diff --git a/Calibration/mainwindow.cpp b/Calibration/mainwindow.cpp
index 265d8a094a5246c16cd5083bace6278459fe2cb1..0e097b0a4e55c011ecd4a5933112e741d4430e26 100644
--- a/Calibration/mainwindow.cpp
+++ b/Calibration/mainwindow.cpp
@@ -73,7 +73,7 @@ void MainWindow::selectRealSenseDevice(QListWidgetItem* item) {
void MainWindow::searchRealSenseDevices() {
listRealSenseDevices = sandbox.getListRealSenseDevices(); // Get a snapshot of currently connected devices
if (listRealSenseDevices.size() == 0){
- pteConsole_cursor.insertText("No device detected. Is it plugged in?");
+ pteConsole_cursor.insertText("No device detected. Is it plugged in?\n");
} else {
pteConsole_cursor.insertText("Device detected\n");
showListRealSenseDevices();
@@ -87,5 +87,16 @@ void MainWindow::reloadListRealSenseDevices() {
}
void MainWindow::saveConfiguration() {
- sandbox.saveConfiguration();
+ std::ofstream out("./device");
+
+ pteConsole_cursor.insertText("Serialize\n");
+ sandbox.serialize(out);
+ pteConsole_cursor.insertText("Serialized\n");
+ out.close();
+ std::ifstream in("./device");
+ pteConsole_cursor.insertText("Deserialized\n");
+ pteConsole_cursor.insertText(sandbox.deserialize(in).c_str());
+ pteConsole_cursor.insertText("Deserialized\n");
+ in.close();
+ reloadListRealSenseDevices();
}
diff --git a/Calibration/mainwindow.h b/Calibration/mainwindow.h
index 27d61da471d98c59f56467ae536bb07f96d2186e..2634b4bf90fee1e0448b07813d2941fbde4474d7 100644
--- a/Calibration/mainwindow.h
+++ b/Calibration/mainwindow.h
@@ -8,6 +8,8 @@
#include <QTextCursor>
#include <QListWidgetItem>
#include "sandbox.h"
+#include <string>
+#include <iostream>
using namespace std;
@@ -34,11 +36,11 @@ private:
// Methods
void showListRealSenseDevices();
void searchRealSenseDevices();
- void saveConfiguration();
private slots:
void quitApplication();
void selectRealSenseDevice(QListWidgetItem*);
void reloadListRealSenseDevices();
+ void saveConfiguration();
};
#endif // MAINWINDOW_H
diff --git a/build-Calibration-Desktop_Qt_5_14_1_GCC_64bit-Debug/Calibration b/build-Calibration-Desktop_Qt_5_14_1_GCC_64bit-Debug/Calibration
index 62e70126c5c5c05c810d57599141cd44acd5cc67..3933b597bafee1e251a8c92f47e29580b7240e49 100755
Binary files a/build-Calibration-Desktop_Qt_5_14_1_GCC_64bit-Debug/Calibration and b/build-Calibration-Desktop_Qt_5_14_1_GCC_64bit-Debug/Calibration differ
diff --git a/build-Calibration-Desktop_Qt_5_14_1_GCC_64bit-Debug/Makefile b/build-Calibration-Desktop_Qt_5_14_1_GCC_64bit-Debug/Makefile
index 58ac5a560b5e0980ab9a42bdbe9fbe1eb12896bf..8e751ef0670acfd5ffd6c8324b34595f881a2f9b 100644
--- a/build-Calibration-Desktop_Qt_5_14_1_GCC_64bit-Debug/Makefile
+++ b/build-Calibration-Desktop_Qt_5_14_1_GCC_64bit-Debug/Makefile
@@ -892,6 +892,7 @@ moc_mainwindow.cpp: ../Calibration/mainwindow.h \
../../../../Qt/5.14.1/gcc_64/include/QtWidgets/qtabbar.h \
../../../../Qt/5.14.1/gcc_64/include/QtWidgets/qrubberband.h \
../sandbox/sandbox.h \
+ ../sandbox/serializable.h \
moc_predefs.h \
../../../../Qt/5.14.1/gcc_64/bin/moc
/home/fabien/Qt/5.14.1/gcc_64/bin/moc $(DEFINES) --include /home/fabien/Desktop/pa/sandboxrefactorconfig/build-Calibration-Desktop_Qt_5_14_1_GCC_64bit-Debug/moc_predefs.h -I/home/fabien/Qt/5.14.1/gcc_64/mkspecs/linux-g++ -I/home/fabien/Desktop/pa/sandboxrefactorconfig/Calibration -I/home/fabien/Desktop/pa/sandboxrefactorconfig/sandbox -I/home/fabien/Qt/5.14.1/gcc_64/include -I/home/fabien/Qt/5.14.1/gcc_64/include/QtWidgets -I/home/fabien/Qt/5.14.1/gcc_64/include/QtGui -I/home/fabien/Qt/5.14.1/gcc_64/include/QtCore -I. -I/usr/include/c++/5 -I/usr/include/x86_64-linux-gnu/c++/5 -I/usr/include/c++/5/backward -I/usr/lib/gcc/x86_64-linux-gnu/5/include -I/usr/local/include -I/usr/lib/gcc/x86_64-linux-gnu/5/include-fixed -I/usr/include/x86_64-linux-gnu -I/usr/include ../Calibration/mainwindow.h -o moc_mainwindow.cpp
@@ -1050,6 +1051,7 @@ main.o: ../Calibration/main.cpp ../Calibration/mainwindow.h \
../../../../Qt/5.14.1/gcc_64/include/QtWidgets/qtabbar.h \
../../../../Qt/5.14.1/gcc_64/include/QtWidgets/qrubberband.h \
../sandbox/sandbox.h \
+ ../sandbox/serializable.h \
../../../../Qt/5.14.1/gcc_64/include/QtWidgets/QApplication \
../../../../Qt/5.14.1/gcc_64/include/QtWidgets/qapplication.h \
../../../../Qt/5.14.1/gcc_64/include/QtCore/qcoreapplication.h \
@@ -1192,6 +1194,7 @@ mainwindow.o: ../Calibration/mainwindow.cpp ../Calibration/mainwindow.h \
../../../../Qt/5.14.1/gcc_64/include/QtWidgets/qtabbar.h \
../../../../Qt/5.14.1/gcc_64/include/QtWidgets/qrubberband.h \
../sandbox/sandbox.h \
+ ../sandbox/serializable.h \
ui_mainwindow.h \
../../../../Qt/5.14.1/gcc_64/include/QtCore/QVariant \
../../../../Qt/5.14.1/gcc_64/include/QtWidgets/QApplication \
diff --git a/build-Calibration-Desktop_Qt_5_14_1_GCC_64bit-Debug/device b/build-Calibration-Desktop_Qt_5_14_1_GCC_64bit-Debug/device
new file mode 100644
index 0000000000000000000000000000000000000000..b8120bf67851c45898ceaef49b0c91f4aa555395
--- /dev/null
+++ b/build-Calibration-Desktop_Qt_5_14_1_GCC_64bit-Debug/device
@@ -0,0 +1 @@
+840412061564
\ No newline at end of file
diff --git a/build-Calibration-Desktop_Qt_5_14_1_GCC_64bit-Debug/main.o b/build-Calibration-Desktop_Qt_5_14_1_GCC_64bit-Debug/main.o
index 69d82601b10f0cedfb9ceffe7980491335340697..b5b7af03dde0dc09ddad7f5919540707bce00617 100644
Binary files a/build-Calibration-Desktop_Qt_5_14_1_GCC_64bit-Debug/main.o and b/build-Calibration-Desktop_Qt_5_14_1_GCC_64bit-Debug/main.o differ
diff --git a/build-Calibration-Desktop_Qt_5_14_1_GCC_64bit-Debug/mainwindow.o b/build-Calibration-Desktop_Qt_5_14_1_GCC_64bit-Debug/mainwindow.o
index a24b426bf24cb637f45512fdf843f55d19727990..d93fe6141eafc8de054f6b15faead0a16365bdf7 100644
Binary files a/build-Calibration-Desktop_Qt_5_14_1_GCC_64bit-Debug/mainwindow.o and b/build-Calibration-Desktop_Qt_5_14_1_GCC_64bit-Debug/mainwindow.o differ
diff --git a/build-Calibration-Desktop_Qt_5_14_1_GCC_64bit-Debug/moc_mainwindow.cpp b/build-Calibration-Desktop_Qt_5_14_1_GCC_64bit-Debug/moc_mainwindow.cpp
index 54e3d5a8d1ef3719134d3b0847c16c7d50d34d99..a7d617ca6a803500050828daf4dd41d18896bbb5 100644
--- a/build-Calibration-Desktop_Qt_5_14_1_GCC_64bit-Debug/moc_mainwindow.cpp
+++ b/build-Calibration-Desktop_Qt_5_14_1_GCC_64bit-Debug/moc_mainwindow.cpp
@@ -22,8 +22,8 @@ QT_BEGIN_MOC_NAMESPACE
QT_WARNING_PUSH
QT_WARNING_DISABLE_DEPRECATED
struct qt_meta_stringdata_MainWindow_t {
- QByteArrayData data[6];
- char stringdata0[94];
+ QByteArrayData data[7];
+ char stringdata0[112];
};
#define QT_MOC_LITERAL(idx, ofs, len) \
Q_STATIC_BYTE_ARRAY_DATA_HEADER_INITIALIZER_WITH_OFFSET(len, \
@@ -37,12 +37,13 @@ QT_MOC_LITERAL(1, 11, 15), // "quitApplication"
QT_MOC_LITERAL(2, 27, 0), // ""
QT_MOC_LITERAL(3, 28, 21), // "selectRealSenseDevice"
QT_MOC_LITERAL(4, 50, 16), // "QListWidgetItem*"
-QT_MOC_LITERAL(5, 67, 26) // "reloadListRealSenseDevices"
+QT_MOC_LITERAL(5, 67, 26), // "reloadListRealSenseDevices"
+QT_MOC_LITERAL(6, 94, 17) // "saveConfiguration"
},
"MainWindow\0quitApplication\0\0"
"selectRealSenseDevice\0QListWidgetItem*\0"
- "reloadListRealSenseDevices"
+ "reloadListRealSenseDevices\0saveConfiguration"
};
#undef QT_MOC_LITERAL
@@ -52,7 +53,7 @@ static const uint qt_meta_data_MainWindow[] = {
8, // revision
0, // classname
0, 0, // classinfo
- 3, 14, // methods
+ 4, 14, // methods
0, 0, // properties
0, 0, // enums/sets
0, 0, // constructors
@@ -60,13 +61,15 @@ static const uint qt_meta_data_MainWindow[] = {
0, // signalCount
// slots: name, argc, parameters, tag, flags
- 1, 0, 29, 2, 0x08 /* Private */,
- 3, 1, 30, 2, 0x08 /* Private */,
- 5, 0, 33, 2, 0x08 /* Private */,
+ 1, 0, 34, 2, 0x08 /* Private */,
+ 3, 1, 35, 2, 0x08 /* Private */,
+ 5, 0, 38, 2, 0x08 /* Private */,
+ 6, 0, 39, 2, 0x08 /* Private */,
// slots: parameters
QMetaType::Void,
QMetaType::Void, 0x80000000 | 4, 2,
+ QMetaType::Void,
QMetaType::Void,
0 // eod
@@ -81,6 +84,7 @@ void MainWindow::qt_static_metacall(QObject *_o, QMetaObject::Call _c, int _id,
case 0: _t->quitApplication(); break;
case 1: _t->selectRealSenseDevice((*reinterpret_cast< QListWidgetItem*(*)>(_a[1]))); break;
case 2: _t->reloadListRealSenseDevices(); break;
+ case 3: _t->saveConfiguration(); break;
default: ;
}
}
@@ -115,13 +119,13 @@ int MainWindow::qt_metacall(QMetaObject::Call _c, int _id, void **_a)
if (_id < 0)
return _id;
if (_c == QMetaObject::InvokeMetaMethod) {
- if (_id < 3)
+ if (_id < 4)
qt_static_metacall(this, _c, _id, _a);
- _id -= 3;
+ _id -= 4;
} else if (_c == QMetaObject::RegisterMethodArgumentMetaType) {
- if (_id < 3)
+ if (_id < 4)
*reinterpret_cast<int*>(_a[0]) = -1;
- _id -= 3;
+ _id -= 4;
}
return _id;
}
diff --git a/build-Calibration-Desktop_Qt_5_14_1_GCC_64bit-Debug/moc_mainwindow.o b/build-Calibration-Desktop_Qt_5_14_1_GCC_64bit-Debug/moc_mainwindow.o
index eaf44988a0be101b89b25f4ccf484e3e8652d9ea..67aa54644218b09f9bffc54369473f2cf1647355 100644
Binary files a/build-Calibration-Desktop_Qt_5_14_1_GCC_64bit-Debug/moc_mainwindow.o and b/build-Calibration-Desktop_Qt_5_14_1_GCC_64bit-Debug/moc_mainwindow.o differ
diff --git a/build-sandbox-Desktop_Qt_5_14_1_GCC_64bit-Debug/Makefile b/build-sandbox-Desktop_Qt_5_14_1_GCC_64bit-Debug/Makefile
index 0269aa990d94d9c391b0bb88eeb869753b5c1ef2..c84e2e39ed6921bbbca0e404748a296c22c7c00e 100644
--- a/build-sandbox-Desktop_Qt_5_14_1_GCC_64bit-Debug/Makefile
+++ b/build-sandbox-Desktop_Qt_5_14_1_GCC_64bit-Debug/Makefile
@@ -49,8 +49,10 @@ OBJECTS_DIR = ./
####### Files
-SOURCES = ../sandbox/sandbox.cpp
-OBJECTS = sandbox.o
+SOURCES = ../sandbox/camera.cpp \
+ ../sandbox/sandbox.cpp
+OBJECTS = camera.o \
+ sandbox.o
DIST = ../../../../Qt/5.14.1/gcc_64/mkspecs/features/spec_pre.prf \
../../../../Qt/5.14.1/gcc_64/mkspecs/common/unix.conf \
../../../../Qt/5.14.1/gcc_64/mkspecs/common/linux.conf \
@@ -241,6 +243,7 @@ DIST = ../../../../Qt/5.14.1/gcc_64/mkspecs/features/spec_pre.prf \
../../../../Qt/5.14.1/gcc_64/mkspecs/features/qt_config.prf \
../../../../Qt/5.14.1/gcc_64/mkspecs/linux-g++/qmake.conf \
../../../../Qt/5.14.1/gcc_64/mkspecs/features/spec_post.prf \
+ ../sandbox/.qmake.stash \
../../../../Qt/5.14.1/gcc_64/mkspecs/features/exclusive_builds.prf \
../../../../Qt/5.14.1/gcc_64/mkspecs/features/toolchain.prf \
../../../../Qt/5.14.1/gcc_64/mkspecs/features/default_pre.prf \
@@ -259,7 +262,10 @@ DIST = ../../../../Qt/5.14.1/gcc_64/mkspecs/features/spec_pre.prf \
../../../../Qt/5.14.1/gcc_64/mkspecs/features/exceptions.prf \
../../../../Qt/5.14.1/gcc_64/mkspecs/features/yacc.prf \
../../../../Qt/5.14.1/gcc_64/mkspecs/features/lex.prf \
- ../sandbox/sandbox.pro ../sandbox/sandbox.h ../sandbox/sandbox.cpp
+ ../sandbox/sandbox.pro ../sandbox/camera.h \
+ ../sandbox/sandbox.h \
+ ../sandbox/serializable.h ../sandbox/camera.cpp \
+ ../sandbox/sandbox.cpp
QMAKE_TARGET = sandbox
DESTDIR =
TARGET = libsandbox.a
@@ -465,6 +471,7 @@ Makefile: ../sandbox/sandbox.pro ../../../../Qt/5.14.1/gcc_64/mkspecs/linux-g++/
../../../../Qt/5.14.1/gcc_64/mkspecs/features/qt_config.prf \
../../../../Qt/5.14.1/gcc_64/mkspecs/linux-g++/qmake.conf \
../../../../Qt/5.14.1/gcc_64/mkspecs/features/spec_post.prf \
+ .qmake.stash \
../../../../Qt/5.14.1/gcc_64/mkspecs/features/exclusive_builds.prf \
../../../../Qt/5.14.1/gcc_64/mkspecs/features/toolchain.prf \
../../../../Qt/5.14.1/gcc_64/mkspecs/features/default_pre.prf \
@@ -675,6 +682,7 @@ Makefile: ../sandbox/sandbox.pro ../../../../Qt/5.14.1/gcc_64/mkspecs/linux-g++/
../../../../Qt/5.14.1/gcc_64/mkspecs/features/qt_config.prf:
../../../../Qt/5.14.1/gcc_64/mkspecs/linux-g++/qmake.conf:
../../../../Qt/5.14.1/gcc_64/mkspecs/features/spec_post.prf:
+.qmake.stash:
../../../../Qt/5.14.1/gcc_64/mkspecs/features/exclusive_builds.prf:
../../../../Qt/5.14.1/gcc_64/mkspecs/features/toolchain.prf:
../../../../Qt/5.14.1/gcc_64/mkspecs/features/default_pre.prf:
@@ -709,8 +717,8 @@ distdir: FORCE
@test -d $(DISTDIR) || mkdir -p $(DISTDIR)
$(COPY_FILE) --parents $(DIST) $(DISTDIR)/
$(COPY_FILE) --parents ../../../../Qt/5.14.1/gcc_64/mkspecs/features/data/dummy.cpp $(DISTDIR)/
- $(COPY_FILE) --parents ../sandbox/sandbox.h $(DISTDIR)/
- $(COPY_FILE) --parents ../sandbox/sandbox.cpp $(DISTDIR)/
+ $(COPY_FILE) --parents ../sandbox/camera.h ../sandbox/sandbox.h ../sandbox/serializable.h $(DISTDIR)/
+ $(COPY_FILE) --parents ../sandbox/camera.cpp ../sandbox/sandbox.cpp $(DISTDIR)/
clean: compiler_clean
@@ -758,7 +766,11 @@ compiler_clean: compiler_moc_predefs_clean
####### Compile
-sandbox.o: ../sandbox/sandbox.cpp ../sandbox/sandbox.h
+camera.o: ../sandbox/camera.cpp ../sandbox/camera.h
+ $(CXX) -c $(CXXFLAGS) $(INCPATH) -o camera.o ../sandbox/camera.cpp
+
+sandbox.o: ../sandbox/sandbox.cpp ../sandbox/sandbox.h \
+ ../sandbox/serializable.h
$(CXX) -c $(CXXFLAGS) $(INCPATH) -o sandbox.o ../sandbox/sandbox.cpp
####### Install
diff --git a/build-sandbox-Desktop_Qt_5_14_1_GCC_64bit-Debug/libsandbox.a b/build-sandbox-Desktop_Qt_5_14_1_GCC_64bit-Debug/libsandbox.a
index 7b07dfcedd59402b8909fd014bfcdb1d5b88481a..c37ce1422fb28d1f2251f8f62c3653e3a7eb1b6e 100644
Binary files a/build-sandbox-Desktop_Qt_5_14_1_GCC_64bit-Debug/libsandbox.a and b/build-sandbox-Desktop_Qt_5_14_1_GCC_64bit-Debug/libsandbox.a differ
diff --git a/build-sandbox-Desktop_Qt_5_14_1_GCC_64bit-Debug/sandbox.o b/build-sandbox-Desktop_Qt_5_14_1_GCC_64bit-Debug/sandbox.o
index aa229a4e36ebac4a75c6a12e81bac1b34323e06f..6ccc367f6439f084f8e1000821d5afde1d101b66 100644
Binary files a/build-sandbox-Desktop_Qt_5_14_1_GCC_64bit-Debug/sandbox.o and b/build-sandbox-Desktop_Qt_5_14_1_GCC_64bit-Debug/sandbox.o differ
diff --git a/sandbox/camera.cpp b/sandbox/camera.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..42f19910a20a2c12c2d9f86b3740d693cabd4c2a
--- /dev/null
+++ b/sandbox/camera.cpp
@@ -0,0 +1,150 @@
+#include "camera.h"
+
+Camera::Camera() {}
+
+// Capture 30 frames to give autoexposure, etc. a chance to settle
+void Camera::warmingUp()
+{
+ for (int i = 0; i < 30; ++i)
+ {
+ 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);
+ }
+}
+
+Mat Camera::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;
+}
+
+Mat Camera::captureFrame()
+{
+ auto frame = pipe.wait_for_frames();
+ auto frameDepth = frame.get_depth_frame();
+ filterDepthFrame(frameDepth);
+ Mat matFrame(Size(frameDepth.get_width(), frameDepth.get_height()), CV_16UC1, (void *)frameDepth.get_data(), Mat::AUTO_STEP);
+ return matFrame;
+}
+void Camera::captureFramesAlign()
+{
+ rs2::align align(RS2_STREAM_DEPTH);
+ auto frameset = pipe.wait_for_frames();
+ //Get processed aligned frame
+ frameset = align.process(frameset);
+ // Trying to get color and aligned depth frames
+ rs2::video_frame color_frame = frameset.get_color_frame();
+ rs2::depth_frame depth_frame = frameset.get_depth_frame();
+ filterDepthFrame(depth_frame);
+ matDepth = Mat(Size(depth_frame.get_width(), depth_frame.get_height()), CV_16UC1, (void *)depth_frame.get_data(), Mat::AUTO_STEP);
+ Mat(Size(color_frame.get_width(), color_frame.get_height()), CV_8UC3, (void *)color_frame.get_data(), Mat::AUTO_STEP).copyTo(matRGB);
+}
+
+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();
+}
+Mat Camera::getAverageFrame(int numberFrame)
+{
+ 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;
+}
+
+Point3f Camera::deprojectPixelToPoint(float coord[], float z1)
+{
+ float p[3];
+ rs2_deproject_pixel_to_point(p, &intrinsics, coord, z1);
+ return Point3f(p[0], p[1], p[2]);
+}
+
+Point2i Camera::projectPointToPixel(Point3f point3D)
+{
+ float point[3] = {point3D.x, point3D.y, point3D.z};
+ float pixel[2];
+ rs2_project_point_to_pixel(pixel, &intrinsics, point);
+ return Point2i(pixel[0], pixel[1]);
+}
+
+void Camera::start()
+{
+ rs2::log_to_console(RS2_LOG_SEVERITY_ERROR);
+ //spatFilter.set_option(RS2_OPTION_HOLES_FILL, 5);
+ profile = pipe.start(cfg);
+ auto sensor = profile.get_device().first<rs2::depth_sensor>();
+ // TODO: At the moment the SDK does not offer a closed enum for D400 visual presets
+ // We do this to reduce the number of black pixels
+ // The hardware can perform hole-filling much better and much more power efficient then our software
+ auto range = sensor.get_option_range(RS2_OPTION_VISUAL_PRESET);
+ for (auto i = range.min; i < range.max; i += range.step)
+ if (std::string(sensor.get_option_value_description(RS2_OPTION_VISUAL_PRESET, i)) == "High Density")
+ sensor.set_option(RS2_OPTION_VISUAL_PRESET, i);
+ warmingUp();
+}
+
+void Camera::startAlign()
+{
+ rs2::log_to_console(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);
+ auto sensor = profile.get_device().first<rs2::depth_sensor>();
+ // TODO: At the moment the SDK does not offer a closed enum for D400 visual presets
+ // We do this to reduce the number of black pixels
+ // The hardware can perform hole-filling much better and much more power efficient then our software
+ auto range = sensor.get_option_range(RS2_OPTION_VISUAL_PRESET);
+ for (auto i = range.min; i < range.max; i += range.step)
+ if (std::string(sensor.get_option_value_description(RS2_OPTION_VISUAL_PRESET, i)) == "High Density")
+ sensor.set_option(RS2_OPTION_VISUAL_PRESET, i);
+ warmingUp();
+}
+
+void Camera::stop()
+{
+ pipe.stop();
+}
diff --git a/sandbox/camera.h b/sandbox/camera.h
new file mode 100644
index 0000000000000000000000000000000000000000..e4bf962cc0af29272b38024c7cd5061a896fe797
--- /dev/null
+++ b/sandbox/camera.h
@@ -0,0 +1,54 @@
+#ifndef CAMERA_H
+#define CAMERA_H
+
+#include <librealsense2/rs.hpp>
+#include <librealsense2/rsutil.h>
+#include <opencv4/opencv2/opencv.hpp>
+
+
+class Camera
+{
+private:
+ //constants in mm
+ //const float scale = rs2_get_depth_scale(sensor, NULL);
+ const int maxHeightSand = 400;
+ const int maxZ = 1120;
+ const int minZ = maxZ - maxHeightSand;
+
+ rs2::spatial_filter spatFilter;
+ rs2::temporal_filter tempFilter;
+ rs2::decimation_filter decFilter;
+ rs2::config cfg;
+ rs2::pipeline pipe;
+ rs2::pipeline_profile profile;
+ rs2_intrinsics intrinsics;
+ void flipMat(cv::Mat &m);
+ void filterDepthFrame(rs2::depth_frame &frameDepth);
+
+ cv::Mat matDepth;
+ cv::Mat matRGB;
+
+public:
+ Camera();
+ void start();
+ void stop();
+ // Capture 30 frames to give autoexposure, etc. a chance to settle
+ void warmingUp();
+ cv::Mat captureFrame();
+ cv::Mat getAverageFrame(int numberFrame);
+ static cv::Mat coloredFrame(cv::Mat frameDepth);
+ cv::Point3f deprojectPixelToPoint(float coord[], float z1);
+ cv::Point2i projectPointToPixel(cv::Point3f point3D);
+
+ void captureFramesAlign();
+ void startAlign();
+ cv::Mat getDepthFrameAlign()
+ {
+ return matDepth;
+ }
+ cv::Mat getRGBFrameAlign()
+ {
+ return matRGB.clone();
+ }
+};
+#endif
diff --git a/sandbox/sandbox.cpp b/sandbox/sandbox.cpp
index 78bdb3d62857633030ac3c88a5247f5eb51b0be7..ce9fd1b5c899f062771e7bc90c4ef09c98559778 100644
--- a/sandbox/sandbox.cpp
+++ b/sandbox/sandbox.cpp
@@ -59,8 +59,18 @@ void Sandbox::serialize(std::ostream& stream)
stream << realSenseDevice.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER);
}
-void Sandbox::deserialize(std::istream& stream)
+string Sandbox::deserialize(std::istream& stream)
{
// Deserialization code
stream >> realSenseDeviceSerialNumber;
+ int nbListRealSenseDevices = listRealSenseDevices.size();
+ for (int i = 0; i < nbListRealSenseDevices; ++i) {
+ if (listRealSenseDevices[i].get_info(RS2_CAMERA_INFO_SERIAL_NUMBER) == realSenseDeviceSerialNumber){
+ realSenseDevice = listRealSenseDevices[i];
+ i = nbListRealSenseDevices;
+ return "Device Connected\n";
+ }
+ }
+
+ return "";
}
diff --git a/sandbox/sandbox.h b/sandbox/sandbox.h
index cfcf5f5fc816271923b5840d354b13ec32c08d45..f68ba5dd3c93f296f315198e261f3567c88fc766 100644
--- a/sandbox/sandbox.h
+++ b/sandbox/sandbox.h
@@ -9,6 +9,8 @@
#include <iostream>
#include "serializable.h"
+using namespace std;
+
class Sandbox : Serializable
{
public:
@@ -26,7 +28,7 @@ public:
void loadListRealSenseDevices();
bool saveConfiguration();
void serialize(std::ostream& stream);
- void deserialize(std::istream& stream);
+ string deserialize(std::istream& stream);
};
#endif // SANDBOX_H
diff --git a/sandbox/sandbox.pro b/sandbox/sandbox.pro
index 0902da10c7270b86dbdb1cbd0d1a89bb65830f51..8242d41033df3506429ddc02994052923058642c 100644
--- a/sandbox/sandbox.pro
+++ b/sandbox/sandbox.pro
@@ -17,9 +17,11 @@ DEFINES += QT_DEPRECATED_WARNINGS
#DEFINES += QT_DISABLE_DEPRECATED_BEFORE=0x060000 # disables all the APIs deprecated before Qt 6.0.0
SOURCES += \
+ camera.cpp \
sandbox.cpp
HEADERS += \
+ camera.h \
sandbox.h \
serializable.h
@@ -29,4 +31,8 @@ unix {
}
!isEmpty(target.path): INSTALLS += target
-LIBS += \ -lboost_system \
+INCLUDE += /usr/local/include
+
+LIBS += \
+ -lboost_system \
+ -L/usr/local/lib -lopencv_world \
diff --git a/sandbox/serializable.h b/sandbox/serializable.h
index daedfd37ad1f80584e38460d2a37b00649af2f44..4a55fc12cdaac3a75e92c190d341722773ca2ac1 100644
--- a/sandbox/serializable.h
+++ b/sandbox/serializable.h
@@ -2,6 +2,9 @@
#define SERIALIZABLE_H
#include <bits/stdc++.h>
+#include <iostream>
+
+using namespace std;
class Serializable
{
@@ -10,7 +13,7 @@ public:
virtual ~Serializable(){}
virtual void serialize(std::ostream& stream) = 0;
- virtual void deserialize(std::istream& stream) = 0;
+ virtual string deserialize(std::istream& stream) = 0;
};
#endif // SERIALIZABLE_H