lapin/lj_qualibration
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base: lapin:7460b74c154ce930b4f41f2273dac0959a98dbf3
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lapin:master
lapin:sequence_trait_refactoring
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compare: lapin:910e340ec87467dbf1bd6ca742fd77751ed0f46f
Branches Tags
lapin:master
lapin:sequence_trait_refactoring

No commits in common. "7460b74c154ce930b4f41f2273dac0959a98dbf3" and "910e340ec87467dbf1bd6ca742fd77751ed0f46f" have entirely different histories.
7460b74c15 ... 910e340ec8

18 changed files with 970 additions and 1084 deletions
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1
.gitignore vendored
View File

@ -1,4 +1,3 @@
*.png
image
target
settings.toml

37
src/draw.rs
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@ -7,12 +7,12 @@ const X_CENTER: f32 = 2047.0;
const Y_CENTER: f32 = 2047.0;
pub fn draw_line_dotted(
p0: &Point,
p1: &Point,
p2: &Point,
nb_all: usize,
nb_visible: usize,
first_on: bool,
) -> Vec<Point> {
) -> Result<Vec<Point>, Box<dyn std::error::Error>> {
let mut pl = vec![];
let black = Color { r: 0, g: 0, b: 0 };
@ -21,56 +21,61 @@ pub fn draw_line_dotted(
for _ in 0..nb_all {
pl.push(Point {
color: black,
..*p0
..*p1
});
}
for i in 0..nb_visible {
pl.push(Point {
color: if i % 2 == cmp { p1.color } else { black },
..*p1
color: if i % 2 == cmp { p2.color } else { black },
..*p2
});
}
if nb_visible > nb_all {
return pl;
return Ok(pl);
}
for _ in 0..(nb_all - nb_visible) {
pl.push(Point {
color: black,
..*p1
..*p2
});
}
pl
Ok(pl)
}
pub fn draw_line(p0: &Point, p1: &Point, nb_all: usize, nb_visible: usize) -> Vec<Point> {
pub fn draw_line(
p1: &Point,
p2: &Point,
nb_all: usize,
nb_visible: usize,
) -> Result<Vec<Point>, Box<dyn std::error::Error>> {
let mut pl = vec![];
let black = Color { r: 0, g: 0, b: 0 };
for _ in 0..nb_all {
pl.push(Point {
color: black,
..*p0
..*p1
});
}
for _ in 0..nb_visible {
pl.push(*p1);
pl.push(*p2);
}
if nb_visible > nb_all {
return pl;
return Ok(pl);
}
for _ in 0..(nb_all - nb_visible) {
pl.push(Point {
color: black,
..*p1
..*p2
});
}
pl
Ok(pl)
}
#[allow(dead_code)]
pub fn draw(_time: f64) -> Vec<Point> {
pub fn draw(_time: f64) -> Result<Vec<Point>, Box<dyn std::error::Error>> {
let mut v: Vec<Point> = vec![];
for i in 0..128 {
let a = i as f32 / 128.0 * std::f32::consts::PI * 2.0;
@ -84,5 +89,5 @@ pub fn draw(_time: f64) -> Vec<Point> {
},
});
}
v
Ok(v)
}

5
src/framerate.rs
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@ -1,10 +1,8 @@
#[allow(unused)]
use log::{debug, warn};
use std::thread;
use std::time::{Duration, Instant};
/// Converts helios Geometry to Helios
#[allow(dead_code)]
#[derive(Debug, Clone, Copy)]
pub struct Framerate {
start: Instant,
@ -12,7 +10,6 @@ pub struct Framerate {
framerate: u8,
}
#[allow(dead_code)]
impl Framerate {
pub fn new(framerate: u8) -> Result<Self, Box<dyn std::error::Error>> {
Ok(Framerate {
@ -21,7 +18,7 @@ impl Framerate {
framerate,
})
}
pub fn handle_time(&mut self) -> Result<f64, Box<dyn std::error::Error>> {
pub fn handle_time(&mut self) -> Result<(f64), Box<dyn std::error::Error>> {
let frame_time = 1000000000 / self.framerate as u128;
let now = Instant::now();
// How long since last loop ?

68
src/main.rs
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@ -11,7 +11,7 @@ mod point;
mod qualibration;
mod utils;
use qualibration::{annalyse::adding_trackbar, Qualibration};
use qualibration::{annalyse::adding_trackbar, Qualibration, Sequence};
use conf::Conf;
use log::{/*debug, warn, */ error, info};
@ -57,7 +57,7 @@ fn run_all() -> Result<(), Box<dyn std::error::Error>> {
let client = Client::open(config.redis_url.clone())?;
let mut con: Connection = client.get_connection()?;
let mut _framerate_handler = framerate::Framerate::new(config.framerate)?;
let mut framerate_handler = framerate::Framerate::new(config.framerate)?;
// Setup handler for interrupt Signals
let running = Arc::new(AtomicBool::new(true));
@ -78,7 +78,7 @@ fn run_all() -> Result<(), Box<dyn std::error::Error>> {
info!("{:?}", config);
let mut qualibration = Qualibration::new()?;
adding_trackbar(&mut qualibration.param, "histogram: 0")?;
adding_trackbar(&mut qualibration, "histogram: 0")?;
let _a: () = con.set(format!("/kpps/{}", conf2.laser_id), 65535)?;
let _a: () = con.set(
@ -87,46 +87,44 @@ fn run_all() -> Result<(), Box<dyn std::error::Error>> {
)?;
while running.load(Ordering::SeqCst) {
//let _t = _framerate_handler.handle_time()?;
//let _t = framerate_handler.handle_time()?;
/////////////////
let key = highgui::wait_key(1)?;
qualibration.param.key = key;
//if key != -1 {
qualibration.key = key;
//}
if key == 27 {
// esc in my case
break;
}
let v = qualibration.draw_sequence();
if v.is_some() {
if qualibration.param.capture_mode {
let pl: Vec<(f32, f32, u32)> = v
.unwrap()
.iter()
.map(|pt| (pt.x, pt.y, u32::from(pt.color)))
.collect();
let _ = con.set(
format!("/pl/{}/{}", config.client_id, config.laser_id),
format!("{:?}", pl),
)?;
}
qualibration.run_step()?;
}
//qualibration.id = next_id;
let v: Vec<(f32, f32, u32)> = qualibration
.draw_sequence()?
.iter()
.map(|pt| (pt.x, pt.y, u32::from(pt.color)))
.collect();
// println!("{:?}", v);
let _ = con.set(
format!("/pl/{}/{}", config.client_id, config.laser_id),
format!("{:?}", v),
)?;
//let q_id = qualibration.id.clone();
//let mut n = 65534;
//if let Sequence::TakeMultiple(m) = q_id.clone().unwrap_or(Sequence::Finish) {
// n = m;
//};
//if qualibration.capture_mode
// && (q_id != Some(Sequence::WaitSpace)
// || q_id != Some(Sequence::PlayLineDotted)
// || n != 65534)
//{
// let millis = std::time::Duration::from_millis(400); // TODO: find solution to know when change has been done
// std::thread::sleep(millis);
//}
qualibration.run_step()?;
let q_id = qualibration.id.clone();
let mut n = 65534;
if let Sequence::TakeMultiple(m) = q_id.clone().unwrap_or(Sequence::Finish) {
n = m;
};
if qualibration.capture_mode
&& (q_id != Some(Sequence::WaitSpace)
|| q_id != Some(Sequence::PlayLineDotted)
|| n != 65534)
{
let millis = std::time::Duration::from_millis(400); // TODO: find solution to know when change has been done
std::thread::sleep(millis);
}
}
let _ = con.set(

1
src/point.rs
View File

@ -1,4 +1,3 @@
#[allow(dead_code)]
pub type Line = Vec<(f32, f32, u32)>;
#[derive(Debug, Clone, Copy, Default, PartialEq)]

940
src/qualibration.rs
View File

@ -1,45 +1,121 @@
//use opencv::Result;
//use opencv::core::{self, Mat};
#[allow(dead_code)]
static DEBUG: bool = true;
pub mod annalyse;
pub mod borders;
pub mod compute_image;
use annalyse::{
draw_histograme_bgr_tresh, get_horizontal_segment, get_vertical_segment, histogram_3d,
image_diff, image_mean,
}; // mean dans le sans moyenne des image
use borders::{bord_mult, get_extermities, get_intersection, mix_borders, probabilistic_hough};
use compute_image::{image_treshold, image_warp, image_warp_treshold};
use std::env::args;
use std::time::Instant;
use crate::point::Point;
use crate::draw::{draw_line, draw_line_dotted};
use crate::point::{Color, Point};
use enum_iterator::{next, Sequence as Seq};
use opencv::core::Mat;
use opencv::Result;
//use std::f64::consts::PI;
use std::f64::consts::PI;
use opencv::core::{bitwise_and, find_file, in_range, Point as OcvPoint, Scalar, Size_};
use opencv::core::{VecN, Vector};
use opencv::imgcodecs::imwrite;
use opencv::imgcodecs::{imread, IMREAD_COLOR};
use opencv::imgproc::{canny, cvt_color, line, COLOR_BGR2GRAY};
use opencv::prelude::*;
use opencv::{
highgui,
videoio::{self, VideoCapture},
};
use std::fs::create_dir;
use std::fs::read_dir;
mod param;
use param::Param;
use opencv::{
calib3d,
core::{self, Size},
imgproc,
};
mod sequence;
pub use sequence::{InitBorder, InitIdcode, LineDotted, LoadImage, SaveImage, Sequence, WaitSpace};
opencv::opencv_branch_4! {
use opencv::imgproc::LINE_AA;
use opencv::imgproc::LINE_8;
}
opencv::not_opencv_branch_4! {
use opencv::core::LINE_AA;
}
const DEBUG: bool = true;
#[derive(Debug, PartialEq, Seq, Copy, Clone)]
pub enum Sequence {
//TODO: avoir le meme nombre d'image en mode capture ET en mode replay
FirstState,
WaitSpace,
BackGround,
UpBorder,
LeftBorder,
DownBorder,
RightBorder,
ReadDir,
ComputeArea,
IdCode1,
IdCode2,
Finish,
PlayLineDotted,
EmptyFrame,
ComputeLineDotted,
LinearConstSpeed, // [multiple test]
JumpFromTo,
AdaptLineSeg(u16), // [multiple test] find the correct distense
AdaptLineLum, // [multiple test] try minimu, medium, maximum.
//
SelectSpeedestColor, // on pourait mettre a jour les valeur a chaque passage
Vertical(u16),
Horizontal(u16),
SelectNbAll(u16),
ComputeSelectNbAll,
TakeMultiple(u16),
TakeMultipleEmpty(u16),
}
#[derive(Debug)]
pub struct Qualibration {
seq: Vec<Box<dyn Sequence>>,
cam: VideoCapture,
pub param: Param,
pub begin: Instant,
pub dst_size: i32,
pub cam: VideoCapture,
pub r: i32,
pub g: i32,
pub b: i32,
pub capture_mode: bool,
pub frame: Mat,
pub frame_prev: Mat,
pub img: Vec<Mat>,
pub id: Option<Sequence>,
pub nb_all: i32,
pub nb_visible: i32,
pub nb_liss: i32,
pub tresh: Treshold,
pub dir_name: String,
pub key: i32,
pub canny_v1: i32,
pub canny_v2: i32,
pub hough_param: HoughLine,
pub border_pt: Vec<(f64, f64)>,
pub homography: Mat,
pub h_size: Size_<i32>,
pub line_pos: Vec<i32>,
pub multiple: u16, // le nombre de fois qu'une photo est prise pour certaine sequence
pub cnt: usize,
}
impl Qualibration {
pub fn new() -> Result<Self> {
//let v: Vec<Box<dyn Sequence>> = vec![];
let mut dir_name = "".to_string(); //"building.jpg".to_string(); // by default
if let Some(dir_name_arg) = args().nth(1) {
dir_name = dir_name_arg;
@ -54,58 +130,816 @@ impl Qualibration {
let mut frame = Mat::default();
cam.read(&mut frame)?;
// 38400 -> r:150, v:0, b:0
let beg = Point::from((0., 0., 38400));
let beg2 = Point::from((4095., 0., 38400));
let end = Point::from((4095., 4095., 38400));
let seq: Vec<Box<dyn Sequence>> = vec![
Box::new(LoadImage::new()),
Box::new(WaitSpace::new(beg, end)),
Box::new(InitBorder::new(beg, end)),
Box::new(LineDotted::new(beg, end, true, false)),
Box::new(InitIdcode::new(beg2, end)),
Box::new(SaveImage::new()),
];
//let now = std::time::Instant::now();
Ok(Qualibration {
seq,
begin: std::time::Instant::now(),
dst_size: 900,
cam,
param: Param::new(dir_name.to_owned())?,
r: 150,
g: 0,
b: 0,
capture_mode: dir_name.len() == 0,
img: vec![],
frame: Mat::default(), // TODO: init with frame from cam
frame_prev: Mat::default(),
id: Some(Sequence::FirstState),
nb_all: 120,
nb_visible: 40,
nb_liss: 10,
tresh: Treshold::new("histogram: 0", 150, 255)?,
dir_name: dir_name.clone(),
key: 10,
canny_v1: 170,
canny_v2: 255,
hough_param: HoughLine {
rho: 100,
theta: 100,
treshold: 30,
min_length: 0,
max_line_gap: 50000,
},
border_pt: vec![],
homography: Mat::default(),
h_size: Size::default(),
line_pos: vec![4095; 34],
multiple: 20,
cnt: 0,
})
}
pub fn draw_sequence(&mut self) -> Option<Vec<Point>> {
if self.param.seq_id >= self.seq.len() {
pub fn run_step(&mut self) -> Result<(), Box<dyn std::error::Error>> {
if self.capture_mode && self.id != Some(Sequence::PlayLineDotted) {
//println!("capture");
self.cam.read(&mut self.frame)?;
highgui::imshow("camera", &self.frame)?;
}
if self.frame.size()?.width > 0 && self.frame_prev.size()?.width > 0 || !self.capture_mode {
if self.id.is_some() {
self.id = if true {
//self.capture_mode || self.id == Some(Sequence::WaitSpace) || is_same_frame(&self.frame, &self.frame_prev)? {
if self.id != Some(Sequence::WaitSpace)
&& self.id != Some(Sequence::FirstState)
&& self.id != Some(Sequence::PlayLineDotted)
&& self.capture_mode
{
self.img.push(self.frame.clone());
}
self.compute_sequence()?;
self.get_next_id_seq()
} else {
self.id
};
}
}
//println!("sequence: {:?}", self.id);
self.frame_prev = self.frame.clone();
self.cnt += 1;
Ok(())
}
pub fn draw_sequence(&self) -> Result<Vec<Point>, Box<dyn std::error::Error>> {
if !self.capture_mode {
return Ok(vec![]);
}
let seq = self.id;
let mut pl = vec![];
//let color = Color { r: 0, g: 30, b: 0 };
let color = Color {
r: self.r as u8,
g: self.g as u8,
b: self.b as u8,
};
//let color = Color { r: 0, g: 0, b: 50 };
let (p0, p1, p2, p3, p4, p5, p6, p7, p8, p9, pa, pb) =
get_point_to_draw(self.r as u8, self.g as u8, self.b as u8, color.clone());
let nb_all = self.nb_all as usize;
let nb_visible = self.nb_visible as usize;
let nb_wait = 30; // ca permet de prendre de la vitess en y. Et donc ca permet de
// mieux voir les segment qui bouge peut au debut.
if seq.is_some() {
match seq.unwrap() {
Sequence::IdCode1 => {
// on va en haut a gauche
// on va a droite en clognotant sur les nombre pair
pl.extend(draw_line_dotted(&pa, &pb, nb_all, nb_visible, true)?);
}
Sequence::IdCode2 => {
// on va en haut a gauche
// on va a droite en clognotant sur les nombre impair
pl.extend(draw_line_dotted(&pa, &pb, nb_all, nb_visible, false)?);
}
Sequence::PlayLineDotted
| Sequence::TakeMultiple(_)
| Sequence::ComputeLineDotted => {
// la on va faire une ligne qu'on peut observer
let black = Color { r: 0, g: 0, b: 0 };
for _ in 0..nb_all {
pl.push(Point {
x: 0.,
y: 0.,
color: black,
});
}
let len = (2 * self.line_pos.len() + nb_wait) as f32;
for i in 0..nb_wait {
let y = i as f32 * 4095. / len;
pl.push(Point {
x: 0.,
y,
color: black,
});
}
for i in 0..(self.line_pos.len() * 2) {
let y = (i + nb_wait) as f32 * 4095. / len;
let c = if (i + nb_wait) % 2 == 0 && i < nb_visible {
color
} else {
black
};
pl.push(Point {
x: self.line_pos[i / 2] as f32,
y,
color: c,
});
}
}
Sequence::WaitSpace => {
pl = draw_line(&p0, &p1, nb_all, nb_visible)?;
pl.extend(draw_line(&p1, &p2, nb_all, nb_visible)?);
pl.extend(draw_line(&p3, &p0, nb_all, nb_visible)?);
pl.extend(draw_line(&p2, &p3, nb_all, nb_visible)?);
pl.extend(draw_line_dotted(&p4, &p5, nb_all, nb_visible, true)?);
pl.extend(draw_line_dotted(&p6, &p7, nb_all, nb_visible, true)?);
pl.extend(draw_line_dotted(&p8, &p9, nb_all, nb_visible, true)?);
}
Sequence::SelectNbAll(n) => {
pl = draw_line(&p0, &p1, n as usize, n as usize)?;
pl.extend(draw_line(&p1, &p2, n as usize, n as usize)?);
pl.extend(draw_line(&p3, &p0, n as usize, n as usize)?);
pl.extend(draw_line(&p2, &p3, n as usize, n as usize)?);
}
Sequence::UpBorder => {
pl = draw_line(&p0, &p1, nb_all, nb_visible)?;
}
Sequence::RightBorder => {
pl = draw_line(&p1, &p2, nb_all, nb_visible)?;
}
Sequence::DownBorder => {
pl = draw_line(&p2, &p3, nb_all, nb_visible)?;
}
Sequence::LeftBorder => {
pl = draw_line(&p3, &p0, nb_all, nb_visible)?;
}
Sequence::Vertical(n) => {
let p1 = Point {
x: n as f32,
y: 0.,
color,
};
let p2 = Point {
x: n as f32,
y: 4095.,
color,
};
pl = draw_line(&p1, &p2, nb_all, nb_visible)?;
}
Sequence::Horizontal(n) => {
let p1 = Point {
x: 0.,
y: n as f32,
color,
};
let p2 = Point {
x: 4095.,
y: n as f32,
color,
};
pl = draw_line(&p1, &p2, nb_all, nb_visible)?;
}
_ => (),
}
}
Ok(pl)
}
pub fn get_next_id_seq(&self) -> Option<Sequence> {
let line_max = 4095;
let line_add = 100;
if self.id.is_none() {
return None;
}
let pl = self.seq[self.param.seq_id].draw(&self.param);
if pl.is_none() {
self.param.seq_id += 1;
if self.param.capture_mode {
self.param.imgs.push(vec![]);
//println!("Hey");
match self.id.unwrap() {
//Sequence::Finish => Some(Sequence::Finish),
Sequence::Finish => None,
Sequence::ComputeLineDotted => Some(Sequence::ComputeLineDotted),
Sequence::TakeMultiple(n) => {
if n > self.multiple {
next(&Sequence::TakeMultiple(u16::MAX))
} else {
next(&Sequence::TakeMultiple(n))
}
}
Sequence::TakeMultipleEmpty(n) => {
if n > self.multiple {
next(&Sequence::TakeMultipleEmpty(u16::MAX))
} else {
next(&Sequence::TakeMultipleEmpty(n))
}
}
Sequence::SelectNbAll(n) => {
if n == 0 {
Some(Sequence::SelectNbAll(2 - 1))
} else if (2 * n) > line_max as u16 {
next(&Sequence::SelectNbAll(u16::MAX))
} else {
next(&Sequence::SelectNbAll(n * 2 - 1))
}
}
Sequence::WaitSpace => {
//println!("key: {}", self.key);
if self.key == 32 || !self.capture_mode {
next(&Sequence::WaitSpace)
} else {
Some(Sequence::WaitSpace)
}
}
Sequence::PlayLineDotted => {
//println!("key: {}", self.key);
if self.key == 32 || !self.capture_mode {
next(&Sequence::PlayLineDotted)
} else {
Some(Sequence::PlayLineDotted)
}
}
Sequence::Vertical(n) => {
let after = if n > line_max { u16::MAX } else { n + line_add };
next(&Sequence::Vertical(after))
}
Sequence::Horizontal(n) => {
let after = if n > line_max { u16::MAX } else { n + line_add };
next(&Sequence::Horizontal(after))
}
//Sequence::ComputeArea => Some(Sequence::ComputeArea), //
id => next(&id),
}
pl
}
pub fn run_step(self: &mut Self) -> Result<(), Box<dyn std::error::Error>> {
let mut frame = Mat::default();
if self.param.capture_mode {
self.cam.read(&mut frame)?;
highgui::imshow("camera", &frame)?;
if frame.size()?.width > 0 && self.seq[self.param.seq_id].is_capture() {
self.param.imgs[self.param.seq_id].push(frame.clone());
}
pub fn compute_sequence(&mut self) -> Result<(), Box<dyn std::error::Error>> {
if self.id.is_none() {
return Ok(());
}
match self.id.unwrap() {
Sequence::IdCode2 => {
let mut id_code_1 = image_diff(&self.img[8], &self.img[1])?;
if frame.size()?.width > 0 || !self.param.capture_mode {
self.seq[self.param.seq_id].compute_sequence(&mut self.param)?;
id_code_1 = image_warp(&id_code_1, &self.homography, self.h_size)?;
id_code_1 = image_treshold(&id_code_1, &self.tresh)?;
let code_seg_1 = get_horizontal_segment(&id_code_1)?;
let code_seg_1 = code_seg_1[1..(code_seg_1.len() - 1)].to_owned();
//let l = code_seg_1.len();
//let code_seg_1 = code_seg_1[(l-16)..(l-1)].to_owned();
//let blue = (i as f64 / code_seg_1.len() as f64) * 255.;
let color_1: VecN<f64, 4> = VecN::new(255., 0., 0., 255.);
// on dessine
for i in 0..code_seg_1.len() {
let (((x0, y0), (x1, y1)), size) = code_seg_1[i];
//line(&mut id_code_1, );
let s = size as i32;
let x = ((x0 + x1) / 2.) as i32;
let y = ((y0 + y1) / 2.) as i32;
let a = OcvPoint::from_vec2(VecN::from_array([x, y - s]));
let b = OcvPoint::from_vec2(VecN::from_array([x, y + s]));
line(&mut id_code_1, a, b, color_1, 1, LINE_8, 0)?;
//if i < (code_seg_1.len() - 1) {
// let (((x2, y2), _), size) = code_seg_1[i + 1];
// let x = ((x1 + x2) / 2.) as i32;
// let y = ((y0 + y1) / 2.) as i32;
// let a = OcvPoint::from_vec2(VecN::from_array([x, y - s]));
// let b = OcvPoint::from_vec2(VecN::from_array([x, y + s]));
// line(&mut id_code_1, a, b, color_1, 1, LINE_8, 0)?;
//}
}
let mut id_code_2 = image_diff(&self.img[9], &self.img[1])?;
id_code_2 = image_warp(&id_code_2, &self.homography, self.h_size)?;
id_code_2 = image_treshold(&id_code_2, &self.tresh)?;
let code_seg_2 = get_horizontal_segment(&id_code_2)?;
let l = code_seg_2.len();
let code_seg_2 = code_seg_2[(l - 16)..(l - 1)].to_owned();
//highgui::imshow("code 2", &id_code_2)?;
let color_2: VecN<f64, 4> = VecN::new(0., 255., 0., 255.);
// on dessine
for i in 0..code_seg_2.len() {
let (((x0, y0), (x1, y1)), size) = code_seg_2[i];
//line(&mut id_code_2, );
let s = size as i32;
let x = ((x0 + x1) / 2.) as i32;
let y = ((y0 + y1) / 2.) as i32;
let a = OcvPoint::from_vec2(VecN::from_array([x, y - s]));
let b = OcvPoint::from_vec2(VecN::from_array([x, y + s]));
line(&mut id_code_1, a, b, color_2, 1, LINE_8, 0)?;
//if i < (code_seg_2.len() - 1) {
// let (((x2, y2), _), size) = code_seg_2[i + 1];
// let x = ((x1 + x2) / 2.) as i32;
// let y = ((y0 + y1) / 2.) as i32;
// let a = OcvPoint::from_vec2(VecN::from_array([x, y - s]));
// let b = OcvPoint::from_vec2(VecN::from_array([x, y + s]));
// line(&mut id_code_2, a, b, color_2, 1, LINE_8, 0)?;
//}
}
// on va faire des ligne sur les endroit de scanne
highgui::imshow("code 1", &id_code_1)?;
// si on garde les [(len-16)..(len-1)]
//let mean = image_mean(&[id_code_1, id_code_2])?;
//highgui::imshow("image mean", &mean)?;
// la on pourrait aussi mettre les segment
// On va regarder au milieux de code_2 pour voir si on voi un truc sur code_1
// fonction warp image
// fonction select thresh
// BOUUUUUH !!! ... t'as eut peur?
//
//let mut id_code_2 = image_diff(&self.img[9], &self.img[1])?;
//id_code_2 = image_warp(&id_code_2, &self.homography, self.h_size)?;
//id_code_2 = image_treshold(&id_code_2, &self.tresh)?;
//highgui::imshow("code 2", &id_code_2)?;
}
Sequence::ComputeLineDotted => {
let id1 = 7 + (self.cnt % 22);
let id2 = 30 + (self.cnt % 22);
//let backgrounds = self.img[7..30].to_owned();
//let lines_dots = self.img[30..52].to_owned();
let backgrounds = self.img[id1..(id1 + 1)].to_owned();
let lines_dots = self.img[id2..(id2 + 1)].to_owned();
let background = image_mean(&backgrounds)?;
let line_dot = image_mean(&lines_dots)?;
let diff = image_diff(&background, &line_dot)?;
let mut warped_image = Mat::default();
imgproc::warp_perspective(
&diff,
&mut warped_image,
&self.homography,
self.h_size,
imgproc::INTER_CUBIC, // I dont see difference with INTER_CUBIC
core::BORDER_CONSTANT,
Scalar::default(),
)?;
//highgui::imshow("Warped Image", &warped_image)?;
let histo = histogram_3d(&warped_image, self.nb_liss)?;
draw_histograme_bgr_tresh("histo bgr", &histo, &self.tresh)?;
let (t1, s1, l1) = (
self.tresh.min_0 as f64,
self.tresh.min_1 as f64,
self.tresh.min_2 as f64,
);
let (t2, s2, l2) = (
self.tresh.max_0 as f64,
self.tresh.max_1 as f64,
self.tresh.max_2 as f64,
);
let min = Mat::from_slice(&[t1, s1, l1])?;
let max = Mat::from_slice(&[t2, s2, l2])?;
let mut color_selected = Mat::default();
let _ = in_range(&warped_image, &min, &max, &mut color_selected);
let mut bord_treshed = Mat::default();
bitwise_and(
&warped_image,
&warped_image,
&mut bord_treshed,
&color_selected,
)?;
//highgui::imshow(format!("warped_image & mask").as_str(), &bord_treshed)?;
let segments = get_vertical_segment(&bord_treshed)?;
for (i, ((x0, y0), (x1, y1))) in segments.iter().enumerate() {
let blue = (i as f64 / segments.len() as f64) * 255.;
let color: VecN<f64, 4> = VecN::new(blue, 128., 0., 255.);
let pa = VecN::from_array([*x0 as i32, *y0 as i32]);
let pb = VecN::from_array([*x1 as i32, *y1 as i32]);
let a = OcvPoint::from_vec2(pa);
let b = OcvPoint::from_vec2(pb);
line(&mut bord_treshed, a, b, color, 1, LINE_8, 0)?;
}
highgui::imshow("segemnt detector", &bord_treshed)?;
}
Sequence::ComputeSelectNbAll => {
let background: Mat;
let steps: Vec<Mat>;
background = self.img[1].clone();
steps = self.img[2..6].into();
let mut angles: Vec<f64> = vec![];
for (id, step) in steps.iter().enumerate() {
let lines = get_lines(
&background,
step,
id,
self.canny_v1,
self.canny_v2,
&self.hough_param,
)?;
for l in lines {
let (x0, y0, x1, y1) = (l[0] as f64, l[1] as f64, l[2] as f64, l[3] as f64);
let ang = (y1 - y0).atan2(x1 - x0);
angles.push(ang);
}
println!("ang: {angles:?}");
}
// on compare ce qui doit l'etre
}
Sequence::ComputeArea => {
let background: Mat;
let borders: Vec<Mat>;
background = self.img[1].clone();
borders = self.img[2..6].into();
// on recupere chaqu'un des 4 bord
let mut bords_pts = vec![];
for (i, bord) in borders.iter().enumerate() {
let bord_pt = self.get_one_border(&background, &bord, i)?;
bords_pts.push(bord_pt);
}
//for (i, m) in self.img.iter().enumerate() {
// highgui::imshow(format!("img[{i}]").as_str(), m)?;
//}
// on calcul le cadre
let border_pt = get_intersection(&bords_pts);
self.border_pt = bord_mult(border_pt, 1.1);
let color: VecN<f64, 4> = VecN::new(255., 128., 0., 255.);
let mut mixed = mix_borders(&background, borders)?;
let b = &self.border_pt;
for i in 0..b.len() {
let j = (i + 1) % self.border_pt.len();
let pa = VecN::from_array([b[i].0 as i32, b[i].1 as i32]);
let pb = VecN::from_array([b[j].0 as i32, b[j].1 as i32]);
let a = OcvPoint::from_vec2(pa);
let b = OcvPoint::from_vec2(pb);
line(&mut mixed, a, b, color, 1, LINE_AA, 0)?;
}
//highgui::imshow("mixed bored", &mixed)?;
let size = self.dst_size;
// ici on va requadrer la partie de la projection laser de l'image
let warped_image_size = Size::new(size, size);
let roi_corners: Vec<OcvPoint> = self
.border_pt
.iter()
.map(|(x, y)| OcvPoint::new(*x as i32, *y as i32))
.collect();
//let dst = [(0, 0), (0, size), (size, size), (size, 0)]; // in: laser repere
let dst = [(0, size), (0, 0), (size, 0), (size, size)];
let dst_corners: Vec<OcvPoint> =
dst.iter().map(|(x, y)| OcvPoint::new(*x, *y)).collect();
let roi_corners_mat = Mat::from_slice(&roi_corners[..])?;
let dst_corners_mat = Mat::from_slice(&dst_corners)?;
let h = calib3d::find_homography(
&roi_corners_mat,
&dst_corners_mat,
&mut Mat::default(),
0,
3.,
)?; //get homography
let mut warped_image = Mat::default();
self.homography = h.clone();
self.h_size = warped_image_size.clone();
imgproc::warp_perspective(
&mixed,
&mut warped_image,
&h,
warped_image_size,
imgproc::INTER_CUBIC, // I dont see difference with INTER_CUBIC
core::BORDER_CONSTANT,
Scalar::default(),
)?; // do perspective transformation
//highgui::imshow("Warped Image", &warped_image)?;
}
Sequence::ReadDir => {
if !self.capture_mode {
self.load_image()?;
}
}
Sequence::Finish => {
if self.capture_mode {
self.save_image()?
}
}
_ => (),
}
Ok(())
}
fn save_image(&self) -> Result<()> {
// on fait le nom de dossier general au cas ou
// on fait un nom de dossier avec le temps
// on sauvgarde toutes les image
let now = self.begin;
let name = format!("image/");
create_dir(&name).unwrap_or(());
let name = format!(
"image/{:0>6?}_{:0>9?}/",
now.elapsed().as_secs(),
now.elapsed().as_nanos()
);
create_dir(&name).unwrap_or(());
//name.push_str(format!("image/{}_{}/", now.elapsed().as_secs(), now.elapsed().as_nanos()).as_str());
//let name = format!("image/{now:?}/");
//
for (i, img) in self.img.iter().enumerate() {
let mut name_img = name.clone();
name_img.push_str(&format!("img_{i}.png"));
imwrite(&name_img, img, &Vector::from_slice(&[6, 6, 6, 0]))?;
}
Ok(())
}
//use std::cmp::Ordering;
fn load_image(&mut self) -> Result<(), Box<dyn std::error::Error>> {
let mut imgs = vec![];
let paths = read_dir(&self.dir_name)?;
//let len = paths.size_hint();
for entry in paths {
let dir = entry?;
let path = dir.path();
let c: Vec<&str> = path.to_str().unwrap().split("/").collect();
let d: Vec<_> = c[c.len() - 1].chars().collect();
let e: String = d[4..d.len() - 4].iter().collect();
let img_id: i32 = e.parse()?;
//println!("c: {c:?}");
//let a: Vec<_> = path.to_str().unwrap().to_string().chars().collect();
//let b: String = a[27..(a.len() - 4)].iter().collect();
//let img_id: i32 = b.parse()?;
let path = format!("{path:?}");
let path = path[1..(path.len() - 1)].to_owned();
let img: Mat = imread(&find_file(&path, false, false)?, IMREAD_COLOR)?;
// highgui::imshow(&path, &img)?;
imgs.push((img_id, img));
}
imgs.sort_by(|v1, v2| {
if v1.0 > v2.0 {
std::cmp::Ordering::Greater
} else if v1.0 == v2.0 {
std::cmp::Ordering::Equal
} else {
std::cmp::Ordering::Less
}
});
//println!("Youpi");
for (i, m) in imgs.iter().enumerate() {
self.img.push(m.1.clone());
//highgui::imshow(format!("img: {i}").as_str(), &m.1)?;
}
//loop {}
//prointln!("");
Ok(())
}
pub fn get_one_border(
&self,
background: &Mat,
bord: &Mat,
id: usize,
) -> Result<((f64, f64), (f64, f64))> {
let diff: Mat = image_diff(bord, background)?;
//let (t1, s1, l1) = (
// self.tresh.min_0 as f64,
// self.tresh.min_1 as f64,
// self.tresh.min_2 as f64,
//);
//let (t2, s2, l2) = (
// self.tresh.max_0 as f64,
// self.tresh.max_1 as f64,
// self.tresh.max_2 as f64,
//);
//let min = Mat::from_slice(&[t1, s1, l1])?;
//let max = Mat::from_slice(&[t2, s2, l2])?;
//let mut color_selected = Mat::default();
//let _ = in_range(&diff, &min, &max, &mut color_selected);
////highgui::imshow(format!("mask: {id}").as_str(), &color_selected)?;
//let mut bord_treshed = Mat::default();
//bitwise_and(&diff, &diff, &mut bord_treshed, &color_selected)?;
////highgui::imshow(format!("diff & mask: {id}").as_str(), &bord_treshed)?;
// Pass the image to gray
let mut diff_gray = Mat::default();
cvt_color(&diff, &mut diff_gray, COLOR_BGR2GRAY, 0)?;
//cvt_color(&bord_treshed, &mut diff_gray, COLOR_BGR2GRAY, 0)?;
// Apply Canny edge detector
let mut edges = Mat::default();
canny(
&diff_gray,
&mut edges,
self.canny_v1 as f64,
self.canny_v2 as f64,
3,
false,
)?;
let lines = probabilistic_hough(&edges, &self.hough_param, id)?;
//let ((x1, y1), (x2, y2)) = get_extermities(&lines, id);
Ok(get_extermities(&lines, id))
}
}
fn get_point_to_draw(
r: u8,
g: u8,
b: u8,
color: Color,
) -> (
Point,
Point,
Point,
Point,
Point,
Point,
Point,
Point,
Point,
Point,
Point,
Point,
) {
let p0 = Point {
x: 0.,
y: 0.,
color,
};
let p1 = Point {
x: 4095.,
y: 0.,
color,
};
let p2 = Point {
x: 4095.,
y: 4095.,
color,
};
let p3 = Point {
x: 0.,
y: 4095.,
color,
};
let p4 = Point {
x: 0.,
y: 1000.,
color: Color { r, g: 0, b: 0 },
};
let p5 = Point {
x: 4095.,
y: 1000.,
color: Color { r, g: 0, b: 0 },
};
let p6 = Point {
x: 0.,
y: 2000.,
color: Color { r: 0, g, b: 0 },
};
let p7 = Point {
x: 4095.,
y: 2000.,
color: Color { r: 0, g, b: 0 },
};
let p8 = Point {
x: 0.,
y: 3000.,
color: Color { r: 0, g: 0, b },
};
let p9 = Point {
x: 4095.,
y: 3000.,
color: Color { r: 0, g: 0, b },
};
let pa = Point {
x: 0.,
y: 4095.,
color,
};
let pb = Point {
x: 4095.,
y: 4095.,
color,
};
(p0, p1, p2, p3, p4, p5, p6, p7, p8, p9, pa, pb)
}
// ca c'est les donner manipuler par les slider
#[derive(Debug, Clone)]
pub struct HoughLine {
pub rho: i32,
pub theta: i32,
pub treshold: i32,
pub min_length: i32,
pub max_line_gap: i32,
}
// ca c'est les donner qu'on envoie a la fonction
pub struct HoughLineValue {
pub rho: f64,
pub theta: f64,
pub treshold: i32,
pub min_length: f64,
pub max_line_gap: f64,
}
impl HoughLine {
pub fn get_param(&self) -> HoughLineValue {
HoughLineValue {
rho: self.rho as f64 / 100.,
theta: self.theta as f64 / 100. * PI / 180.,
treshold: self.treshold,
min_length: self.min_length as f64 / 100.,
max_line_gap: self.max_line_gap as f64 / 100.,
}
}
}
#[derive(Clone, Debug)]
pub struct Treshold {
pub win_name: String,
pub min_0: i32,
pub min_1: i32,
pub min_2: i32,
pub max_0: i32,
pub max_1: i32,
pub max_2: i32,
}
impl Treshold {
pub fn new(name: &str, min: i32, max: i32) -> Result<Self> {
let tresh = Treshold {
win_name: name.to_owned(),
min_0: min,
min_1: min,
min_2: min,
max_0: max,
max_1: max,
max_2: max,
};
Ok(tresh)
}
}
pub fn get_lines(
background: &Mat,
bord: &Mat,
id: usize,
canny_v1: i32,
canny_v2: i32,
hough_param: &HoughLine,
) -> Result<Vector<VecN<i32, 4>>> {
let diff: Mat = image_diff(bord, background)?;
// Pass the image to gray
let mut diff_gray = Mat::default();
cvt_color(&diff, &mut diff_gray, COLOR_BGR2GRAY, 0)?;
// Apply Canny edge detector
let mut edges = Mat::default();
canny(
&diff_gray,
&mut edges,
canny_v1 as f64,
canny_v2 as f64,
3,
false,
)?;
let lines = probabilistic_hough(&edges, hough_param, id)?;
//let ((x1, y1), (x2, y2)) = get_extermities(&lines, id);
Ok(lines)
}

47
src/qualibration/annalyse.rs
View File

@ -1,7 +1,7 @@
use std::collections::HashSet;
use std::f64::consts::PI;
use super::Param;
use super::Qualibration;
use super::DEBUG;
use crate::utils::Pt;
//use opencv::prelude::MatTraitConst;
@ -25,10 +25,9 @@ opencv::not_opencv_branch_4! {
use opencv::core::LINE_AA;
}
use super::param::Treshold;
use super::Treshold;
const MAX_TRACKBAR: i32 = 255;
#[allow(dead_code)]
pub fn draw_histograme_dbg(
window_name: &str,
histo: &Vec<f64>,
@ -67,7 +66,6 @@ pub fn draw_histograme_dbg(
Ok(())
}
#[allow(dead_code)]
pub fn draw_histograme(window_name: &str, histo: &Vec<f64>) -> Result<()> {
let v: VecN<f64, 4> = VecN::new(0., 0., 0., 255.);
let color: VecN<f64, 4> = VecN::new(255., 255., 255., 255.);
@ -106,7 +104,6 @@ pub fn draw_histograme(window_name: &str, histo: &Vec<f64>) -> Result<()> {
Ok(())
}
#[allow(dead_code)]
pub fn draw_histograme_bgr(window_name: &str, histo: &Vec<Vec<f64>>) -> Result<()> {
let v: VecN<f64, 4> = VecN::new(0., 0., 0., 255.);
let b: VecN<f64, 4> = VecN::new(255., 0., 0., 255.);
@ -199,7 +196,6 @@ pub fn draw_histograme_bgr_tresh(
}
// limit = 0.35 c'est bien
#[allow(dead_code)]
pub fn is_same_frame(frame: &Mat, frame_prev: &Mat) -> Result<bool> {
let nb_liss: i32 = 50; // plus on lisse la courbe plus on attein la limite facilement
let limit = 0.45; // plus c'est haut, plus on tolere de changement entre 2 image
@ -293,7 +289,7 @@ pub fn get_horizontal_segment(m: &Mat) -> Result<Vec<(((f32, f32), (f32, f32)),
.collect();
let mut segments = vec![];
for (_i, iland) in segment_iland_pt.iter().enumerate() {
for (i, iland) in segment_iland_pt.iter().enumerate() {
let mut center = Pt { x: 0., y: 0. };
for p in iland {
center += *p;
@ -381,7 +377,7 @@ pub fn get_horizontal_segment(m: &Mat) -> Result<Vec<(((f32, f32), (f32, f32)),
// On cherche des segment regourper par ilot de point. chaque illot a une plage de valeur en y qui
// lui est propre, aucun autre ilot aura des point dans une plage de valeurs d'un autre illot.
pub fn get_vertical_segment(m: &Mat) -> Result<Vec<(((f32, f32), (f32, f32)), f32)>> {
pub fn get_vertical_segment(m: &Mat) -> Result<Vec<((f32, f32), (f32, f32))>> {
// on va faire un histogram des point selon leur position en y
// ca permetera des les differencier
// on fait cette histo gramme pour connaitre ces plage de valeur en y
@ -456,7 +452,7 @@ pub fn get_vertical_segment(m: &Mat) -> Result<Vec<(((f32, f32), (f32, f32)), f3
// TODO: La selection des pixel pour chaque illot pourrait etre ameliorer
// En fait elle me va bien. C'est vrai que il ne sont pas ouf mais bon...
let mut segments = vec![];
for (_i, iland) in segment_iland_pt.iter().enumerate() {
for (i, iland) in segment_iland_pt.iter().enumerate() {
let mut center = Pt { x: 0., y: 0. };
for p in iland {
center += *p;
@ -464,7 +460,7 @@ pub fn get_vertical_segment(m: &Mat) -> Result<Vec<(((f32, f32), (f32, f32)), f3
center /= iland.len() as f64;
let max_deg = 360;
let (mut _err_min, mut rad_min, mut x_min) = (f64::MAX, 0., f64::MAX);
let (mut err_min, mut rad_min, mut x_min) = (f64::MAX, 0., f64::MAX);
let mut iland_min = vec![];
for deg in 0..max_deg {
let rad = (deg as f64) / (max_deg as f64) * PI * 2.;
@ -476,7 +472,7 @@ pub fn get_vertical_segment(m: &Mat) -> Result<Vec<(((f32, f32), (f32, f32)), f3
x: -y_axis.y,
y: y_axis.x,
};
let mut _err = 0.;
let mut err = 0.;
let mut tmp_iland = vec![];
let mut x_abs_max = f64::MIN;
for pt in iland {
@ -485,7 +481,7 @@ pub fn get_vertical_segment(m: &Mat) -> Result<Vec<(((f32, f32), (f32, f32)), f3
x: p.cross(&x_axis),
y: p.cross(&y_axis),
};
_err += p.x * p.x;
err += p.x * p.x;
tmp_iland.push(p);
if x_abs_max < p.x.abs() {
x_abs_max = p.x.abs();
@ -496,8 +492,8 @@ pub fn get_vertical_segment(m: &Mat) -> Result<Vec<(((f32, f32), (f32, f32)), f3
rad_min = rad;
iland_min = tmp_iland;
}
//if _err < _err_min {
// err_min = _err;
//if err < err_min {
// err_min = err;
// rad_min = rad;
// iland_min = tmp_iland;
//}
@ -538,18 +534,14 @@ pub fn get_vertical_segment(m: &Mat) -> Result<Vec<(((f32, f32), (f32, f32)), f3
let pt_up_2 = pt_down + (pt_up - pt_down) * 1.5;
let pt_down_2 = pt_up + (pt_down - pt_up) * 1.5;
segments.push((
(
(pt_down_2.x as f32, pt_down_2.y as f32),
(pt_up_2.x as f32, pt_up_2.y as f32),
),
x_min as f32,
(pt_down_2.x as f32, pt_down_2.y as f32),
(pt_up_2.x as f32, pt_up_2.y as f32),
));
}
Ok(segments)
}
#[allow(dead_code)]
fn average_pt_i32(vals: &[(i32, i32)]) -> (f32, f32) {
let (mut mean_x, mut mean_y) = (0., 0.);
let len = vals.len() as f32;
@ -571,7 +563,6 @@ fn get_id_groups(limits: &Vec<(usize, usize)>, id: usize) -> Option<usize> {
//return usize::MAX; // im lazy to have Option return...
}
#[allow(dead_code)]
pub fn annalyse_segment(m: &Mat) -> Result<Vec<Vec<(i32, i32)>>> {
// on recupere les coordoner des point selectioner
let mut seg_pt = HashSet::from([]);
@ -591,7 +582,7 @@ pub fn annalyse_segment(m: &Mat) -> Result<Vec<Vec<(i32, i32)>>> {
let mut selected: HashSet<(i32, i32)> = seg_pt
.iter()
.filter_map(|(x, y)| {
for (_k, (i, j)) in around_all.iter().enumerate() {
for (k, (i, j)) in around_all.iter().enumerate() {
if seg_pt.get(&(*x + i, *y + j)).is_none() {
return Some((*x, *y));
}
@ -648,7 +639,6 @@ pub fn annalyse_segment(m: &Mat) -> Result<Vec<Vec<(i32, i32)>>> {
Ok(lines)
}
#[allow(dead_code)]
pub fn image_mean(frames: &[Mat]) -> Result<Mat> {
/*
* Il faudrait pouvoir changer les matrice de type pour avoir des valeur plus grande
@ -809,8 +799,7 @@ pub fn first_invert(histo: &Vec<f64>) -> ((usize, f64), (usize, f64)) {
)
}
#[allow(dead_code)]
pub fn trackbar_init_param(mem: &mut Param, winname: &str) -> Result<()> {
pub fn trackbar_init_param(mem: &mut Qualibration, winname: &str) -> Result<()> {
named_window(winname, WINDOW_AUTOSIZE)?;
highgui::move_window(winname, 20, 20)?;
let v: VecN<f64, 4> = VecN::new(0., 0., 0., 255.);
@ -826,8 +815,7 @@ pub fn trackbar_init_param(mem: &mut Param, winname: &str) -> Result<()> {
Ok(())
}
#[allow(dead_code)]
pub fn trackbar_line_segment(mem: &mut Param, winname: &str) -> Result<()> {
pub fn trackbar_line_segment(mem: &mut Qualibration, winname: &str) -> Result<()> {
//highgui
let winname = format!("{}: {}", winname, 0); //"bord selected: 0";
named_window(winname.as_str(), WINDOW_AUTOSIZE)?;
@ -890,8 +878,7 @@ pub fn trackbar_line_segment(mem: &mut Param, winname: &str) -> Result<()> {
Ok(())
}
#[allow(dead_code)]
pub fn line_pos(mem: &mut Param, winname: &str) -> Result<()> {
pub fn line_pos(mem: &mut Qualibration, winname: &str) -> Result<()> {
named_window(winname, WINDOW_AUTOSIZE)?;
highgui::move_window(winname, 20, 20)?;
let v: VecN<f64, 4> = VecN::new(0., 0., 0., 255.);
@ -911,7 +898,7 @@ pub fn line_pos(mem: &mut Param, winname: &str) -> Result<()> {
Ok(())
}
pub fn adding_trackbar(mem: &mut Param, _winname: &str) -> Result<()> {
pub fn adding_trackbar(mut mem: &mut Qualibration, winname: &str) -> Result<()> {
//println!("winname: {winname}");
//line_pos(&mut mem, "Play Line")?;
//trackbar_init_param(mem, "init_param")?;

8
src/qualibration/borders.rs
View File

@ -1,4 +1,4 @@
use super::param::HoughLine;
use super::HoughLine;
use crate::utils::{CartesianEquation, EqAffine, Pt};
use opencv::core::{add, subtract, Mat, VecN, Vector, CV_8UC3};
//use opencv::prelude::MatTraitConst;
@ -7,7 +7,6 @@ use opencv::prelude::*; //MatTraitConst;
use opencv::types::VectorOfVec4i;
use opencv::Result;
#[allow(dead_code)]
pub fn mix_borders(background: &Mat, borders: Vec<Mat>) -> Result<Mat> {
let (row, col) = (background.rows(), background.cols());
//let mask = Mat::default();
@ -75,9 +74,8 @@ pub fn bord_mult(pt: Vec<(f64, f64)>, factor: f64) -> Vec<(f64, f64)> {
}
// en fait ca marche pas dutout...next time
#[allow(dead_code)]
pub fn bord_mult_v2(pt: Vec<(f64, f64)>, factor: f64) -> Vec<(f64, f64)> {
let pt: Vec<Pt> = pt.iter().map(|p| Pt::from(p)).collect();
let mut pt: Vec<Pt> = pt.iter().map(|p| Pt::from(p)).collect();
let mut pn = vec![];
for i in 0..pt.len() {
@ -161,7 +159,7 @@ pub fn get_extermities(lines: &Vector<VecN<i32, 4>>, id: usize) -> ((f64, f64),
pub fn probabilistic_hough(
edges: &Mat,
hough_param: &HoughLine,
_id: usize,
id: usize,
) -> Result<Vector<VecN<i32, 4>>> {
let mut p_lines = VectorOfVec4i::new();
let mut probabalistic_hough = Mat::default();

3
src/qualibration/compute_image.rs
View File

@ -1,4 +1,4 @@
use super::param::Treshold;
use super::Treshold;
use opencv::core::{self, bitwise_and, in_range, Mat, Scalar, Size_};
use opencv::imgproc;
use opencv::Result;
@ -31,7 +31,6 @@ pub fn image_treshold(img: &Mat, tresh: &Treshold) -> Result<Mat> {
Ok(bord_treshed)
}
#[allow(dead_code)]
pub fn image_warp_treshold(
img: &Mat,
homography: &Mat,

185
src/qualibration/param.rs
View File

@ -1,185 +0,0 @@
use opencv::imgcodecs::{imread, imwrite, IMREAD_COLOR};
use opencv::{
core::{find_file, Mat, Size, Size_, Vector},
Result,
};
use std::f64::consts::PI;
use std::fs::{create_dir, read_dir};
use std::time::Instant;
#[derive(Clone, Debug)]
pub struct Param {
pub seq_id: usize,
pub imgs: Vec<Vec<Mat>>,
pub dst_size: i32,
pub r: i32,
pub g: i32,
pub b: i32,
pub nb_all: i32,
pub nb_visible: i32,
pub nb_wait: i32,
pub nb_liss: i32,
pub tresh: Treshold,
pub canny_v1: i32,
pub canny_v2: i32,
pub hough_param: HoughLine,
pub border_pt: Vec<(f64, f64)>,
pub homography: Mat,
pub h_size: Size_<i32>,
pub line_pos: Vec<i32>,
pub multiple: u16, // le nombre de fois qu'une photo est prise pour certaine sequence
pub key: i32,
pub dir_name: String,
pub begin: Instant,
pub capture_mode: bool,
}
impl Param {
pub fn new(dir_name: String) -> Result<Self> {
Ok(Self {
begin: std::time::Instant::now(),
capture_mode: dir_name.len() == 0,
dir_name,
key: -1,
imgs: vec![vec![]],
seq_id: 0,
dst_size: 900,
r: 150,
g: 0,
b: 0,
nb_all: 120,
nb_visible: 40,
nb_liss: 10,
nb_wait: 30,
tresh: Treshold::new("histogram", 160, 255)?,
canny_v1: 170,
canny_v2: 255,
hough_param: HoughLine {
rho: 100,
theta: 100,
treshold: 30,
min_length: 0,
max_line_gap: 50000,
},
border_pt: vec![],
homography: Mat::default(),
h_size: Size::default(),
line_pos: vec![4095; 34],
multiple: 20,
})
}
pub fn save_image(&self) -> Result<()> {
let now = self.begin;
let img_root = format!("image");
create_dir(&img_root).unwrap_or(());
let new_dir = format!(
"{img_root}/{:0>6?}_{:0>9?}",
now.elapsed().as_millis(),
now.elapsed().as_nanos()
);
create_dir(&new_dir).unwrap_or(());
for (i, img_seq) in self.imgs.iter().enumerate() {
let seq_dir_name = format!("{new_dir}/{i}");
create_dir(&seq_dir_name).unwrap_or(());
for img in img_seq {
let mut name_img = format!("{seq_dir_name}/");
name_img.push_str(&format!("img_{i}.png"));
imwrite(&name_img, img, &Vector::from_slice(&[6, 6, 6, 0]))?;
}
}
Ok(())
}
pub fn load_image(&mut self) -> Result<(), Box<dyn std::error::Error>> {
let mut imgs = vec![];
let paths = read_dir(&self.dir_name)?;
for entry in paths {
let mut seq_img = vec![];
let dir = entry?;
let path = dir.path(); // sequence directory
let names: Vec<&str> = path.to_str().unwrap().split("/").collect();
let seq_id: usize = names[names.len() - 1].parse()?;
for entry in read_dir(&path)? {
let sub_path = entry?.path();
let names: Vec<&str> = path.to_str().unwrap().split("/").collect();
let img_name = names[names.len() - 1];
let img_id: usize = img_name[4..img_name.len() - 4].parse()?;
let img: Mat = imread(
&find_file(&sub_path.to_str().unwrap(), false, false)?,
IMREAD_COLOR,
)?;
seq_img.push((img_id, img));
}
imgs.push((seq_id, seq_img));
}
self.imgs = vec![vec![]; imgs.len()];
for (seq_id, seq_img) in imgs {
self.imgs[seq_id] = vec![Mat::default(); seq_img.len()];
for (img_id, img) in seq_img {
self.imgs[seq_id][img_id] = img;
}
}
Ok(())
}
}
#[derive(Debug, Clone)]
pub struct HoughLine {
pub rho: i32,
pub theta: i32,
pub treshold: i32,
pub min_length: i32,
pub max_line_gap: i32,
}
// ca c'est les donner qu'on envoie a la fonction
pub struct HoughLineValue {
pub rho: f64,
pub theta: f64,
pub treshold: i32,
pub min_length: f64,
pub max_line_gap: f64,
}
impl HoughLine {
pub fn get_param(&self) -> HoughLineValue {
HoughLineValue {
rho: self.rho as f64 / 100.,
theta: self.theta as f64 / 100. * PI / 180.,
treshold: self.treshold,
min_length: self.min_length as f64 / 100.,
max_line_gap: self.max_line_gap as f64 / 100.,
}
}
}
#[derive(Clone, Debug)]
pub struct Treshold {
pub win_name: String,
pub min_0: i32,
pub min_1: i32,
pub min_2: i32,
pub max_0: i32,
pub max_1: i32,
pub max_2: i32,
}
impl Treshold {
pub fn new(name: &str, min: i32, max: i32) -> Result<Self> {
let tresh = Treshold {
win_name: name.to_owned(),
min_0: min,
min_1: min,
min_2: min,
max_0: max,
max_1: max,
max_2: max,
};
Ok(tresh)
}
}

27
src/qualibration/sequence.rs
View File

@ -1,27 +0,0 @@
use super::Param;
use crate::point::Point;
mod init_border;
mod init_idcode;
mod line_dotted;
mod load_image;
mod save_image;
mod wait_space;
pub use init_border::InitBorder;
pub use init_idcode::InitIdcode;
pub use line_dotted::LineDotted;
pub use load_image::LoadImage;
pub use save_image::SaveImage;
pub use wait_space::WaitSpace;
pub trait Sequence {
fn draw(&self, mem: &Param) -> Option<Vec<Point>>;
fn compute_sequence(&mut self, mem: &mut Param) -> Result<(), Box<dyn std::error::Error>>;
fn is_capture(&self) -> bool;
}
impl std::fmt::Debug for dyn Sequence {
fn fmt(self: &Self, f: &mut std::fmt::Formatter) -> std::fmt::Result {
write!(f, "{self:?}")
}
}

212
src/qualibration/sequence/init_border.rs
View File

@ -1,212 +0,0 @@
use crate::draw::draw_line;
use crate::point::{Color, Point};
use crate::qualibration::{
param::{HoughLine, Param},
Sequence,
};
use crate::qualibration::annalyse::image_diff;
use crate::qualibration::borders::{
bord_mult, get_extermities, get_intersection, probabilistic_hough,
};
use opencv::{
calib3d,
core::{Mat, Point as OcvPoint, Size, VecN, Vector},
imgproc::{canny, cvt_color, COLOR_BGR2GRAY},
Result,
};
opencv::opencv_branch_4! {
#[allow(unused)]
use opencv::imgproc::LINE_AA;
}
opencv::not_opencv_branch_4! {
use opencv::core::LINE_AA;
}
#[derive(Debug, Clone, Copy)]
pub struct InitBorder {
finished: bool,
cnt: usize,
borders: [Point; 4],
}
impl InitBorder {
pub fn new(beg: Point, end: Point) -> Self {
InitBorder {
borders: [
Point {
x: beg.x,
y: beg.y,
color: end.color,
},
Point {
x: end.x,
y: beg.y,
color: end.color,
},
Point {
x: end.x,
y: end.y,
color: end.color,
},
Point {
x: beg.x,
y: end.y,
color: end.color,
},
],
cnt: 0,
finished: false,
}
}
}
impl Sequence for InitBorder {
//type Obj = Self;
fn draw(&self, mem: &Param) -> Option<Vec<Point>> {
if self.cnt > self.borders.len() {
return None;
}
if self.cnt == self.borders.len() {
return Some(vec![]);
}
let color = Color {
r: mem.r as u8,
g: mem.g as u8,
b: mem.b as u8,
};
let id1 = (self.cnt + 1) % self.borders.len();
let p0 = Point {
color,
..self.borders[self.cnt]
};
let p1 = Point {
color,
..self.borders[id1]
};
Some(draw_line(
&p0,
&p1,
mem.nb_all as usize,
mem.nb_visible as usize,
))
}
fn compute_sequence(&mut self, mem: &mut Param) -> Result<(), Box<dyn std::error::Error>> {
if self.cnt < self.borders.len() {
self.cnt += 1;
return Ok(());
}
let len = self.borders.len();
let imgs = mem.imgs[mem.seq_id].clone();
let borders: Vec<Mat> = imgs[..len].into();
let background = imgs[len].clone();
// on recupere chaqu'un des 4 bord
let mut bords_pts = vec![];
for (id, bord) in borders.iter().enumerate() {
let lines = get_lines(
&background,
&bord,
id,
mem.canny_v1,
mem.canny_v2,
&mem.hough_param,
)?;
let bord_pt = get_extermities(&lines, id);
bords_pts.push(bord_pt);
}
// on calcul le cadre
let border_pt = get_intersection(&bords_pts);
mem.border_pt = bord_mult(border_pt, 1.1);
//// on dessine le cadre
//let color: VecN<f64, 4> = VecN::new(255., 128., 0., 255.);
//let mut mixed = mix_borders(&background, borders)?;
//let b = &mem.border_pt;
//for i in 0..b.len() {
// let j = (i + 1) % mem.border_pt.len();
// let pa = VecN::from_array([b[i].0 as i32, b[i].1 as i32]);
// let pb = VecN::from_array([b[j].0 as i32, b[j].1 as i32]);
// let a = OcvPoint::from_vec2(pa);
// let b = OcvPoint::from_vec2(pb);
// line(&mut mixed, a, b, color, 1, LINE_AA, 0)?;
//}
//highgui::imshow("mixed bored", &mixed)?;
// on calcule l'homography
let size = mem.dst_size;
// ici on va requadrer la partie de la projection laser de l'image
let warped_image_size = Size::new(size, size);
let roi_corners: Vec<OcvPoint> = mem
.border_pt
.iter()
.map(|(x, y)| OcvPoint::new(*x as i32, *y as i32))
.collect();
//let dst = [(0, 0), (0, size), (size, size), (size, 0)]; // in: laser repere
let dst = [(0, size), (0, 0), (size, 0), (size, size)];
let dst_corners: Vec<OcvPoint> = dst.iter().map(|(x, y)| OcvPoint::new(*x, *y)).collect();
let roi_corners_mat = Mat::from_slice(&roi_corners[..])?;
let dst_corners_mat = Mat::from_slice(&dst_corners)?;
let h = calib3d::find_homography(
&roi_corners_mat,
&dst_corners_mat,
&mut Mat::default(),
0,
3.,
)?; //get homography
mem.homography = h.clone();
mem.h_size = warped_image_size.clone();
//let mut warped_image = Mat::default();
//imgproc::warp_perspective(
// &mixed,
// &mut warped_image,
// &h,
// warped_image_size,
// imgproc::INTER_CUBIC, // I dont see difference with INTER_CUBIC
// core::BORDER_CONSTANT,
// Scalar::default(),
//)?; // do perspective transformation
//highgui::imshow("Warped Image", &warped_image)?;
self.finished = true;
Ok(())
}
fn is_capture(&self) -> bool {
true
}
}
pub fn get_lines(
background: &Mat,
bord: &Mat,
id: usize,
canny_v1: i32,
canny_v2: i32,
hough_param: &HoughLine,
) -> Result<Vector<VecN<i32, 4>>> {
let diff: Mat = image_diff(bord, background)?;
// Pass the image to gray
let mut diff_gray = Mat::default();
cvt_color(&diff, &mut diff_gray, COLOR_BGR2GRAY, 0)?;
// Apply Canny edge detector
let mut edges = Mat::default();
canny(
&diff_gray,
&mut edges,
canny_v1 as f64,
canny_v2 as f64,
3,
false,
)?;
let lines = probabilistic_hough(&edges, hough_param, id)?;
//let ((x1, y1), (x2, y2)) = get_extermities(&lines, id);
Ok(lines)
}

105
src/qualibration/sequence/init_idcode.rs
View File

@ -1,105 +0,0 @@
use crate::{
draw::draw_line_dotted,
point::Point,
qualibration::{
annalyse::{get_horizontal_segment, image_diff},
compute_image::{image_treshold, image_warp},
param::Param,
Sequence,
},
};
use opencv::{
core::{Point as OcvPoint, VecN},
highgui,
imgproc::line,
Result,
};
opencv::opencv_branch_4! {
use opencv::imgproc::LINE_8;
}
opencv::not_opencv_branch_4! {
use opencv::core::LINE_AA;
}
#[derive(Debug, Clone, Copy)]
pub struct InitIdcode {
finished: bool,
cnt: usize,
beg: Point,
end: Point,
}
impl InitIdcode {
pub fn new(beg: Point, end: Point) -> InitIdcode {
InitIdcode {
finished: false,
cnt: 0,
beg,
end,
}
}
}
impl Sequence for InitIdcode {
fn draw(&self, mem: &Param) -> Option<Vec<Point>> {
if self.finished {
return None;
}
if self.cnt == 0 {
return Some(vec![]);
}
let mut pl = vec![];
pl.extend(draw_line_dotted(
&self.beg,
&self.end,
mem.nb_all as usize,
mem.nb_visible as usize,
true,
));
Some(pl)
}
fn compute_sequence(&mut self, mem: &mut Param) -> Result<(), Box<dyn std::error::Error>> {
if self.cnt == 0 {
self.cnt += 1;
return Ok(());
}
let id = mem.seq_id;
let mut id_code_1 = image_diff(&mem.imgs[id][1], &mem.imgs[id][0])?;
id_code_1 = image_warp(&id_code_1, &mem.homography, mem.h_size)?;
id_code_1 = image_treshold(&id_code_1, &mem.tresh)?;
let code_seg_1 = get_horizontal_segment(&id_code_1)?;
let code_seg_1 = code_seg_1[1..(code_seg_1.len() - 1)].to_owned();
// on dessine
let color_1: VecN<f64, 4> = VecN::new(255., 0., 0., 255.);
for i in 0..code_seg_1.len() {
let (((x0, y0), (x1, y1)), size) = code_seg_1[i];
//line(&mut id_code_1, );
let s = size as i32;
let x = ((x0 + x1) / 2.) as i32;
let y = ((y0 + y1) / 2.) as i32;
let a = OcvPoint::from_vec2(VecN::from_array([x, y - s]));
let b = OcvPoint::from_vec2(VecN::from_array([x, y + s]));
line(&mut id_code_1, a, b, color_1, 1, LINE_8, 0)?;
if i < (code_seg_1.len() - 1) {
let (((x2, _), _), _) = code_seg_1[i + 1];
let x = ((x1 + x2) / 2.) as i32;
let y = ((y0 + y1) / 2.) as i32;
let a = OcvPoint::from_vec2(VecN::from_array([x, y - s]));
let b = OcvPoint::from_vec2(VecN::from_array([x, y + s]));
line(&mut id_code_1, a, b, color_1, 1, LINE_8, 0)?;
}
}
highgui::imshow("code 1", &id_code_1)?;
self.finished = true;
Ok(())
}
fn is_capture(&self) -> bool {
true
}
}

167
src/qualibration/sequence/line_dotted.rs
View File

@ -1,167 +0,0 @@
use crate::point::{Color, Point};
use crate::qualibration::{
annalyse::{
draw_histograme_bgr_tresh, get_horizontal_segment, get_vertical_segment, histogram_3d,
image_diff,
},
param::Param,
Sequence,
};
use opencv::{
core::{bitwise_and, in_range, Mat, Point as OcvPoint, Scalar, VecN, BORDER_CONSTANT},
highgui,
imgproc::{self, line},
Result,
};
opencv::opencv_branch_4! {
use opencv::imgproc::LINE_8;
}
opencv::not_opencv_branch_4! {
use opencv::core::LINE_AA;
}
#[derive(Debug, Clone)]
pub struct LineDotted {
finished: bool,
cnt: usize,
beg: Point,
end: Point,
continuous_y: bool,
continuous_x: bool,
}
impl LineDotted {
pub fn new(beg: Point, end: Point, continuous_y: bool, continuous_x: bool) -> Self {
Self {
finished: false,
cnt: 0,
beg,
end,
continuous_x,
continuous_y,
}
}
}
impl Sequence for LineDotted {
fn draw(&self, mem: &Param) -> Option<Vec<Point>> {
if self.finished {
return None;
}
if self.cnt == 0 {
return Some(vec![]);
}
let nb_all = mem.nb_all;
let nb_wait = mem.nb_wait as usize;
let nb_visible = mem.nb_visible as usize;
let mut pl = vec![];
let color = Color {
r: mem.r as u8,
g: mem.g as u8,
b: mem.b as u8,
};
let black = Color { r: 0, g: 0, b: 0 };
for _ in 0..nb_all {
pl.push(Point {
color: black,
..self.beg
});
}
let len = (2 * mem.line_pos.len() + nb_wait) as f32;
for i in 0..nb_wait {
let val_x = i as f32 / len * (self.end.x - self.beg.x) + self.beg.x;
let val_y = i as f32 / len * (self.end.y - self.beg.y) + self.beg.y;
pl.push(Point {
x: if self.continuous_x { val_x } else { self.beg.x },
y: if self.continuous_y { val_y } else { self.beg.y },
color: black,
});
}
for i in 0..(mem.line_pos.len() * 2) {
let val_cont_x = (i + nb_wait) as f32 / len * (self.end.x - self.beg.x) + self.beg.x;
let val_cont_y = (i + nb_wait) as f32 / len * (self.end.y - self.beg.y) + self.beg.y;
let val_x = mem.line_pos[i / 2] as f32 + self.beg.x;
let val_y = mem.line_pos[i / 2] as f32 + self.beg.y;
let is_visible = (i + nb_wait) % 2 == 0 && i < nb_visible;
let c = if is_visible { color } else { black };
pl.push(Point {
x: if self.continuous_x { val_cont_x } else { val_x },
y: if self.continuous_y { val_cont_y } else { val_y },
color: c,
});
}
Some(pl)
}
fn compute_sequence(&mut self, mem: &mut Param) -> Result<(), Box<dyn std::error::Error>> {
if self.cnt < 1 {
self.cnt += 1;
}
let ids = mem.seq_id;
let background = mem.imgs[ids][0].to_owned();
let line_dot = mem.imgs[ids][1].to_owned();
let diff = image_diff(&background, &line_dot)?;
let mut warped_image = Mat::default();
imgproc::warp_perspective(
&diff,
&mut warped_image,
&mem.homography,
mem.h_size,
imgproc::INTER_CUBIC, // I dont see difference with INTER_CUBIC
BORDER_CONSTANT,
Scalar::default(),
)?;
//highgui::imshow("Warped Image", &warped_image)?;
let histo = histogram_3d(&warped_image, mem.nb_liss)?;
draw_histograme_bgr_tresh("histo bgr", &histo, &mem.tresh)?;
let (t1, s1, l1) = (
mem.tresh.min_0 as f64,
mem.tresh.min_1 as f64,
mem.tresh.min_2 as f64,
);
let (t2, s2, l2) = (
mem.tresh.max_0 as f64,
mem.tresh.max_1 as f64,
mem.tresh.max_2 as f64,
);
let min = Mat::from_slice(&[t1, s1, l1])?;
let max = Mat::from_slice(&[t2, s2, l2])?;
let mut color_selected = Mat::default();
let _ = in_range(&warped_image, &min, &max, &mut color_selected);
let mut bord_treshed = Mat::default();
bitwise_and(
&warped_image,
&warped_image,
&mut bord_treshed,
&color_selected,
)?;
//highgui::imshow(format!("warped_image & mask").as_str(), &bord_treshed)?;
let segments = if self.continuous_y {
get_vertical_segment(&bord_treshed)?
} else {
get_horizontal_segment(&bord_treshed)?
};
for (i, (((x0, y0), (x1, y1)), _size)) in segments.iter().enumerate() {
let blue = (i as f64 / segments.len() as f64) * 255.;
let color: VecN<f64, 4> = VecN::new(blue, 128., 0., 255.);
let pa = VecN::from_array([*x0 as i32, *y0 as i32]);
let pb = VecN::from_array([*x1 as i32, *y1 as i32]);
let a = OcvPoint::from_vec2(pa);
let b = OcvPoint::from_vec2(pb);
line(&mut bord_treshed, a, b, color, 1, LINE_8, 0)?;
}
highgui::imshow("segemnt detector", &bord_treshed)?;
self.finished = true;
Ok(())
}
fn is_capture(&self) -> bool {
true
}
}

33
src/qualibration/sequence/load_image.rs
View File

@ -1,33 +0,0 @@
use super::{super::Param, Sequence};
use crate::point::Point;
use opencv::Result;
#[derive(Debug, Clone, Copy)]
pub struct LoadImage {
finished: bool,
}
impl LoadImage {
pub fn new() -> LoadImage {
LoadImage { finished: false }
}
}
impl Sequence for LoadImage {
fn draw(&self, _mem: &Param) -> Option<Vec<Point>> {
if self.finished {
return None;
}
Some(vec![])
}
fn compute_sequence(&mut self, mem: &mut Param) -> Result<(), Box<dyn std::error::Error>> {
if !mem.capture_mode {
mem.load_image()?;
}
self.finished = true;
Ok(())
}
fn is_capture(&self) -> bool {
false
}
}

31
src/qualibration/sequence/save_image.rs
View File

@ -1,31 +0,0 @@
use super::{super::Param, Sequence};
use crate::point::Point;
use opencv::Result;
#[derive(Debug, Clone, Copy)]
pub struct SaveImage {
finished: bool,
}
impl SaveImage {
pub fn new() -> SaveImage {
SaveImage { finished: false }
}
}
impl Sequence for SaveImage {
fn draw(&self, _mem: &Param) -> Option<Vec<Point>> {
if self.finished {
return None;
}
Some(vec![])
}
fn compute_sequence(&mut self, mem: &mut Param) -> Result<(), Box<dyn std::error::Error>> {
mem.save_image()?;
self.finished = true;
Ok(())
}
fn is_capture(&self) -> bool {
false
}
}

176
src/qualibration/sequence/wait_space.rs
View File

@ -1,176 +0,0 @@
use super::{super::Param, Sequence};
use crate::{
draw::{draw_line, draw_line_dotted},
point::{Color, Point},
};
use opencv::Result;
#[derive(Debug, Clone, Copy)]
pub struct WaitSpace {
borders: [Point; 4],
red: [Point; 2],
green: [Point; 2],
blue: [Point; 2],
}
impl WaitSpace {
pub fn new(beg: Point, end: Point) -> Self {
let red_y = (end.y - beg.y) * 1./5. + beg.y;
let green_y = (end.y - beg.y) * 2./5. + beg.y;
let blue_y = (end.y - beg.y) * 3./5. + beg.y;
Self {
borders: [
Point {
x: beg.x,
y: beg.y,
color: end.color,
},
Point {
x: end.x,
y: beg.y,
color: end.color,
},
Point {
x: end.x,
y: end.y,
color: end.color,
},
Point {
x: beg.x,
y: end.y,
color: end.color,
},
],
red: [
Point {
x: beg.x,
y: red_y,
color: end.color,
},
Point {
x: end.x,
y: red_y,
color: end.color,
},
],
blue: [
Point {
x: beg.x,
y: blue_y,
color: end.color,
},
Point {
x: end.x,
y: blue_y,
color: end.color,
},
],
green: [
Point {
x: beg.x,
y: green_y,
color: end.color,
},
Point {
x: end.x,
y: green_y,
color: end.color,
},
],
}
}
}
impl Sequence for WaitSpace {
fn draw(&self, mem: &Param) -> Option<Vec<Point>> {
if mem.key == 32 || !mem.capture_mode {
return None;
}
let mut pl = vec![];
let color = Color {
r: mem.r as u8,
g: mem.g as u8,
b: mem.b as u8,
};
let red = Color {
r: mem.r as u8,
g: 0,
b: 0,
};
let green = Color {
r: 0,
g: mem.g as u8,
b: 0,
};
let blue = Color {
r: 0,
g: 0,
b: mem.b as u8,
};
for i in 0..self.borders.len() {
let id1 = (i + 1) % self.borders.len();
let p0 = Point {
color,
..self.borders[i]
};
let p1 = Point {
color,
..self.borders[id1]
};
pl.extend(draw_line(
&p0,
&p1,
mem.nb_all as usize,
mem.nb_visible as usize,
));
pl.extend(draw_line_dotted(
&Point{
color: blue,
..self.blue[0]
},
&Point{
color: blue,
..self.blue[1]
},
mem.nb_all as usize,
mem.nb_visible as usize,
true,
));
pl.extend(draw_line_dotted(
&Point{
color: green,
..self.green[0]
},
&Point{
color: green,
..self.green[1]
},
mem.nb_all as usize,
mem.nb_visible as usize,
true,
));
pl.extend(draw_line_dotted(
&Point{
color: red,
..self.red[0]
},
&Point{
color: red,
..self.red[1]
},
mem.nb_all as usize,
mem.nb_visible as usize,
true,
));
}
Some(pl)
}
fn compute_sequence(&mut self, _mem: &mut Param) -> Result<(), Box<dyn std::error::Error>> {
Ok(())
}
fn is_capture(&self) -> bool {
false
}
}

8
src/utils.rs
View File

@ -1,7 +1,13 @@
use crate::point::Point;
static NEAR_ZERO: f64 = 0.000001;
use std::ops::{Add, AddAssign, Div, DivAssign, Mul, MulAssign, Sub};
use std::ops::Add;
use std::ops::AddAssign;
use std::ops::Div;
use std::ops::DivAssign;
use std::ops::Mul;
use std::ops::MulAssign;
use std::ops::Sub;
//use std::ops::BitXor
impl Add for Pt {