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"Merge branch 'master' of https://github.com/se-research/CaroloCup-Ca…
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…meraPlayback

Conflicts:
	CaroloCup-CameraPlayback.cpp
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@chrberger
chrberger committed Jul 28, 2015
2 parents 9fbf5e5 + c6b5c91 commit 164ccfe
Showing 1 changed file with 145 additions and 8 deletions.
153 changes: 145 additions & 8 deletions CaroloCup-CameraPlayback.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -45,16 +45,79 @@ using namespace coredata::image;
using namespace core::io;
using namespace core::wrapper;
using namespace tools::player;
using namespace cv;

class CSVRow
{
public:
string const& operator[](uint32_t index) const
{
return m_data[index];
}
uint32_t size() const
{
return m_data.size();
}
bool readNextRow(istream& in)
{
string line;
if(!getline(in,line)) return false;

stringstream lineStream(line);
string cell;

m_data.clear();
while(getline(lineStream,cell,','))
{
m_data.push_back(cell);
}
return true;
}
private:
vector<string> m_data;
};

void setLabel(Mat& img, const string label, const Point& anchor)
{
int fontface = FONT_HERSHEY_COMPLEX;
double scale = 0.4;
int thickness = 1;
int baseline = 0;

Size text = getTextSize(label, fontface, scale, thickness, &baseline);
rectangle(img, anchor + Point(0, baseline), anchor + Point(text.width, -text.height), CV_RGB(0,0,0), CV_FILLED);
putText(img, label, anchor, fontface, scale, CV_RGB(255, 255, 255), thickness, CV_AA);
}

void errorMessage(string name)
{
cerr << "Wrong command line parameters supplied." << endl
<< "Usage :\t" << name << " [-l] myRecording.rec [myRecording.csv]" << endl
<< "Options :" << endl << " -l \t\t\t Enables logging on standard output" << endl;
}

int32_t main(int32_t argc, char **argv) {
int32_t main(int32_t argc, char **argv)
{
uint32_t retVal = 0;
if (argc != 2) {
cerr << "Insufficient command line parameters supplied. Use " << string(argv[0]) << " myRecording.rec" << endl;
int recIndex=1;
bool log=false;

if((argc != 2 && argc != 3 && argc != 4) || (argc==4 && string(argv[1]).compare("-l")!=0))
{
errorMessage(string(argv[0]));
retVal = 1;
}
else {
else
{
// if -l option is set
if(argc==4 || (argc==3 && string(argv[1]).compare("-l")==0))
{
++recIndex;
log=true;
}

// Use command line parameter as file for playback;
string recordingFile(argv[1]);
string recordingFile(argv[recIndex]);
stringstream recordingFileUrl;
recordingFileUrl << "file://" << recordingFile;

Expand Down Expand Up @@ -93,6 +156,17 @@ int32_t main(int32_t argc, char **argv) {
// also having convenient automated system resource management.
SharedPointer<SharedMemory> sharedImageMemory;

ifstream file(argv[recIndex+1]);
CSVRow row;
// read out the header row
row.readNextRow(file);
uint32_t frameNumber=1, csvFN;
int32_t VPx,VPy,BLx,BLy,BRx,BRy,TLx,TLy,TRx,TRy;
stringstream frameMessage;
stringstream VPMessage;
frameMessage.str(string());
VPMessage.str(string());

// Main data processing loop.
while (player.hasMoreData()) {
// Read next entry from recording.
Expand Down Expand Up @@ -127,17 +201,80 @@ int32_t main(int32_t argc, char **argv) {
}

// Show the image using OpenCV.
cvShowImage("CaroloCup-CameraPlayback", image);

// if csv parameter is set
if(argc==4 || (argc==3 && string(argv[1]).compare("-l")!=0))
{
if(! row.readNextRow(file)) break;
while(row[0].compare("")==0)
if(! row.readNextRow(file)) break;

sscanf(row[0].c_str(), "%d", &csvFN);

if(frameNumber==csvFN)
{
Mat img = cvarrToMat(image);


frameMessage.str(string());
VPMessage.str(string());
sscanf(row[9].c_str(), "%d", &VPx);
sscanf(row[10].c_str(), "%d", &VPy);

frameMessage<<"Frame "<<frameNumber;
VPMessage<<"Vanishing Point ("<<VPx<<","<<VPy<<")";

setLabel(img, frameMessage.str(), cvPoint(30,45));
setLabel(img, VPMessage.str(), cvPoint(30,60));

if(log)
cout << frameMessage.str() << " :: " << VPMessage.str() <<endl;

// print support points and lines
sscanf(row[1].c_str(), "%d", &BLx);
sscanf(row[2].c_str(), "%d", &BLy);
sscanf(row[3].c_str(), "%d", &TLx);
sscanf(row[4].c_str(), "%d", &TLy);
sscanf(row[5].c_str(), "%d", &TRx);
sscanf(row[6].c_str(), "%d", &TRy);
sscanf(row[7].c_str(), "%d", &BRx);
sscanf(row[8].c_str(), "%d", &BRy);

circle(img, Point(BLx,BLy), 5, CV_RGB(255, 255, 255), CV_FILLED);
circle(img, Point(TLx,TLy), 5, CV_RGB(255, 255, 255), CV_FILLED);
circle(img, Point(TRx,TRy), 5, CV_RGB(255, 255, 255), CV_FILLED);
circle(img, Point(BRx,BRy), 5, CV_RGB(255, 255, 255), CV_FILLED);

double slope1 = static_cast<double>(TLy-BLy)/static_cast<double>(TLx-BLx);
double slope2 = static_cast<double>(TRy-BRy)/static_cast<double>(TRx-BRx);
Point p1(0,0), q1(img.cols,img.rows);
Point p2(0,0), q2(img.cols,img.rows);
p1.y = -(BLx-p1.x) * slope1 + BLy;
q1.y = -(TLx-q1.x) * slope1 + TLy;
p2.y = -(BRx-p2.x) * slope2 + BRy;
q2.y = -(TRx-q2.x) * slope2 + TRy;

line(img,p1,q1,CV_RGB(255, 255, 255),1,CV_AA);
line(img,p2,q2,CV_RGB(255, 255, 255),1,CV_AA);

imshow("CaroloCup-CameraPlayback", img);
}
}
else
cvShowImage("CaroloCup-CameraPlayback", image);

// Let the image render before proceeding to the next image.
char c = cvWaitKey(10);

// Check if the user wants to stop the replay by pressing ESC.
if (static_cast<uint8_t>(c) == 27) break;
if (static_cast<uint8_t>(c) == 27) break;

++frameNumber;
}
}
}

// maybe print EOF message && wait for user input?

// Release IplImage data structure.
cvReleaseImage(&image);

Expand Down

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