process serialization working | need to check rotation matrice

sandbox/beamer.cpp

@@ -95,7 +95,7 @@ Beamer::~Beamer(){
  * \param rgb colored Frame
  * \return a vector for the detected circle (can be empty)
  */
-vector<int> Beamer::findCercleZ(Mat &rgb)
+vector<Vec3f> Beamer::findCercleZ(Mat &rgb)
 {
     Mat src_gray;
     cvtColor(rgb, src_gray, CV_BGR2GRAY);
@@ -108,7 +108,8 @@ vector<int> Beamer::findCercleZ(Mat &rgb)
     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;
+    return circles;
+    /*vector<int> result;
     if (!circles.empty())
     {
         for (int i = 0; i < 3; i++)
@@ -116,7 +117,7 @@ vector<int> Beamer::findCercleZ(Mat &rgb)
             result.push_back(round(circles[0][i]));
         }
     }
-    return result;
+    return result;*/
 }
 
 /*!
@@ -125,15 +126,19 @@ vector<int> Beamer::findCercleZ(Mat &rgb)
  * \param i index of point to detect
  * \return a tuple with the frame and the detected circle
  */
-tuple<Mat, vector<int>> Beamer::findPoint(Camera camera, int i) {
+tuple<Mat, vector<Vec3f>> Beamer::findPoint(Camera camera, int i) {
     Mat rgb;
 
     Point p = points[i];
     camera.captureFramesAlign();
     rgb = camera.getRGBFrameAlign();
     Scalar color;
-    vector<int> crc = findCercleZ(rgb);
-    if (!crc.empty())
+    vector<Vec3f> crc = findCercleZ(rgb);
+
+    for (int i = 0; i < crc.size(); ++i) {
+        circle(rgb, Point(round(crc[i][0]), round(crc[i][1])),round(crc[i][2]), Scalar(0,0,255), 4);
+    }
+    if (!crc.empty() && crc.size() == 1)
         color = Scalar(0, 255, 0);
     else
         color = Scalar(0, 0, 255);
@@ -150,12 +155,12 @@ tuple<Mat, vector<int>> Beamer::findPoint(Camera camera, int i) {
  * \param crc detected circle
  * Store the detect point
  */
-void Beamer::capturePoint(Camera camera, vector<int> crc) {
+void Beamer::capturePoint(Camera camera, vector<Vec3f> crc) {
     Mat depth;
     camera.captureFramesAlign();
     depth = camera.getDepthFrameAlign();
-    float coord[2] = {(float)crc[0], (float)crc[1]};
-    float z = static_cast<float>(depth.at<uint16_t>(crc[1], crc[0]));
+    float coord[2] = {(float)crc[0][0], (float)crc[0][1]};
+    float z = static_cast<float>(depth.at<uint16_t>(crc[0][1], crc[0][0]));
     Point3f p = camera.deprojectPixelToPoint(coord, z / 1000.0);
     capturedPoints.push_back(p);
 }

sandbox/beamer.h

@@ -12,7 +12,7 @@ class Beamer
 private:
     float solveD(Vec3f v, Point3f p);
     Point3f intersection(Vec3f v1, Point3f p1, Vec3f v2, Point3f p2, Vec3f v3, Point3f p3, bool &isFound);
-    vector<int> findCercleZ(Mat &rgb);
+    vector<Vec3f> findCercleZ(Mat &rgb);
     Point3f beamerPosition;
     vector<Point> points;
     vector<Point3f> capturedPoints;
@@ -30,8 +30,8 @@ public:
         beamerPosition = position;
     }
     void findBeamer(Camera camera);
-    tuple<Mat, vector<int>> findPoint(Camera camera, int i);
-    void capturePoint(Camera camera, vector<int> crc);
+    tuple<Mat, vector<Vec3f>> findPoint(Camera camera, int i);
+    void capturePoint(Camera camera, vector<Vec3f> crc);
     void findBeamerPosition();
 };
 #endif

sandbox/camera.cpp

@@ -68,7 +68,7 @@ Mat Camera::captureFrame()
 }
 void Camera::captureFramesAlign()
 {
-    rs2::align align(RS2_STREAM_DEPTH);
+    rs2::align align(RS2_STREAM_COLOR);
     auto frameset = pipe.wait_for_frames();
     //Get processed aligned frame
     frameset = align.process(frameset);

sandbox/sandbox.cpp

@@ -70,15 +70,25 @@ void Sandbox::serialize(ostream& stream)
     Mat matRotation = calibrate.getMatrixRotation();
     int cols = matRotation.cols;
     int rows = matRotation.rows;
+    int type = matRotation.type();
 
     // Serialize beamer
-    int x, y, z;
+    float x, y, z;
     x = beamer.getPosition().x;
     y = beamer.getPosition().y;
     z = beamer.getPosition().z;
 
     // Seriliazation
-    stream << serialnumber << "\t" << distance << "\t" << cols << "\t" << rows << "\t" << x << "\t" << y << "\t" << z << "\t";
+    stream << serialnumber << CHAR_DELIM << distance << CHAR_DELIM << x << CHAR_DELIM << y << CHAR_DELIM << z << CHAR_DELIM << cols << CHAR_DELIM << rows << CHAR_DELIM << type << CHAR_DELIM;
+    std::cout << rows << " | " << cols << endl;
+    for (int a = 0; a < matRotation.rows; a++)
+    {
+        for (int b = 0; b < matRotation.cols; b++)
+        {
+            std::cout << a << " | " << b << " : " << matRotation.at<uint16_t>(a, b) << endl;
+            stream << matRotation.at<uint16_t>(a, b) << CHAR_DELIM;
+        }
+    }
 }
 
 /*!
@@ -90,19 +100,51 @@ void Sandbox::serialize(ostream& stream)
 void Sandbox::deserialize(istream& stream)
 {
     // Deserialize the Intel RealSense Camera
-    char* serialnumber;
+    string serialnumber;
 
     // Deserialize calibrate
     float distancePlan;
 
     int cols, rows, type;
-    Mat matRotation;
+
 
     // Deserialize beamer
-    int x, y, z;
+    float x, y, z;
+
+    std::cout << "serialnumber" << endl;
 
     // Deseriliazation
-    stream >> serialnumber >> distancePlan >> cols >> rows >> x >> y >> z;
+
+    stream >> serialnumber;
+    std::cout << "distancePlan" << endl;
+    stream >> distancePlan;
+    std::cout << "x" << endl;
+    stream >> x;
+    std::cout << "y" << endl;
+    stream >> y;
+    std::cout << "z" << endl;
+    stream >> z;
+    std::cout << "cols" << endl;
+    stream >> cols;
+    std::cout << "rows" << endl;
+    stream >> rows;
+    std::cout << "type" << endl;
+    stream >> type;
+    std::cout << "toto" << endl;
+
+    uint16_t* data[rows][cols];
+    for (int a = 0; a < rows; a++)
+    {
+        for (int b = 0; b < cols; b++)
+        {
+            uint16_t value;
+            stream >> value;
+            data[b][a];
+            std::cout << a << " | " << b << " : " << value << endl;
+        }
+    }
+
+    //Mat matRotation(rows, cols, type, data);
 
     // Set Camera
     int nbListRealSenseDevices = listRealSenseDevices.size();
@@ -116,13 +158,14 @@ void Sandbox::deserialize(istream& stream)
     //Set calibraton
     calibrate.setDistancePlan(distancePlan);
 
-    calibrate.setMatrixRotation(matRotation);
+    //calibrate.setMatrixRotation(matRotation);
 
     // Set beamer
-    Point3f beamPosition(x, y, z);
-    beamer.setPosition(beamPosition);
+    Point3f beamerPosition = Point3f(x, y, z);
+    beamer.setPosition(beamerPosition);
 }
 
+
 /*!
  * \brief Sandbox::generateBorder
  * \return the colored frame with a rectangle to place the border
@@ -210,7 +253,7 @@ void Sandbox::applyBorder() {
  * \return a tuple, with the frame and a vector to detect circle
  * Detect point with the circle to detect beamer
  */
-tuple<Mat, vector<int>> Sandbox::detectPointToDetectBeamer(int indexPoint) {
+tuple<Mat, vector<Vec3f>> Sandbox::detectPointToDetectBeamer(int indexPoint) {
     return beamer.findPoint(camera, indexPoint);
 }
 
@@ -218,7 +261,7 @@ tuple<Mat, vector<int>> Sandbox::detectPointToDetectBeamer(int indexPoint) {
  * \brief Sandbox::capturePointToDetectBeamer
  * \param crc circle vector
  */
-void Sandbox::capturePointToDetectBeamer(vector<int> crc) {
+void Sandbox::capturePointToDetectBeamer(vector<Vec3f> crc) {
     beamer.capturePoint(camera, crc);
 }
 

sandbox/sandbox.h

@@ -33,6 +33,7 @@ private:
     vector<Point> border;
     Point center;
     Beamer beamer;
+    const char* CHAR_DELIM = "\t";
 
 public:
     Sandbox();
@@ -50,16 +51,12 @@ public:
     Mat generateBorder();
     int findEdgeBorder(int x, int y);
     Mat editEdgeBorder(int selectedPoint, int x, int y);
-    tuple<Mat, vector<int>> detectPointToDetectBeamer(int indexPoint);
-    void capturePointToDetectBeamer(vector<int> crc);
+    tuple<Mat, vector<Vec3f>> detectPointToDetectBeamer(int indexPoint);
+    void capturePointToDetectBeamer(vector<Vec3f> crc);
     void findBeamerPosition();
     void stopCamera();
-    const char* getA() {
-        return realSenseDevice.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER);
-    }
-    int getB() {
-        return calibrate.getDistancePlan();
-    }
 };
 
+
+
 #endif // SANDBOX_H