FSPoint FSVision::detectLaserLine( cv::Mat &laserOff, cv::Mat &laserOn, unsigned int threshold )
{
unsigned int cols = laserOff.cols;
unsigned int rows = laserOff.rows;
cv::Mat laserLine = subLaser2(laserOff, laserOn);
std::vector<cv::Vec4i> lines;
double deltaRho = 1;
double deltaTheta = M_PI/2;
int minVote = 20;
double minLength = 50;
double maxGap = 10;
cv::Mat laserLineBW( cols, rows, CV_8U, cv::Scalar(0) );
cv::cvtColor(laserLine, laserLineBW, CV_RGB2GRAY); //convert to grayscale
/*cv::namedWindow("Detected Lines with HoughP");
cv::imshow("Detected Lines with HoughP",laserLineBW);
cv::waitKey(0);*/
//cvDestroyWindow("Detected Lines with HoughP");
cv::HoughLinesP( laserLineBW,
lines,
deltaRho,
deltaTheta,
minVote,
minLength,
maxGap );
//should at least detect the laser line
qDebug() << "detected"<<lines.size()<<"lines";
if(lines.size()==0){
qDebug("Did not detect any laser line, did you select a SerialPort form the menu?");
FSPoint p = FSMakePoint(0.0,0.0,0.0);
return(p);
}
//assert(lines.size()>0);
//for(int i=0;i<lines.size();i++){
cv::Point p1;
cv::Point p2;
for(unsigned int i=0;i<lines.size();i++){
qDebug() << "drawing line "<<lines[i][0]<<lines[i][1]<<lines[i][2]<<lines[i][3];
//int i = 0;
p1.x = lines[i][0];
p1.y = lines[i][1];
p2.x = lines[i][2];
p2.y = lines[i][3];
cv::line(laserLine, p1, p2, CV_RGB( 255,0,0 ),1); //draw laser line
}
/*cv::namedWindow("Detected Lines with HoughP");
cv::imshow("Detected Lines with HoughP",laserLine);
cv::waitKey(0);
cvDestroyWindow("Detected Lines with HoughP");*/
FSPoint p = convertCvPointToFSPoint(p1);
return p;
}
FSPoint FSVision::detectLaserLine( cv::Mat &laserOff, cv::Mat &laserOn, unsigned int threshold, cv::Point *mP )
{
IsFindLine=false;
unsigned int cols = laserOff.cols;
unsigned int rows = laserOff.rows;
cv::Mat laserLine = subLaser2(laserOff, laserOn,1);
std::vector<cv::Vec4i> lines;
double deltaRho = 1;
double deltaTheta = M_PI/2;
int minVote = 20;
double minLength = 50;
double maxGap = 10;
cv::Mat laserLineBW( cols, rows, CV_8U, cv::Scalar(0) );
cv::cvtColor(laserLine, laserLineBW, CV_RGB2GRAY); //convert to grayscale
cv::Mat mask( cols/2, rows/2-100, CV_8U, cv::Scalar(0) );
cv::Rect rect(0, 0,cols/2, rows/2 - 100);
laserLineBW(rect).copyTo(mask);
//cv::imshow("extractedlaserLine3",mask);
//cv::waitKey(100);
// cv::namedWindow("Detected Lines with HoughP");
//cvDestroyWindow("Detected Lines with HoughP");
cv::HoughLinesP( mask,
lines,
deltaRho,
deltaTheta,
minVote,
minLength,
maxGap );
cv::putText(mask,"",cv::Point(10,10),6,6,cv::Scalar(255,0,0),1,8,false);
cv::imshow("extractedlaserLine2",mask);
//cv::waitKey(0);
//should at least detect the laser line
qDebug() << "detected"<<lines.size()<<"lines";
if(lines.size()==0) {
qDebug("Did not detect any laser line, did you select a SerialPort form the menu?");
FSPoint p = FSMakePoint(0.0,0.0,0.0);
mP[0].x =0;
mP[0].y =0;
return(p);
}
//assert(lines.size()>0);
//for(int i=0;i<lines.size();i++){
cv::Point p1;
cv::Point p2;
for(int i=0; i<lines.size(); i++) {
qDebug() << "drawing line "<<lines[i][0]<<lines[i][1]<<lines[i][2]<<lines[i][3];
//int i = 0;
p1.x = lines[i][0];
p1.y = lines[i][1];
p2.x = lines[i][2];
p2.y = lines[i][3];
cv::line(laserLine, p1, p2, CV_RGB( 255,0,0 ),1); //draw laser line
IsFindLine=true;
}
mP[0].x =p1.x;
mP[0].y =p1.y;
/*cv::namedWindow("Detected Lines with HoughP");
cv::imshow("Detected Lines with HoughP",laserLine);
cv::waitKey(100);
cvDestroyWindow("Detected Lines with HoughP");
*/
FSPoint p = convertCvPointToFSPoint(p1);
return p;
}
void FSVision::putPointsFromFrameToCloud(
cv::Mat &laserOff,
cv::Mat &laserOn,
int dpiVertical, //step between vertical points
double lowerLimit, int JD) //remove points below this limit
{
//qDebug() << "putPointsFromFrameToCloud";
//the following lines are just to make to code more readable
FSModel* model = FSController::getInstance()->model;
FSLaser* laser = FSController::getInstance()->laser;
FSTurntable* turntable = FSController::getInstance()->turntable;
FSWebCam* webcam = FSController::getInstance()->webcam;
//extract laser line from the two images
//cv::Mat laserLine = subLaser(laserOff,laserOn,threshold);
cv::Mat laserLine = subLaser2(laserOff,laserOn,JD);
// cv::imshow("extractedlaserLine2",laserLine);
// cv::waitKey(300) ;
//calculate position of laser in cv frame
//position of the laser line on the back plane in frame/image coordinates
FSPoint fsLaserLinePosition = laser->getLaserPointPosition();
//position of the laser line on the back plane in world coordinates
CvPoint cvLaserLinePosition = convertFSPointToCvPoint(fsLaserLinePosition);
double laserPos = cvLaserLinePosition.x; //const over all y
//laserLine is result of subLaser2, is in RGB
unsigned int cols = laserLine.cols;
unsigned int rows = laserLine.rows;
//create new image in black&white
cv::Mat bwImage( cols,rows,CV_8U,cv::Scalar(100) );
//qDebug("still works here");
//convert from rgb to b&w
cv::cvtColor(laserLine, bwImage, CV_RGB2GRAY); //convert to grayscale
cv::imshow("extractedlaserLine2",bwImage);
cv::waitKey(1) ;
//now iterating from top to bottom over bwLaserLine frame
//no bear outside of these limits :) cutting of top and bottom of frame
for(int y = UPPER_ANALYZING_FRAME_LIMIT;
y < bwImage.rows-(LOWER_ANALYZING_FRAME_LIMIT);
y+=dpiVertical )
{
//qDebug() << "checking point at line " << y << laserPos+ANALYZING_LASER_OFFSET;
//ANALYZING_LASER_OFFSET is the offset where we stop looking for a reflected laser, cos we might catch the non reflected
//now iteratinf from right to left over bwLaserLine frame
for(int x = bwImage.cols-1;
x >= laserPos+ANALYZING_LASER_OFFSET;
x -= 1) {
//qDebug() << "Pixel value: " << bwImage.at<uchar>(y,x);
if(bwImage.at<uchar>(y,x)==255) { //check if white=laser-reflection
//qDebug() << "found point at x=" << x;
//if (row[x] > 200){
//we have a white point in the grayscale image, so one edge laser line found
//no we should continue to look for the other edge and then take the middle of those two points
//to take the width of the laser line into account
//position of the reflected laser line on the image coord
CvPoint cvNewPoint;
cvNewPoint.x = x;
cvNewPoint.y = y;
//convert to world coordinates withouth depth
FSPoint fsNewPoint = FSVision::convertCvPointToFSPoint(cvNewPoint);
FSLine l1 = computeLineFromPoints(webcam->getPosition(), fsNewPoint);
FSLine l2 = computeLineFromPoints(laser->getPosition(), laser->getLaserPointPosition());
FSPoint i = computeIntersectionOfLines(l1, l2);
fsNewPoint.x = i.x;
fsNewPoint.z = i.z;
//At this point we know the depth=z. Now we need to consider the scaling depending on the depth.
//First we move our point to a camera centered cartesion system.
fsNewPoint.y -= (webcam->getPosition()).y;
fsNewPoint.y *= ((webcam->getPosition()).z - fsNewPoint.z)/(webcam->getPosition()).z;
//Redo the translation to the box centered cartesion system.
fsNewPoint.y += (webcam->getPosition()).y;
//get color from picture without laser
FSUChar r = laserOff.at<cv::Vec3b>(y,x)[2];
FSUChar g = laserOff.at<cv::Vec3b>(y,x)[1];
FSUChar b = laserOff.at<cv::Vec3b>(y,x)[0];
fsNewPoint.color = FSMakeColor(r, g, b);
//turning new point according to current angle of turntable
//translate coordinate system to the middle of the turntable
fsNewPoint.z -= TURNTABLE_POS_Z; //7cm radius of turntbale plus 5mm offset from back plane
FSPoint alphaDelta = turntable->getRotation();
double alphaOld = (float)atan(fsNewPoint.z/fsNewPoint.x);
double alphaNew = alphaOld+alphaDelta.y*(M_PI/180.0f);
double hypotenuse = (float)sqrt(fsNewPoint.x*fsNewPoint.x + fsNewPoint.z*fsNewPoint.z);
if(fsNewPoint.z < 0 && fsNewPoint.x < 0) {
alphaNew += M_PI;
} else if(fsNewPoint.z > 0 && fsNewPoint.x < 0) {
alphaNew -= M_PI;
}
fsNewPoint.z = (float)sin(alphaNew)*hypotenuse;
fsNewPoint.x = (float)cos(alphaNew)*hypotenuse;
if(fsNewPoint.y>lowerLimit+0.5 && hypotenuse < 7) { //eliminate points from the grounds, that are not part of the model
//qDebug("adding point");
model->addPointToPointCloud(fsNewPoint);
}
break;
}
}
}
}
