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Added parameter General/sendNoObjDetectedEvents

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git-svn-id: http://find-object.googlecode.com/svn/trunk/find_object@284 620bd6b2-0a58-f614-fd9a-1bd335dccda9
This commit is contained in:
matlabbe
2014-05-22 17:47:00 +00:00
parent 9422df9965
commit 6478e78899
4 changed files with 91 additions and 81 deletions
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tcpClient/TcpClient.cpp
+56 -48
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@@ -49,59 +49,67 @@ void TcpClient::readData()
in >> data;
printf("---\n");
for(int i=0; i<data.size(); i+=12)
if(data.size() == 0)
{
// get data
int id = (int)data[i];
float objectWidth = data[i+1];
float objectHeight = data[i+2];
// Find corners Qt
QTransform qtHomography(data[i+3], data[i+4], data[i+5],
data[i+6], data[i+7], data[i+8],
data[i+9], data[i+10], data[i+11]);
QPointF qtTopLeft = qtHomography.map(QPointF(0,0));
QPointF qtTopRight = qtHomography.map(QPointF(objectWidth,0));
QPointF qtBottomLeft = qtHomography.map(QPointF(0,objectHeight));
QPointF qtBottomRight = qtHomography.map(QPointF(objectWidth,objectHeight));
printf("(%s) Object %d detected, Qt corners at (%f,%f) (%f,%f) (%f,%f) (%f,%f)\n",
QTime::currentTime().toString("HH:mm:ss.zzz").toStdString().c_str(),
id,
qtTopLeft.x(), qtTopLeft.y(),
qtTopRight.x(), qtTopRight.y(),
qtBottomLeft.x(), qtBottomLeft.y(),
qtBottomRight.x(), qtBottomRight.y());
// Example with OpenCV
if(0)
printf("(%s) No objects detected.\n",
QTime::currentTime().toString("HH:mm:ss.zzz").toStdString().c_str());
}
else
{
for(int i=0; i<data.size(); i+=12)
{
// Find corners OpenCV
cv::Mat cvHomography(3, 3, CV_32F);
cvHomography.at<float>(0,0) = data[i+3];
cvHomography.at<float>(1,0) = data[i+4];
cvHomography.at<float>(2,0) = data[i+5];
cvHomography.at<float>(0,1) = data[i+6];
cvHomography.at<float>(1,1) = data[i+7];
cvHomography.at<float>(2,1) = data[i+8];
cvHomography.at<float>(0,2) = data[i+9];
cvHomography.at<float>(1,2) = data[i+10];
cvHomography.at<float>(2,2) = data[i+11];
std::vector<cv::Point2f> inPts, outPts;
inPts.push_back(cv::Point2f(0,0));
inPts.push_back(cv::Point2f(objectWidth,0));
inPts.push_back(cv::Point2f(0,objectHeight));
inPts.push_back(cv::Point2f(objectWidth,objectHeight));
cv::perspectiveTransform(inPts, outPts, cvHomography);
// get data
int id = (int)data[i];
float objectWidth = data[i+1];
float objectHeight = data[i+2];
printf("(%s) Object %d detected, CV corners at (%f,%f) (%f,%f) (%f,%f) (%f,%f)\n",
// Find corners Qt
QTransform qtHomography(data[i+3], data[i+4], data[i+5],
data[i+6], data[i+7], data[i+8],
data[i+9], data[i+10], data[i+11]);
QPointF qtTopLeft = qtHomography.map(QPointF(0,0));
QPointF qtTopRight = qtHomography.map(QPointF(objectWidth,0));
QPointF qtBottomLeft = qtHomography.map(QPointF(0,objectHeight));
QPointF qtBottomRight = qtHomography.map(QPointF(objectWidth,objectHeight));
printf("(%s) Object %d detected, Qt corners at (%f,%f) (%f,%f) (%f,%f) (%f,%f)\n",
QTime::currentTime().toString("HH:mm:ss.zzz").toStdString().c_str(),
id,
outPts.at(0).x, outPts.at(0).y,
outPts.at(1).x, outPts.at(1).y,
outPts.at(2).x, outPts.at(2).y,
outPts.at(3).x, outPts.at(3).y);
qtTopLeft.x(), qtTopLeft.y(),
qtTopRight.x(), qtTopRight.y(),
qtBottomLeft.x(), qtBottomLeft.y(),
qtBottomRight.x(), qtBottomRight.y());
// Example with OpenCV
if(0)
{
// Find corners OpenCV
cv::Mat cvHomography(3, 3, CV_32F);
cvHomography.at<float>(0,0) = data[i+3];
cvHomography.at<float>(1,0) = data[i+4];
cvHomography.at<float>(2,0) = data[i+5];
cvHomography.at<float>(0,1) = data[i+6];
cvHomography.at<float>(1,1) = data[i+7];
cvHomography.at<float>(2,1) = data[i+8];
cvHomography.at<float>(0,2) = data[i+9];
cvHomography.at<float>(1,2) = data[i+10];
cvHomography.at<float>(2,2) = data[i+11];
std::vector<cv::Point2f> inPts, outPts;
inPts.push_back(cv::Point2f(0,0));
inPts.push_back(cv::Point2f(objectWidth,0));
inPts.push_back(cv::Point2f(0,objectHeight));
inPts.push_back(cv::Point2f(objectWidth,objectHeight));
cv::perspectiveTransform(inPts, outPts, cvHomography);
printf("(%s) Object %d detected, CV corners at (%f,%f) (%f,%f) (%f,%f) (%f,%f)\n",
QTime::currentTime().toString("HH:mm:ss.zzz").toStdString().c_str(),
id,
outPts.at(0).x, outPts.at(0).y,
outPts.at(1).x, outPts.at(1).y,
outPts.at(2).x, outPts.at(2).y,
outPts.at(3).x, outPts.at(3).y);
}
}
}
}