diff --git a/Calibration/mainwindow.cpp b/Calibration/mainwindow.cpp
index c7c0149994ee96487cb60947b2a0cea95e872368..a37ab8a8f7b0fc715a0921608319b147dcd8c5ae 100644
--- a/Calibration/mainwindow.cpp
+++ b/Calibration/mainwindow.cpp
@@ -26,6 +26,7 @@ MainWindow::MainWindow(QWidget *parent)
pteConsole_cursor = QTextCursor(ui->pteConsole->document());
pteConsole_cursor.movePosition(QTextCursor::End);
+ // block backup without information
ui->btnSave->setEnabled(false);
searchRealSenseDevices();
@@ -112,17 +113,17 @@ void MainWindow::saveConfiguration() {
ofstream out;
out.open("./device");
- pteConsole_cursor.insertText("Serialize\n");
+ pteConsole_cursor.insertText("Start serialization\n");
sandbox.serialize(out);
- pteConsole_cursor.insertText("Serialized\n");
+ pteConsole_cursor.insertText("Serialization completed\n");
out.close();
ifstream in;
in.open("./device");
- pteConsole_cursor.insertText("Deserialize\n");
+ pteConsole_cursor.insertText("Start deserialization\n");
sandbox.deserialize(in);
- pteConsole_cursor.insertText("Deserialized\n");
+ pteConsole_cursor.insertText("Deserialization completed\n");
out.close();
}
@@ -135,46 +136,77 @@ void MainWindow::configure() {
switch (stepConfiguration) {
case 0: // Edit the border
{
- indexCapturedPointToToSetDetectedPoint = 0;
- indexPointToDetectBeamer = 0;
+ // Reinit the states of the application
+ nbCurrentCapturedPoint = 0;
+ nbCurrentRegressionLine = 0;
ui->btnSave->setEnabled(false);
+ // Draw border
Mat coloredFrame = sandbox.generateBorder();
ui->lblImage->setPixmap(QPixmap::fromImage(QImage(coloredFrame.data, coloredFrame.cols, coloredFrame.rows, coloredFrame.step, QImage::Format_RGB888)));
- pteConsole_cursor.insertText("Ready to init\n");
+
+ pteConsole_cursor.insertText("Ready to define the deformation matrix \n");
+ pteConsole_cursor.insertText("Adapt the border with the projection of the beamer \n \n");
ui->btnConfig->setText("Generate matrix");
- stepConfiguration = 1;
+
+ stepConfiguration = 1; // Change function of the button for the next step of calibration
break;
}
- case 1: // Valid the border for the matrix deformation and start beamer detection
+ case 1: // Valid the border for the deformation matrix and start beamer detection
{
- sandbox.applyBorder();
- ui->btnConfig->setText("Capture Point");
- Mat frameDetection;
- stepConfiguration = 2;
+
+ sandbox.applyBorder(); // Generate the deformation matrix
+
+ bool intersectionFound = false;
do {
- tie(frameDetection, crcToDetectBeamer) = sandbox.detectPointToDetectBeamer(indexPointToDetectBeamer);
- ui->lblImage->setPixmap(QPixmap::fromImage(QImage(frameDetection.data, frameDetection.cols, frameDetection.rows, frameDetection.step, QImage::Format_RGB888)));
- waitKey(100);
- } while(indexPointToDetectBeamer < nbPointToDetectBeamer);
+ ui->btnConfig->setText("Capture point");
+ pteConsole_cursor.insertText("Ready to capture points to find the position of the beamer \n");
+ pteConsole_cursor.insertText("0 on 3 regression lines \n");
+ pteConsole_cursor.insertText("0 on 3 points captured \n");
+
+ Mat frameDetection;
+ stepConfiguration = 2; // Change function to capture points
+
+ do { // Reload the frame until all points are captured
+ // Get the frame and the list of circle detected used to capture points
+ tie(frameDetection, validDetection, listCircleDetected) = sandbox.detectPointToDetectBeamer(nbCurrentRegressionLine);
+ ui->lblImage->setPixmap(QPixmap::fromImage(QImage(frameDetection.data, frameDetection.cols, frameDetection.rows, frameDetection.step, QImage::Format_RGB888)));
+ waitKey(100);
+ } while(nbCurrentRegressionLine < nbTotalRegressionLine);
+
+ // Find the position of the beamer with the intersections
+ intersectionFound = sandbox.findIntersections();
+
+ if (!intersectionFound)
+ pteConsole_cursor.insertText("Position not found. \n \n");
+
+ } while(!intersectionFound);
+
+ // Complete the process
+ pteConsole_cursor.insertText("Calibration completed. You can save it now. \n \n");
ui->lblImage->setPixmap(QPixmap());
stepConfiguration = 0;
ui->btnSave->setEnabled(true);
sandbox.stopCamera();
break;
}
- case 2:
+ case 2: // Capture a point to find the beamer
{
- if (!crcToDetectBeamer.empty() && crcToDetectBeamer.size() == 1)
+ if (validDetection) // Capture the point only if there is exactly one circle
{
- sandbox.capturePointToDetectBeamer(crcToDetectBeamer);
- indexCapturedPointToToSetDetectedPoint++;
- pteConsole_cursor.insertText("add element\n");
+ sandbox.capturePointToDetectBeamer(listCircleDetected);
+ nbCurrentCapturedPoint++;
- if (indexCapturedPointToToSetDetectedPoint == nbCapturedPointToToSetDetectedPoint) {
- indexCapturedPointToToSetDetectedPoint = 0;
- indexPointToDetectBeamer++;
+ if (nbCurrentCapturedPoint == nbTotalCapturedPoint) {
+ sandbox.makeRegression();
+ nbCurrentCapturedPoint = 0;
+ nbCurrentRegressionLine++;
+
+ pteConsole_cursor.insertText("\n");
}
+
+ pteConsole_cursor.insertText(QString::number(nbCurrentRegressionLine) + " on 3 regression lines \n");
+ pteConsole_cursor.insertText(QString::number(nbCurrentCapturedPoint) + " on 3 points captured \n");
}
}
default:
@@ -188,12 +220,11 @@ void MainWindow::configure() {
* selected the edge of border the nearest of the mouse
*/
void MainWindow::moveEdgeBorder() {
-
- if (stepConfiguration == 1) {
- if (selectedPoint == -1) {
- selectedPoint = sandbox.findEdgeBorder(ui->lblImage->x, ui->lblImage->y);
+ if (stepConfiguration == 1) { // Method activated only on the step for the deformation matrix
+ if (selectedEdge == -1) { // Select the edge
+ selectedEdge = sandbox.findEdgeBorder(ui->lblImage->x, ui->lblImage->y); // Select rectangle's edge
} else {
- Mat coloredFrame = sandbox.editEdgeBorder(selectedPoint,ui->lblImage->x, ui->lblImage->y);
+ Mat coloredFrame = sandbox.editEdgeBorder(selectedEdge,ui->lblImage->x, ui->lblImage->y); // Move rectangle's edge
ui->lblImage->setPixmap(QPixmap::fromImage(QImage(coloredFrame.data, coloredFrame.cols, coloredFrame.rows, coloredFrame.step, QImage::Format_RGB888)));
}
}
@@ -205,6 +236,6 @@ void MainWindow::moveEdgeBorder() {
*/
void MainWindow::deselectEdgeBorder() {
if (stepConfiguration == 1) {
- selectedPoint = -1;
+ selectedEdge = -1; // Deselect rectangle's edge
}
}
diff --git a/Calibration/mainwindow.h b/Calibration/mainwindow.h
index 919d89fea62d1ce198eef1720b46cb50e2104d09..72229180a461dc1ba9cb650624fc9280ab158ef4 100644
--- a/Calibration/mainwindow.h
+++ b/Calibration/mainwindow.h
@@ -30,17 +30,17 @@ public:
private:
// Properties
Ui::MainWindow *ui;
- QTextCursor pteConsole_cursor;
- context ctx;
+ QTextCursor pteConsole_cursor; // Cursor to write on the application's console
device_list listRealSenseDevices;
- Sandbox sandbox;
- int selectedPoint = -1;
+ Sandbox sandbox; // Interface of the library
+ int selectedEdge = -1; // Index of the selected edge border for the deformation matrix step
int stepConfiguration = 0;
- vector<Vec3f> crcToDetectBeamer;
- int indexPointToDetectBeamer = 0;
- int indexCapturedPointToToSetDetectedPoint = 0;
- const int nbPointToDetectBeamer = 3;
- const int nbCapturedPointToToSetDetectedPoint = 3;
+ vector<Vec3f> listCircleDetected; // List of detected circle to find the tool to calculate the distance of the captured point
+ int nbCurrentRegressionLine = 0;
+ int nbCurrentCapturedPoint = 0;
+ const int nbTotalRegressionLine = 3;
+ const int nbTotalCapturedPoint = 3;
+ bool validDetection = false;
// Methods
void showListRealSenseDevices();
diff --git a/Calibration/reactivelabel.cpp b/Calibration/reactivelabel.cpp
index f38abca3d199a086b8c7f0ec89d7336a98f0ef0f..f4b24c31b269eeec1e923c4e88c450be55cd00b0 100644
--- a/Calibration/reactivelabel.cpp
+++ b/Calibration/reactivelabel.cpp
@@ -5,6 +5,12 @@ ReactiveLabel::ReactiveLabel(QWidget *parent) : QLabel(parent)
}
+/*!
+ * \brief ReactiveLabel::mouseMoveEvent
+ * \param ev mouse vent
+ * Get the position of the mouse when the mouse move
+ * with the left-button pressed
+ */
void ReactiveLabel::mouseMoveEvent(QMouseEvent *ev){
this->x = ev->x();
this->y = ev->y();
@@ -12,10 +18,18 @@ void ReactiveLabel::mouseMoveEvent(QMouseEvent *ev){
emit mousePos();
}
+/*!
+ * \brief ReactiveLabel::mousePressEvent
+ * Left-buton pressed
+ */
void ReactiveLabel::mousePressEvent(QMouseEvent *){
emit mousePressed();
}
+/*!
+ * \brief ReactiveLabel::mouseReleaseEvent
+ * Left-buton released
+ */
void ReactiveLabel::mouseReleaseEvent(QMouseEvent *){
emit mouseLeft();
}
diff --git a/Calibration/reactivelabel.h b/Calibration/reactivelabel.h
index 68f64d09a4b6da2800bb7f1354cd13f526370af3..79bdf85606658e1b42eb9d9ac011a26793d43c64 100644
--- a/Calibration/reactivelabel.h
+++ b/Calibration/reactivelabel.h
@@ -4,17 +4,23 @@
#include <QLabel>
#include <QMouseEvent>
+/*!
+ * \brief The ReactiveLabel class
+ * Custom QLabel to add method for events mouse
+ */
class ReactiveLabel : public QLabel
{
Q_OBJECT
public:
explicit ReactiveLabel(QWidget *parent = 0);
+ // Properties
+ int x, y = 0;
+
+ // Methods
void mouseMoveEvent(QMouseEvent *ev);
void mousePressEvent(QMouseEvent *ev);
- void mouseReleaseEvent(QMouseEvent *ev);
-
- int x, y = 0;
+ void mouseReleaseEvent(QMouseEvent *ev);
signals:
void mousePressed();
diff --git a/build-Calibration-Desktop-Debug/Calibration b/build-Calibration-Desktop-Debug/Calibration
index b214a6a59ea2ac94d770218c36684ba5dd4a95ab..9603d559268a54e91143c0f17c6a441da1496c44 100755
Binary files a/build-Calibration-Desktop-Debug/Calibration and b/build-Calibration-Desktop-Debug/Calibration differ
diff --git a/build-Calibration-Desktop-Debug/main.o b/build-Calibration-Desktop-Debug/main.o
index e6b494c465ee9af638f93c92ba0aec86808fa129..9b1cfabb39aa6438dbaf96495ddc275f3aa25a00 100644
Binary files a/build-Calibration-Desktop-Debug/main.o and b/build-Calibration-Desktop-Debug/main.o differ
diff --git a/build-Calibration-Desktop-Debug/mainwindow.o b/build-Calibration-Desktop-Debug/mainwindow.o
index f0527a137fae1900136a6ae128900b65c3062c76..5988192e6dc6d841c1594cd68c9014454455d02b 100644
Binary files a/build-Calibration-Desktop-Debug/mainwindow.o and b/build-Calibration-Desktop-Debug/mainwindow.o differ
diff --git a/build-Calibration-Desktop-Debug/moc_mainwindow.o b/build-Calibration-Desktop-Debug/moc_mainwindow.o
index 6193a3ff80565100081be63f7c7df4c0b3874457..05edb540bfebfb5f6de3f878eb004f3adb0fe1e8 100644
Binary files a/build-Calibration-Desktop-Debug/moc_mainwindow.o and b/build-Calibration-Desktop-Debug/moc_mainwindow.o differ
diff --git a/build-sandbox-Desktop-Debug/beamer.o b/build-sandbox-Desktop-Debug/beamer.o
index 84a2be5a2f151feee9064fb5d0a20c6a016b6090..9b099dd7a3d34020b5d9646a406e36543971c659 100644
Binary files a/build-sandbox-Desktop-Debug/beamer.o and b/build-sandbox-Desktop-Debug/beamer.o differ
diff --git a/build-sandbox-Desktop-Debug/calibrate.o b/build-sandbox-Desktop-Debug/calibrate.o
index 8e683ae507b0caa4cea9e4902cfb48f3c9b568fd..88f664ba594e7fdf05a4a80187bc4237be8a3bae 100644
Binary files a/build-sandbox-Desktop-Debug/calibrate.o and b/build-sandbox-Desktop-Debug/calibrate.o differ
diff --git a/build-sandbox-Desktop-Debug/libsandbox.a b/build-sandbox-Desktop-Debug/libsandbox.a
index 5eecca2b7844ba27050daf17ee1b98ff3315ecb8..a9b0bf6fe08d731d41ded7da745d0d6379aecf84 100644
Binary files a/build-sandbox-Desktop-Debug/libsandbox.a and b/build-sandbox-Desktop-Debug/libsandbox.a differ
diff --git a/build-sandbox-Desktop-Debug/sandbox.o b/build-sandbox-Desktop-Debug/sandbox.o
index 5ba1e4ac154cee31f387a9c796614480755b023f..47b8601fabaa13e528b555f2a8138d0edf59da65 100644
Binary files a/build-sandbox-Desktop-Debug/sandbox.o and b/build-sandbox-Desktop-Debug/sandbox.o differ
diff --git a/sandbox/beamer.cpp b/sandbox/beamer.cpp
index f91b96db9ab51c12f379910f94ac1c6400bf033b..4200e3b4acce4c592c43d35215bdb101f61e001b 100644
--- a/sandbox/beamer.cpp
+++ b/sandbox/beamer.cpp
@@ -29,7 +29,20 @@ typedef struct
* \return
* Use 4 points to calculate the unprecised intersection of two lines
*/
-int LineLineIntersect(
+/*!
+ * \brief Beamer::intersectTwoLines
+ * \param p1
+ * \param p2
+ * \param p3
+ * \param p4
+ * \param pa
+ * \param pb
+ * \param mua
+ * \param mub
+ * \return validation of the founded intersection
+ * Use 4 points to calculate the unprecised intersection of two lines
+ */
+bool Beamer::intersectTwoLines(
Point3d p1, Point3d p2, Point3d p3, Point3d p4, Point3d *pa, Point3d *pb,
double *mua, double *mub)
{
@@ -78,12 +91,13 @@ int LineLineIntersect(
}
Beamer::Beamer(){
- //position par défaut
+ // Default position
beamerPosition = Point3f(0.0f, 0.265f, -0.205f);
+
+ // Set position points to capture to find position
points.push_back(Point(500, 500));
points.push_back(Point(1000, 300));
points.push_back(Point(300, 700));
-
}
Beamer::~Beamer(){
@@ -91,62 +105,63 @@ Beamer::~Beamer(){
}
/*!
- * \brief Beamer::findCercleZ
- * \param rgb colored Frame
- * \return a vector for the detected circle (can be empty)
+ * \brief Beamer::findListCircles
+ * \param rgb colored frane
+ * \return list circles
+ * Find all circles in a frame
*/
-vector<Vec3f> Beamer::findCercleZ(Mat &rgb)
+vector<Vec3f> Beamer::findListCircles(Mat &rgb)
{
Mat src_gray;
cvtColor(rgb, src_gray, CV_BGR2GRAY);
- /// Reduce the noise so we avoid false circle detection
+ // 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
+ // 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);
-
return circles;
- /*vector<int> result;
- if (!circles.empty())
- {
- for (int i = 0; i < 3; i++)
- {
- result.push_back(round(circles[0][i]));
- }
- }
- return result;*/
}
+
/*!
- * \brief Beamer::findPoint
+ * \brief Beamer::detectPoint
* \param camera Intel RealSense Camera
* \param i index of point to detect
- * \return a tuple with the frame and the detected circle
+ * \return a tuple with the frame, the validation of the detection and the list of detected circles
+ * Detect a point when the center of a unique circle on the frame
+ * is near the position define by the cross
*/
-tuple<Mat, vector<Vec3f>> Beamer::findPoint(Camera camera, int i) {
+tuple<Mat, bool, vector<Vec3f>> Beamer::detectPoint(Camera camera, int i) {
Mat rgb;
Point p = points[i];
camera.captureFramesAlign();
rgb = camera.getRGBFrameAlign();
- Scalar color;
- vector<Vec3f> crc = findCercleZ(rgb);
+ Scalar color = Scalar(255, 0, 0);
+ vector<Vec3f> crc = findListCircles(rgb);
+ bool valid = false;
- for (int i = 0; i < crc.size(); ++i) {
+ for (uint 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);
+
+ // Check unique circle
+ if (!crc.empty() && crc.size() == 1) {
+
+ // Check the position of the circle
+ float distanceCenterPoint = (crc[1][0] - p.x) * (crc[1][0] - p.x) + (crc[1][0] - p.y) * (crc[1][0] - p.y);
+ if (distanceCenterPoint < errorDistanceCenterPoint) {
+ color = Scalar(0, 255, 0);
+ valid = true;
+ }
+ }
line(rgb, Point(p.x, 0), Point(p.x, rgb.rows - 1), color, 4);
line(rgb, Point(0, p.y), Point(rgb.cols - 1, p.y), color, 4);
- return make_tuple(rgb, crc);
+ return make_tuple(rgb, valid, crc);
}
/*!
@@ -166,40 +181,74 @@ void Beamer::capturePoint(Camera camera, vector<Vec3f> crc) {
}
/*!
- * \brief Beamer::findBeamerPosition
- * Calculate the position of the beamer with the detected points
+ * \brief Beamer::makeRegression
+ * make a regression with the captured points for a same position
*/
-void Beamer::findBeamerPosition() {
- vector<Point3d> points1; //vectors calculate for each point
- vector<Point3d> points2; //1 point for each vector (to calculate constante d)
- double fact = -20.0;
- Vec6f line;
- fitLine(capturedPoints, line, CV_DIST_L2, 0, 0.01, 0.01);
- points1.push_back(Point3d(line[3] * fact, line[4] * fact, line[5] * fact));
- points2.push_back(Point3d(line[0], line[1], line[2]));
+void Beamer::makeRegression() {
+ fitLine(capturedPoints, regressedLines, CV_DIST_L2, 0, 0.01, 0.01);
+ points1.push_back(Point3d(regressedLines[3] * fact, regressedLines[4] * fact, regressedLines[5] * fact));
+ points2.push_back(Point3d(regressedLines[0], regressedLines[1], regressedLines[2]));
+ capturedPoints.clear();
+}
+/*!
+ * \brief Beamer::findIntersections
+ * \return the validation of the intersection of the lines
+ */
+bool Beamer::findIntersections() {
Point3d pa, pb;
double mua;
double mub;
- vector<Point3d> beamerPoints;
- LineLineIntersect(points1[0], points2[0], points1[1], points2[1], &pa, &pb, &mua, &mub);
+ beamerPoints.clear();
+ validIntersection = true;
+
+ validIntersection = intersectTwoLines(points1[0], points2[0], points1[1], points2[1], &pa, &pb, &mua, &mub) ? validIntersection : false;
beamerPoints.push_back(pa);
beamerPoints.push_back(pb);
- LineLineIntersect(points1[0], points2[0], points1[2], points2[2], &pa, &pb, &mua, &mub);
+ validIntersection = intersectTwoLines(points1[0], points2[0], points1[2], points2[2], &pa, &pb, &mua, &mub) ? validIntersection : false;
beamerPoints.push_back(pa);
beamerPoints.push_back(pb);
- LineLineIntersect(points1[1], points2[1], points1[2], points2[2], &pa, &pb, &mua, &mub);
+ validIntersection = intersectTwoLines(points1[1], points2[1], points1[2], points2[2], &pa, &pb, &mua, &mub) ? validIntersection : false;
beamerPoints.push_back(pa);
beamerPoints.push_back(pb);
- Point3d beamerPoint(0.0, 0.0, 0.0);
- for (unsigned int i = 0; i < beamerPoints.size(); i++)
- {
- beamerPoint += beamerPoints[i];
+ return validIntersection;
+
+}
+
+/*!
+ * \brief Beamer::findBeamerPosition
+ * Calculate the position with the intersections
+ */
+void Beamer::findBeamerPosition() {
+ if(validIntersection) {
+ Point3d beamerPoint(0.0, 0.0, 0.0);
+ for (unsigned int i = 0; i < beamerPoints.size(); i++)
+ {
+ beamerPoint += beamerPoints[i];
+ }
+ beamerPoint /= 6.0;
+
+ //set beamer position
+ beamerPosition.x = (float)beamerPoint.x;
+ beamerPosition.y = (float)beamerPoint.y;
+ beamerPosition.z = (float)beamerPoint.z;
}
- beamerPoint /= 6.0;
- //set beamer position
- beamerPosition.x = (float)beamerPoint.x;
- beamerPosition.y = (float)beamerPoint.y;
- beamerPosition.z = (float)beamerPoint.z;
+}
+
+/*!
+ * \brief Beamer::getPosition
+ * \return position of the beamer
+ */
+Point3f Beamer::getPosition()
+{
+ return beamerPosition;
+}
+
+/*!
+ * \brief setPosition
+ * \param position of the beamer
+ */
+void Beamer::setPosition(Point3f position) {
+ beamerPosition = position;
}
diff --git a/sandbox/beamer.h b/sandbox/beamer.h
index a04ff25325453fb211bf49b65f37bafd2ef2f07b..2ecba19f7da4273ee455eafe635a4ce8064082b1 100644
--- a/sandbox/beamer.h
+++ b/sandbox/beamer.h
@@ -7,31 +7,45 @@
using namespace cv;
using namespace std;
+/*!
+ * \brief The Beamer class
+ * Toolbox to get the position of the beamer
+ */
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<Vec3f> findCercleZ(Mat &rgb);
+ // Properties
Point3f beamerPosition;
vector<Point> points;
vector<Point3f> capturedPoints;
+ vector<Point3d> points1; //vectors calculate for each point
+ vector<Point3d> points2; //1 point for each vector (to calculate constante d)
+ double const fact = -20.0;
+ Vec6f regressedLines;
+ vector<Point3d> beamerPoints;
+ bool validIntersection;
+
+ // Methods
+ bool intersectTwoLines(
+ Point3d p1, Point3d p2, Point3d p3, Point3d p4, Point3d *pa, Point3d *pb,
+ double *mua, double *mub);
+ vector<Vec3f> findListCircles(Mat &rgb);
public:
- Beamer();
- ~Beamer();
+ //Properties
static const int width = 1400;
static const int height = 1050;
- Point3f getPosition()
- {
- return beamerPosition;
- }
- void setPosition(Point3f position) {
- beamerPosition = position;
- }
- void findBeamer(Camera camera);
- tuple<Mat, vector<Vec3f>> findPoint(Camera camera, int i);
+ float errorDistanceCenterPoint = 0.1;
+
+ // Methods
+ Beamer();
+ ~Beamer();
+ void makeRegression();
+ Point3f getPosition();
+ void setPosition(Point3f position);
+ tuple<Mat, bool, vector<Vec3f>> detectPoint(Camera camera, int i);
void capturePoint(Camera camera, vector<Vec3f> crc);
+ bool findIntersections();
void findBeamerPosition();
};
#endif
diff --git a/sandbox/borderedit.cpp b/sandbox/borderedit.cpp
index 80244685f6158bb03bbb6b43667e8bf9491e0c2c..bb670f9f01134ca700a72925c329b245ce81c59f 100644
--- a/sandbox/borderedit.cpp
+++ b/sandbox/borderedit.cpp
@@ -1,12 +1,5 @@
-#include <algorithm>
#include "borderedit.h"
-/*!
- * \brief BorderEdit::frameImage
- * The original frame without border
- */
-Mat BorderEdit::frameImage;
-
/*!
* \brief BorderEdit::drawBorder
* \param p first point of the border
diff --git a/sandbox/borderedit.h b/sandbox/borderedit.h
index 1d2120e08f343f74b2dd9ceef00f1f93236a1b30..8d3513a3a12b0d93dbf8e52b174a410f68b8c3f7 100644
--- a/sandbox/borderedit.h
+++ b/sandbox/borderedit.h
@@ -3,24 +3,28 @@
#include <opencv2/opencv.hpp>
#include <QLabel>
+#include <algorithm>
using namespace cv;
using namespace std;
/*!
* \brief The BorderEdit class
- * Use the colored frame of the Intel RealSense
- * Apply a border inside and move to correspond
- * of the projected image of the beamer
+ * Static toolbox to draw and manipulate
+ * the border on a coloredFrame
*/
class BorderEdit
{
private:
+ // Properties
static const int margeClick = 10;
- static Mat frameImage;
+ static Mat frameImage; // The original frame without border
+
+ // Methods
static Mat drawBorder(cv::Point *p, int n);
public:
+ // Methods
static Mat initBorder(Mat frame, vector<Point> *posSandbox);
static Mat edit(int selectedPoint, int x, int y, vector<Point> *posSandbox);
static int findPoints(int x, int y, vector<Point> *posSandbox);
diff --git a/sandbox/camera.cpp b/sandbox/camera.cpp
index b755a264b710431c536ee9df7a23e460216aa5b3..574444c1b16021cece367e05475eeabdbed3e415 100644
--- a/sandbox/camera.cpp
+++ b/sandbox/camera.cpp
@@ -6,7 +6,10 @@ Camera::~Camera() {
}
-// Capture 30 frames to give autoexposure, etc. a chance to settle
+/*!
+ * \brief Camera::warmingUp
+ * Capture 30 frames to give autoexposure, etc. a chance to settle
+ */
void Camera::warmingUp()
{
for (int i = 0; i < 30; ++i)
@@ -19,45 +22,6 @@ void Camera::warmingUp()
}
}
-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, COLORMAP_JET);
- depthFrameColored.setTo(Scalar(0, 0, 0), (frameDepth == 0));
- return depthFrameColored;
-}
-
Mat Camera::captureFrame()
{
auto frame = pipe.wait_for_frames();
diff --git a/sandbox/camera.h b/sandbox/camera.h
index 9c871f9178bedf94ae0fcd2fcb370c5b0295d7b2..32d17bce9634a7be55fd9c3bcbf28695437bf7a8 100644
--- a/sandbox/camera.h
+++ b/sandbox/camera.h
@@ -12,12 +12,13 @@ using namespace std;
class Camera
{
private:
+ //Properties
+
//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;
-
spatial_filter spatFilter;
temporal_filter tempFilter;
decimation_filter decFilter;
@@ -25,13 +26,16 @@ private:
pipeline pipe;
pipeline_profile profile;
rs2_intrinsics intrinsics;
+ Mat matDepth;
+ Mat matRGB;
+
+ // Methods
void flipMat(Mat &m);
void filterDepthFrame(depth_frame &frameDepth);
- Mat matDepth;
- Mat matRGB;
public:
+ // Methods
Camera();
~Camera();
void start();
@@ -40,7 +44,6 @@ public:
void warmingUp();
Mat captureFrame();
Mat getAverageFrame(int numberFrame);
- static Mat coloredFrame(Mat frameDepth);
Point3f deprojectPixelToPoint(float coord[], float z1);
Point2i projectPointToPixel(Point3f point3D);
diff --git a/sandbox/sandbox.cpp b/sandbox/sandbox.cpp
index 5d77ce9c6295d0ebe5587641d2b760edfe59ac39..b39ccff8448044f93cfec56e0cc1d6be175f3970 100644
--- a/sandbox/sandbox.cpp
+++ b/sandbox/sandbox.cpp
@@ -139,7 +139,7 @@ void Sandbox::deserialize(istream& stream)
{
uint16_t value;
stream >> value;
- data[b][a];
+ data[b][a] = value;
std::cout << a << " | " << b << " : " << value << endl;
}
}
@@ -253,8 +253,8 @@ 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<Vec3f>> Sandbox::detectPointToDetectBeamer(int indexPoint) {
- return beamer.findPoint(camera, indexPoint);
+tuple<Mat, bool, vector<Vec3f>> Sandbox::detectPointToDetectBeamer(int indexPoint) {
+ return beamer.detectPoint(camera, indexPoint);
}
/*!
@@ -273,6 +273,14 @@ void Sandbox::findBeamerPosition() {
beamer.findBeamerPosition();
}
+/*!
+ * \brief Sandbox::findIntersections
+ * \return the validation of the intersection of the lines
+ */
+bool Sandbox::findIntersections() {
+ return beamer.findIntersections();
+}
+
/*!
* \brief Sandbox::stopCamera
* Stop the pipe
@@ -281,4 +289,7 @@ void Sandbox::stopCamera() {
camera.stop();
}
+void Sandbox::makeRegression() {
+ beamer.makeRegression();
+}
diff --git a/sandbox/sandbox.h b/sandbox/sandbox.h
index 9204534466c8e30fd1967e43d8c0dac6e10ed366..8818b40a223991a4e16e1770a885f479dbdd2995 100644
--- a/sandbox/sandbox.h
+++ b/sandbox/sandbox.h
@@ -51,10 +51,12 @@ public:
Mat generateBorder();
int findEdgeBorder(int x, int y);
Mat editEdgeBorder(int selectedPoint, int x, int y);
- tuple<Mat, vector<Vec3f>> detectPointToDetectBeamer(int indexPoint);
+ tuple<Mat, bool, vector<Vec3f>> detectPointToDetectBeamer(int indexPoint);
void capturePointToDetectBeamer(vector<Vec3f> crc);
void findBeamerPosition();
void stopCamera();
+ void makeRegression();
+ bool findIntersections();
};
diff --git a/sandbox/sandbox.pro b/sandbox/sandbox.pro
index 2e4f76fdd6499365589d9853d2ea8053b01e768a..912ec56162351e8873e3175d17737d2c047ec0bc 100644
--- a/sandbox/sandbox.pro
+++ b/sandbox/sandbox.pro
@@ -18,18 +18,18 @@ DEFINES += QT_DEPRECATED_WARNINGS
SOURCES += \
beamer.cpp \
- calibrate.cpp \
camera.cpp \
sandbox.cpp \
- borderedit.cpp
+ borderedit.cpp \
+ transformframe.cpp
HEADERS += \
beamer.h \
- calibrate.h \
camera.h \
sandbox.h \
serializable.h \
- borderedit.h
+ borderedit.h \
+ transformframe.h
# Default rules for deployment.
unix {
diff --git a/sandbox/calibrate.cpp b/sandbox/transformframe.cpp
similarity index 55%
rename from sandbox/calibrate.cpp
rename to sandbox/transformframe.cpp
index 0ab99714a675c590791e2e492fadf6f9c700a10d..87a8ff5b88d7fc3d8937b9950efa4c846b798cb9 100644
--- a/sandbox/calibrate.cpp
+++ b/sandbox/transformframe.cpp
@@ -1,20 +1,35 @@
-#include "calibrate.h"
-#include "camera.h"
+#include "transformframe.h"
-Calibrate::Calibrate()
+TransformFrame::TransformFrame()
{
}
-Point2i Calibrate::rotatePixel(Point2i pixel)
+/*!
+ * \brief Calibrate::rotatePixel
+ * \param pixel
+ * \return deformed pixel
+ * Apply the rotation matrix on a single pixel
+ */
+Point2i TransformFrame::rotatePixel(Point2i pixel)
{
Mat tmp = (Mat_<Vec2f>(1, 1) << Vec2f(pixel.x, pixel.y));
transform(tmp, tmp, matRotation);
return Point2i(tmp.at<Vec2f>(0, 0));
}
-Point2i Calibrate::transformationPixel(int i, int j, float z, Camera camera, Point3f beamer)
+/*!
+ * \brief Calibrate::transformationPixel
+ * \param i first index for the pixel
+ * \param j second index for the pixel
+ * \param z depth distance
+ * \param camera
+ * \param beamer
+ * \return transformed 2D point
+ * Apply the transformation on a single pixel
+ */
+Point2i TransformFrame::transformationPixel(int i, int j, float z, Camera camera, Point3f beamer)
{
//pixel to point 3d
float coord[2] = {static_cast<float>(j), static_cast<float>(i)};
@@ -29,7 +44,15 @@ Point2i Calibrate::transformationPixel(int i, int j, float z, Camera camera, Poi
return camera.projectPointToPixel(p);
}
-void Calibrate::transformationFrame(Mat &src, Mat &dst, Camera camera, Point3f beamer)
+/*!
+ * \brief Calibrate::transformationFrame
+ * \param src
+ * \param dst
+ * \param camera
+ * \param beamer
+ * Apply the transformation on a frame
+ */
+void TransformFrame::transformationFrame(Mat &src, Mat &dst, Camera camera, Point3f beamer)
{
int64_t t1 = getTickCount();
//transformation on all pixel
@@ -49,7 +72,16 @@ void Calibrate::transformationFrame(Mat &src, Mat &dst, Camera camera, Point3f b
// medianBlur(dst, dst, 3);
}
-void Calibrate::transformationFrame(Mat &depth, Mat &src, Mat &dst, Camera camera, Point3f beamer)
+/*!
+ * \brief Calibrate::transformationFrame
+ * \param depth
+ * \param src
+ * \param dst
+ * \param camera
+ * \param beamer
+ * Apply the transformation on a frame
+ */
+void TransformFrame::transformationFrame(Mat &depth, Mat &src, Mat &dst, Camera camera, Point3f beamer)
{
int nbChannel = src.channels();
//transformation on all pixel
@@ -74,3 +106,39 @@ void Calibrate::transformationFrame(Mat &depth, Mat &src, Mat &dst, Camera camer
dilate(dst, dst, Mat(), Point(-1, -1), 2, 1, 1);
erode(dst, dst, Mat(), Point(-1, -1), 2, 1, 1);
}
+
+/*!
+ * \brief Calibrate::getMatrixRotation
+ * \return the rotation matrix
+ */
+Mat TransformFrame::getMatrixRotation()
+{
+ return matRotation;
+}
+
+/*!
+ * \brief Calibrate::setMatrixRotation
+ * \param matrix of rotation
+ */
+void TransformFrame::setMatrixRotation(Mat matrix)
+{
+ matRotation = matrix.clone();
+}
+
+/*!
+ * \brief Calibrate::getDistancePlan
+ * \return distance of the sandbox
+ */
+float TransformFrame::getDistancePlan()
+{
+ return distancePlan;
+}
+
+/*!
+ * \brief Calibrate::setDistancePlan
+ * \param distance of the sandbox
+ */
+void TransformFrame::setDistancePlan(float distance)
+{
+ distancePlan = distance;
+}
diff --git a/sandbox/calibrate.h b/sandbox/transformframe.h
similarity index 58%
rename from sandbox/calibrate.h
rename to sandbox/transformframe.h
index 2581b5b8b339afbbdd52907d788c8bf40eff7de0..678664ac504bed9637b90cf2d9de31380e3177de 100644
--- a/sandbox/calibrate.h
+++ b/sandbox/transformframe.h
@@ -6,33 +6,28 @@
using namespace cv;
-class Calibrate
+/*!
+ * \brief The TransformFrame class
+ * Class to adapt the detection of the Intel RealSense Camera
+ * to the projection of the beamer
+ */
+class TransformFrame
{
private:
+ // Properties
Mat matRotation;
float distancePlan;
public:
- Calibrate();
+ // Methods
+ TransformFrame();
Point2i transformationPixel(int i, int j, float z, Camera camera, Point3f beamer);
Point2i rotatePixel(Point2i pixel);
void transformationFrame(Mat &src, Mat &dst, Camera camera, Point3f beamer);
void transformationFrame(Mat &depth, Mat &src, Mat &dst, Camera camera, Point3f beamer);
- Mat getMatrixRotation()
- {
- return matRotation;
- }
- void setMatrixRotation(Mat matrix)
- {
- matRotation = matrix.clone();
- }
- float getDistancePlan()
- {
- return distancePlan;
- }
- void setDistancePlan(float distance)
- {
- distancePlan = distance;
- }
+ Mat getMatrixRotation();
+ void setMatrixRotation(Mat matrix);
+ float getDistancePlan();
+ void setDistancePlan(float distance);
};
#endif