFramesAlign();
-    cv::Mat frameData = camera.getDepthFrameAlign();
-    cv::Mat coloredFrame = camera.getRGBFrameAlign();
+    camera.captureFrame();
+    cv::Mat frameData = camera.getDepthFrame();
+    cv::Mat coloredFrame = camera.getRGBFrame();
     cv::Size s = frameData.size();
     cv::Point center(s.width / 2, s.height / 2);
     camera.stop();