int CenterOfFocus::getCOF() {
Mat circleImg = Mat::zeros(w, w, CV_8UC3);
drawCircle(circleImg, Point( w / 2, w / 2));
state++;
namedWindow("firstWindow", CV_WINDOW_NORMAL);
setWindowProperty("firstWindow", CV_WND_PROP_FULLSCREEN,
CV_WINDOW_FULLSCREEN);
VideoCapture cap(0);
if (!cap.isOpened())
return -1;
Mat frame;
while (true) {
cap >> frame;
if (waitKey(15) >= 0) {
std::ostringstream stm;
stm << state;
string fileName = stm.str();
imwrite(fileName + ".jpg", frame);
destroyWindow("firstWindow");
namedWindow("firstWindow", CV_WINDOW_NORMAL);
setWindowProperty("firstWindow", CV_WND_PROP_FULLSCREEN,
CV_WINDOW_FULLSCREEN);
if (state == 1) {
circleImg = Mat::zeros(w, w, CV_8UC3);
drawCircle(circleImg, Point((w / 32), (w / 32)));
} else if (state == 2) {
circleImg = Mat::zeros(w, w, CV_8UC3);
drawCircle(circleImg, Point(w - (w / 32), (w / 32)));
} else if (state == 3) {
circleImg = Mat::zeros(w, w, CV_8UC3);
drawCircle(circleImg, Point(w / 32, w - (w / 32)));
} else if (state == 4) {
circleImg = Mat::zeros(w, w, CV_8UC3);
drawCircle(circleImg, Point(w - (w / 32), w - (w / 32)));
} else {
destroyWindow("firstWindow");
cap.release();
return -1;
}
state++;
}
imshow("firstWindow", circleImg);
}
return 1;
}
bool ExtCamControl::start(JSON* pJson)
{
g_pExtCamControl = this;
//Init Camera
m_pCamFront = new _CamStream();
CHECK_FATAL(m_pCamFront->init(pJson, "FRONTL"));
//Init Marker Detector
m_pMD = new _MarkerDetector();
CHECK_FATAL(m_pMD->init(pJson, "RED_CIRCLE"));
m_pMD->m_pCamStream = m_pCamFront;
m_pCamFront->m_bHSV = true;
//Init BgFg Detector
m_pBgFgD = new _BgFgDetector();
CHECK_FATAL(m_pBgFgD->init(pJson, ""));
m_pBgFgD->m_pCamStream = m_pCamFront;
//Init Autopilot
/* m_pAP = new _AutoPilot();
CHECK_FATAL(m_pAP->setup(&m_Json, ""));
m_pAP->init();
m_pAP->setCamStream(m_pCamFront, CAM_FRONT);
m_pAP->m_pOD = m_pOD;
m_pAP->m_pFD = m_pFD;
// m_pMD = m_pAP->m_pCamStream[CAM_FRONT].m_pCam->m_pMarkerDetect;
*/
//Connect to Mavlink
/* m_pMavlink = new _MavlinkInterface();
CHECK_FATAL(m_pMavlink->setup(&m_Json, "FC"));
CHECK_INFO(m_pMavlink->open());
*/
//Main window
m_pShow = new CamFrame();
m_pMat = new CamFrame();
m_pMat2 = new CamFrame();
//Init UI Monitor
m_pUIMonitor = new UIMonitor();
m_pUIMonitor->init("OpenKAI demo", pJson);
m_pUIMonitor->addFullFrame(m_pShow);
//Start threads
m_pCamFront->start();
// m_pMavlink->start();
// m_pDF->start();
m_pMD->start();
// m_pAP->start();
m_pBgFgD->start();
//UI thread
m_bRun = true;
namedWindow(APP_NAME, CV_WINDOW_NORMAL);
setWindowProperty(APP_NAME, CV_WND_PROP_FULLSCREEN, CV_WINDOW_FULLSCREEN);
setMouseCallback(APP_NAME, onMouseExtCamControl, NULL);
while (m_bRun)
{
// Mavlink_Messages mMsg;
// mMsg = m_pMavlink->current_messages;
// m_pCamFront->m_pCamL->m_bGimbal = true;
// m_pCamFront->m_pCamL->setAttitude(mMsg.attitude.roll, 0, mMsg.time_stamps.attitude);
if(!showScreenMarkerDetector())
{
showScreenBgFgDetector();
}
//Handle key input
m_key = waitKey(30);
handleKey(m_key);
}
// m_pAP->stop();
m_pMD->stop();
// m_pMavlink->stop();
m_pBgFgD->stop();
m_pMD->complete();
m_pBgFgD->complete();
// m_pDF->complete();
// m_pAP->complete();
// m_pCamFront->complete();
// m_pMavlink->complete();
// m_pMavlink->close();
// delete m_pAP;
// delete m_pMavlink;
// delete m_pDF;
delete m_pCamFront;
return 0;
}
void calibrateEyeGaze()
{
//Note: Keep head fixed entire time
//1. Display entire screen
Mat screenImage(Size(640, 480), CV_8UC3, Scalar(255, 255, 255));
namedWindow("Calibration Screen", CV_WINDOW_NORMAL);
setWindowProperty("Calibration Screen", CV_WND_PROP_FULLSCREEN, CV_WINDOW_FULLSCREEN);
imshow("Calibration Screen", screenImage);
waitKey(0);
//2. Display circles at 4 corners.
circle(screenImage, Point(630, 10), 10, Scalar(255, 0, 0), -1);
imshow("Calibration Screen", screenImage);
waitKey(1000);
calibrateStart = 1;
thread thread1(aggregateEyeShift);
waitKey(1000);
calibrateStart = 0;
thread1.join();
TopRight.x = threadReturn[0]; TopRight.y = threadReturn[1];
screenImage.setTo(Scalar(255, 255, 255));
circle(screenImage, Point(10, 10), 10, Scalar(255, 0, 0), -1);
imshow("Calibration Screen", screenImage);
waitKey(1000);
calibrateStart = 1;
thread thread2(aggregateEyeShift);
waitKey(1000);
calibrateStart = 0;
thread2.join();
TopLeft.x = threadReturn[0]; TopLeft.y = threadReturn[1];
screenImage.setTo(Scalar(255, 255, 255));
circle(screenImage, Point(10, 470), 10, Scalar(255, 0, 0), -1);
imshow("Calibration Screen", screenImage);
waitKey(1000);
calibrateStart = 1;
thread thread3(aggregateEyeShift);
waitKey(1000);
calibrateStart = 0;
thread3.join();
BottomLeft.x = threadReturn[0]; BottomLeft.y = threadReturn[1];
screenImage.setTo(Scalar(255, 255, 255));
circle(screenImage, Point(630, 470), 10, Scalar(255, 0, 0), -1);
imshow("Calibration Screen", screenImage);
waitKey(1000);
calibrateStart = 1;
thread thread4(aggregateEyeShift);
waitKey(1000);
calibrateStart = 0;
thread4.join();
BottomRight.x = threadReturn[0]; BottomRight.y = threadReturn[1];
cout << "Top Right: " << TopRight.x << " " << TopRight.y << endl;
cout << "Top Left: " << TopLeft.x << " " << TopLeft.y << endl;
cout << "Bottom left: " << BottomLeft.x << " " << BottomLeft.y << endl;
cout << "Bottom Right: " << BottomRight.x << " " << BottomRight.y << endl;
screenImage.setTo(Scalar(255, 255, 255));
//3. Record the eye shift in all 4 locations
//4. Linearly interpolate eye shifts to find gaze position
}
void WebApplicationWindow::createAndSetup()
{
if (mTrustScope == TrustScopeSystem) {
mUserScripts.append(QUrl("qrc:///qml/webos-api.js"));
createDefaultExtensions();
}
if (mWindowType == "dashboard")
mLoadingAnimationDisabled = true;
if (mHeadless) {
qDebug() << __PRETTY_FUNCTION__ << "Creating application container for headless ...";
mEngine = new QQmlEngine;
configureQmlEngine();
QQmlComponent component(mEngine, QUrl(QString("qrc:///qml/ApplicationContainer.qml")));
mRootItem = qobject_cast<QQuickItem*>(component.create());
}
else {
QQuickWebViewExperimental::setFlickableViewportEnabled(mApplication->desc().flickable());
mWindow = new QQuickView;
mWindow->installEventFilter(this);
mEngine = mWindow->engine();
configureQmlEngine();
connect(mWindow, &QObject::destroyed, [=](QObject *obj) {
qDebug() << "Window destroyed";
});
mWindow->setColor(Qt::transparent);
mWindow->reportContentOrientationChange(QGuiApplication::primaryScreen()->primaryOrientation());
mWindow->setSurfaceType(QSurface::OpenGLSurface);
QSurfaceFormat surfaceFormat = mWindow->format();
surfaceFormat.setAlphaBufferSize(8);
surfaceFormat.setRenderableType(QSurfaceFormat::OpenGLES);
mWindow->setFormat(surfaceFormat);
// make sure the platform window gets created to be able to set it's
// window properties
mWindow->create();
// set different information bits for our window
setWindowProperty(QString("_LUNE_WINDOW_TYPE"), QVariant(mWindowType));
setWindowProperty(QString("_LUNE_WINDOW_PARENT_ID"), QVariant(mParentWindowId));
setWindowProperty(QString("_LUNE_WINDOW_LOADING_ANIMATION_DISABLED"), QVariant(mApplication->loadingAnimationDisabled()));
setWindowProperty(QString("_LUNE_APP_ICON"), QVariant(mApplication->icon()));
setWindowProperty(QString("_LUNE_APP_ID"), QVariant(mApplication->id()));
connect(mWindow, SIGNAL(visibleChanged(bool)), this, SLOT(onVisibleChanged(bool)));
QPlatformNativeInterface *nativeInterface = QGuiApplication::platformNativeInterface();
connect(nativeInterface, SIGNAL(windowPropertyChanged(QPlatformWindow*, const QString&)),
this, SLOT(onWindowPropertyChanged(QPlatformWindow*, const QString&)));
mWindow->setSource(QUrl(QString("qrc:///qml/ApplicationContainer.qml")));
mRootItem = mWindow->rootObject();
mWindow->resize(mSize);
}
}
