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added working zbar node
continuous-integration/drone/push Build encountered an error Details

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master
Yorick GEOFFRE 3 years ago
parent 0119b1b8a3
commit ef16fd0c38
35 changed files with 3264 additions and 663 deletions
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./members/zbarAnalysisNode.cpp
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./members/subNodes/staticImageOverlayer.cpp
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MESSAGE(STATUS "building pipeline")
@ -37,8 +43,6 @@ target_link_libraries(pipelineLib psvr)
target_link_libraries(pipelineLib controllers)
target_link_libraries(pipelineLib hw)
target_link_libraries(pipelineLib threadweaver)
#target_link_libraries(ui cameras)
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cv::UMat output;
std::atomic_bool shouldRun = false;
std::atomic_bool disabled = false; //if true short circuit your input to your output

2
src/pipeline/members/subNodes/fpsCounter.cpp
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@ -1,4 +1,4 @@
#include "fpsCounter.hpp"
#include "subNodes.hpp"
#include <opencv2/imgproc.hpp>
void FpsCounter::processFrame(cv::UMat& input, cv::Point2d& cursorPos){

12
src/pipeline/members/subNodes/fpsCounter.hpp
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@ -1,12 +0,0 @@
#include "../../abstract/pipelineNode.hpp"
#include <map>
class FpsCounter : public SubNode
{
public:
void processFrame(cv::UMat &input, cv::Point2d &cursorPos) override;
void addChecker(std::string name, framerateChecker *fc);
protected:
std::map<std::string, framerateChecker *> checkers;
};

10
src/pipeline/members/subNodes/staticImageOverlayer.cpp
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@ -0,0 +1,10 @@
#include "subNodes.hpp"
#include "./../../../ui/support/UiSupport.hpp"
void StaticImageOverlayer::processFrame(cv::UMat& input, cv::Point2d& cursorPos){
input = UiSupport::OverlayBlackMask(input, image);
}
void StaticImageOverlayer::setImage(std::string str){
image = cv::imread("./media/hud_fixed.png",-1).getUMat(cv::ACCESS_READ);
}

31
src/pipeline/members/subNodes/subNodes.hpp
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@ -0,0 +1,31 @@
#include "../../abstract/pipelineNode.hpp"
#include "../zbarAnalysisNode.hpp"
#include <map>
class FpsCounter : public SubNode
{
public:
void processFrame(cv::UMat &input, cv::Point2d &cursorPos) override;
void addChecker(std::string name, framerateChecker *fc);
protected:
std::map<std::string, framerateChecker *> checkers;
};
class StaticImageOverlayer : public SubNode
{
public:
void processFrame(cv::UMat &input, cv::Point2d &cursorPos) override;
void setImage(std::string str);
protected:
cv::UMat image;
};
class ZbarOverlayer : public SubNode
{
public:
ZbarOverlayer(zbarScanner* backend);
void processFrame(cv::UMat &input, cv::Point2d &cursorPos) override;
protected:
zbarScanner* localScanner;
};

42
src/pipeline/members/subNodes/zbarOverlayer.cpp
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@ -0,0 +1,42 @@
#include "subNodes.hpp"
#include "../../../ui/support/UiSupport.hpp"
ZbarOverlayer::ZbarOverlayer(zbarScanner *backend) : localScanner(backend)
{
}
void ZbarOverlayer::processFrame(cv::UMat &input, cv::Point2d &cursorPos)
{
vector<decodedObject> objects = localScanner->getFoundElements();
if(objects.size() > 0){
float ogH = objects.at(0).originalHeight;
float ogW = objects.at(0).originalWidth;
cv::UMat toWriteOn = cv::UMat(cv::Size(ogW,ogH), CV_8UC3, cv::Scalar(0, 0, 0));
// Loop over all decoded objects
for (decodedObject deo : objects)
{
vector<cv::Point> points = deo.location;
vector<cv::Point> hull;
// If the points do not form a quad, find convex hull
if (points.size() > 4)
cv::convexHull(points, hull);
else
hull = points;
// Number of points in the convex hull
int n = hull.size();
for (int j = 0; j < n; j++)
{
cv::line(toWriteOn, hull[j], hull[(j + 1) % n], cv::Scalar(255, 0, 0), 3);
}
cv::Point pos = cv::Point(deo.location.at(0).x*(960/ogH),deo.location.at(0).y*(1080/ogW));
cv::putText(input, cv::format("%s", deo.data.c_str()), pos, cv::HersheyFonts::FONT_HERSHEY_PLAIN, 1, cv::Scalar(255, 255, 255), 1, 8, false);
}
cv::UMat toOverlay = UiSupport::resizeIn(toWriteOn);
input = UiSupport::OverlayBlackMask(toOverlay, input);
}
}

2
src/pipeline/members/uiDrawerNode.cpp
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@ -21,7 +21,7 @@ void UiDrawerNode::processFrame()
int &wd = _backController->menuSize.width;
int &he = _backController->menuSize.height;
unsigned int stackerIndex = 0;
cv::UMat MenuMat(cv::Size(wd, he), CV_8UC3, cv::Scalar(0, 0, 0));
cv::UMat MenuMat = cv::UMat(cv::Size(960, 1080), CV_8UC3, cv::Scalar(0, 0, 0));
cv::rectangle(MenuMat, cv::Rect2i(0, 0, wd, he), cv::Scalar(255, 0, 0), 5, 8, 0);
_backController->update();
cv::putText(MenuMat, _backController->menuTitle, cv::Point2i(5, stackerIndex += 20), cv::HersheyFonts::FONT_HERSHEY_PLAIN, 1, Scalar(255, 255, 255), 1, 8, false);

34
src/pipeline/members/zbarAnalysisNode.cpp
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@ -0,0 +1,34 @@
#include "zbarAnalysisNode.hpp"
#include <opencv2/imgproc.hpp>
#include <map>
#include <iostream>
ZbarAnalysisNode::ZbarAnalysisNode(PipelineNode* _previous, zbarScanner* scanner) : localScanner(scanner)
{
isFirst = false;
previous = _previous;
fpsLimit = 30;
}
void ZbarAnalysisNode::processFrame()
{
DEBUG_LOG("ZbarAnalysisNode on thread " << localThread->get_id() << " is processing its camera frame");
try
{
if(!previous->getOutput().empty()){
cv::UMat toDecode = previous->getOutput();
DEBUG_LOG("ZbarAnalysisNode on thread " << localThread->get_id() << " fetched camera frame");
localScanner->decode(toDecode);
DEBUG_LOG("ZbarAnalysisNode on thread " << localThread->get_id() << " processed camera frame");
}
}
catch (std::exception& e)
{
std::cerr << "\033[1;31m caught ZbarAnalysisNode::processFrame thread exception :"<< e.what() <<" \033[0m" << std::endl;
exit(1);
}
}
std::string ZbarAnalysisNode::getName(){
return "zbar analyzer";
}

12
src/pipeline/members/zbarAnalysisNode.hpp
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@ -0,0 +1,12 @@
#include "../abstract/pipelineNode.hpp"
#include "../../processing/zbar/zbar.hpp"
/// @brief this class is used to check a mat for any bar codes
class ZbarAnalysisNode : public PipelineNode
{
public:
ZbarAnalysisNode(PipelineNode* previous,zbarScanner* scanner);
std::string getName() override;
protected:
void processFrame() override;
zbarScanner* localScanner;
};

18
src/pipeline/pipeline.cpp
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@ -1,7 +1,7 @@
#include "pipeline.hpp"
#include "./../model/windows/windowManager.hpp"
#include "../model/hardware/hw/serial.hpp"
#include "./members/subNodes/fpsCounter.hpp"
#include "./members/subNodes/subNodes.hpp"
Pipeline::Pipeline(){
WindowManager* wm = new WindowManager();
@ -14,13 +14,21 @@ Pipeline::Pipeline(){
sp->Attach(uc);
FpsCounter* fc = new FpsCounter();
StaticImageOverlayer* sio = new StaticImageOverlayer();
sio->setImage("./media/hud_fixed.png");
zbarScanner* zs = new zbarScanner();
ZbarOverlayer* zo = new ZbarOverlayer(zs);
nodes.push_back(new cameraPickerNode(cm));
nodes.push_back(new ZbarAnalysisNode(nodes.at(0), zs));
nodes.push_back(new UiDrawerNode(uc));
nodes.at(1)->addSubNode(fc);
nodes.at(1)->fpsLimit = 30;
nodes.push_back(new UiMergerNode(nodes.at(0),nodes.at(1),uc));
nodes.push_back(new DisplayOutputNode(nodes.at(2), wm->managedUIs.at(0)));
nodes.at(2)->addSubNode(fc);
nodes.at(2)->addSubNode(sio);
nodes.at(2)->addSubNode(zo);
nodes.at(2)->fpsLimit = 30;
nodes.push_back(new UiMergerNode(nodes.at(0),nodes.at(2),uc));
nodes.push_back(new DisplayOutputNode(nodes.at(3), wm->managedUIs.at(0)));
for(PipelineNode* pn : nodes)
fc->addChecker(pn->getName(),pn->localES);

4
src/processing/zbar/CMakeFiles/zbarLib.dir/progress.make
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@ -1,3 +1,3 @@
CMAKE_PROGRESS_1 = 34
CMAKE_PROGRESS_2 = 35
CMAKE_PROGRESS_1 = 37
CMAKE_PROGRESS_2 = 38

12
src/processing/zbar/zbar.cpp
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@ -1,6 +1,11 @@
#include "zbar.hpp"
void zbarScanner::decode(cv::UMat &im)
vector<decodedObject> zbarScanner::getFoundElements(){
const std::lock_guard<std::mutex> lock(decodedObjectsAccessLock);
return decodedObjects;
}
void zbarScanner::decode(cv::UMat im)
{
cv::Mat imGray;
@ -9,13 +14,16 @@ void zbarScanner::decode(cv::UMat &im)
Image image(im.cols, im.rows, "Y800", (uchar *)imGray.data, im.cols * im.rows);
int n = scanner.scan(image);
const std::lock_guard<std::mutex> lock(decodedObjectsAccessLock);
decodedObjects.clear();
for (Image::SymbolIterator symbol = image.symbol_begin(); symbol != image.symbol_end(); ++symbol)
{
decodedObject obj;
obj.type = symbol->get_type_name();
obj.data = symbol->get_data();
obj.originalHeight = im.rows;
obj.originalWidth = im.cols;
for (int i = 0; i < symbol->get_location_size(); i++)
{

6
src/processing/zbar/zbar.hpp
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@ -14,13 +14,17 @@ typedef struct
string type;
string data;
vector <cv::Point> location;
int originalWidth;
int originalHeight;
} decodedObject;
class zbarScanner{
private:
ImageScanner scanner = ImageScanner();
vector<decodedObject> decodedObjects;
std::mutex decodedObjectsAccessLock;
public:
zbarScanner();
void decode(cv::UMat &im);
void decode(cv::UMat im);
vector<decodedObject> getFoundElements();
};

BIN
src/prog
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Binary file not shown.

4
src/threadweaver/CMakeFiles/threadweaver.dir/progress.make
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@ -1,3 +1,3 @@
CMAKE_PROGRESS_1 = 29
CMAKE_PROGRESS_2 = 30
CMAKE_PROGRESS_1 = 32
CMAKE_PROGRESS_2 = 33

4
src/ui/support/CMakeFiles/support.dir/progress.make
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@ -1,3 +1,3 @@
CMAKE_PROGRESS_1 = 27
CMAKE_PROGRESS_2 = 28
CMAKE_PROGRESS_1 = 30
CMAKE_PROGRESS_2 = 31

2
src/ui/support/UiSupport.cpp
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@ -26,7 +26,7 @@ cv::UMat UiSupport::OverlayBlackMask(cv::UMat input, cv::UMat toOverlay, int x,
// return input;
if (input.cols < toOverlay.cols || input.rows < toOverlay.rows)
{
std::cerr << "Wrong size for inout file!!! overlay was bigger" << std::endl;
std::cerr << "Wrong size for input file!!! overlay was bigger" << std::endl;
return input;
}

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