Added hcenter, vcenter, hshift, vshift parameters in servers configur…

…ation files

CHANGELOG.txt

@@ -1,3 +1,7 @@
+20
+Improved compatibility with OpenCV 3.1.0.
+Added hcenter, vcenter, hshift, vshift parameters in servers configuration files.
+
 19
 Improved Linux support.
 

Makefile

@@ -3,19 +3,28 @@
 #    sudo apt-get install build-essential
 # in a terminal.
 # You need to install OpenCV 2.4.9.
+# For more information on the configuration used, see www.ensta-bretagne.fr/lebars/Share/Ubuntu.txt .
+# Use dos2unix *.txt to ensure line endings are correct for Linux in the configuration files.
+# In case of codecs problems, try with USE_ALTERNATE_RECORDING...
 
 PROGS = RemoteWebcamMultiSrv RemoteWebcamSrv RemoteWebcamCli
 
 CC = gcc
 CXX = g++
+
 #CFLAGS += -Wall -Winline -Wextra -g
 CFLAGS += -Wall -O3
 CFLAGS += -I. -I../OSUtils -I../Extensions/Img
-#CFLAGS += -D _DEBUG -D _DEBUG_DISPLAY -D _DEBUG_MESSAGES 
-CFLAGS += -D DISABLE_GUI_REMOTEWEBCAMSRV -D DISABLE_GUI_REMOTEWEBCAMMULTISRV -D USE_ALTERNATE_RECORDING
+#CFLAGS += -D _DEBUG -D _DEBUG_DISPLAY
+#CFLAGS += -D _DEBUG_MESSAGES 
+#CFLAGS += -D DISABLE_GUI_REMOTEWEBCAMSRV -D DISABLE_GUI_REMOTEWEBCAMMULTISRV -D USE_ALTERNATE_RECORDING
 CFLAGS += -D OPENCV249
+#CFLAGS += -D OPENCV310
+
 CXXFLAGS += $(CFLAGS) -fpermissive
+
 LDFLAGS += -lopencv_core -lopencv_highgui -lopencv_imgproc
+#LDFLAGS += -lopencv_core -lopencv_imgproc -lopencv_highgui -lopencv_imgcodecs -lopencv_videoio
 LDFLAGS += -lpthread -lrt -lm 
 
 default: $(PROGS)

ReadMe.txt

@@ -8,18 +8,20 @@ Check also proxy settings of Internet Explorer, and any other installed browser.
 
 It should work with the following software :
 *** USER and DEVEL ***
-_ Windows XP Professional SP3 32 bit/Windows 8 Professional 64 bit
+_ Windows XP Professional SP3 32 bit/Windows 8.1 Professional 64 bit
 _ Kinect v2 SDK (not available for Visual Studio 2008 and Windows XP)
 *** DEVEL ***
 _ Visual Studio 2008 SP1/Visual Studio 2012
 _ OpenCV 2.4.9 (download http://www.ensta-bretagne.fr/lebars/Share/OpenCV2.4.9.zip and extract in C:)
 
-It is also supposed to be compatible with Linux 2.6 with equivalent prerequisites, although not fully tested.
+It is also supposed to be compatible with Linux with equivalent prerequisites, although not fully tested, see Makefile.
 
 Restart the computer after installation.
 
 The following are required sources dependencies :  
 _ ..\OSUtils : Windows/Linux abstraction layer (threads, network, serial port, time management...) as well as other useful functions.
 _ ..\Extensions : some image functions.
 
+Please do not try to build the program in a directory that contains commas! Mind the line endings in the configuration files depending on the OS (use e.g. the command dos2unix *.txt to convert line endings for Linux)!
+
 See also https://github.com/ENSTABretagneRobotics/Android and http://www.ensta-bretagne.fr/lebars/utilities/

RemoteWebcamCli/RemoteWebcamCli.txt

@@ -1,8 +1,6 @@
 % cli1address
 127.0.0.1
-%192.168.182.128
-%192.168.1.10
-%192.168.1.15
+%192.168.1.107
 % cli1port
 4014
 % videoimgwidth

RemoteWebcamMultiSrv/Globals.cpp

@@ -38,9 +38,13 @@ int videoimgheight = 0;
 int captureperiod = 0;
 int timeout = 0;
 BOOL bForceSoftwareResize = FALSE;
+double hcenter = 0;
+double vcenter = 0;
 double hscale = 1;
 double vscale = 1;
 double angle = 0;
+double hshift = 0;
+double vshift = 0;
 int bFlip = FALSE;
 BOOL bUDP = FALSE;
 int pixcolorchgthreshold = 0; 

RemoteWebcamMultiSrv/Globals.h

@@ -56,9 +56,13 @@ EXTERN_C int videoimgheight;
 EXTERN_C int captureperiod;
 EXTERN_C int timeout;
 EXTERN_C BOOL bForceSoftwareResize;
+EXTERN_C double hcenter;
+EXTERN_C double vcenter;
 EXTERN_C double hscale;
 EXTERN_C double vscale;
 EXTERN_C double angle;
+EXTERN_C double hshift;
+EXTERN_C double vshift;
 EXTERN_C int bFlip;
 EXTERN_C BOOL bUDP;
 EXTERN_C int pixcolorchgthreshold; 

RemoteWebcamMultiSrv/Main.cpp

@@ -16,9 +16,13 @@ int LoadConfig()
 	captureperiod = 40;
 	timeout = 5;
 	bForceSoftwareResize = 1;
+	hcenter = 0;//+videoimgwidth/2
+	vcenter = 0;//+videoimgheight/2
 	hscale = 1;
 	vscale = 1;
 	angle = 0*M_PI/180.0;
+	hshift = 0;//+videoimgwidth/2
+	vshift = 0;//+videoimgheight/2
 	bFlip = 0;
 	bUDP = 0;
 	pixcolorchgthreshold = 12; 
@@ -52,13 +56,21 @@ int LoadConfig()
 		if (fgets3(file, line, sizeof(line)) == NULL) printf("Invalid configuration file.\n");
 		if (sscanf(line, "%d", &bForceSoftwareResize) != 1) printf("Invalid configuration file.\n");
 		if (fgets3(file, line, sizeof(line)) == NULL) printf("Invalid configuration file.\n");
+		if (sscanf(line, "%lf", &hcenter) != 1) printf("Invalid configuration file.\n");
+		if (fgets3(file, line, sizeof(line)) == NULL) printf("Invalid configuration file.\n");
+		if (sscanf(line, "%lf", &vcenter) != 1) printf("Invalid configuration file.\n");
+		if (fgets3(file, line, sizeof(line)) == NULL) printf("Invalid configuration file.\n");
 		if (sscanf(line, "%lf", &hscale) != 1) printf("Invalid configuration file.\n");
 		if (fgets3(file, line, sizeof(line)) == NULL) printf("Invalid configuration file.\n");
 		if (sscanf(line, "%lf", &vscale) != 1) printf("Invalid configuration file.\n");
 		if (fgets3(file, line, sizeof(line)) == NULL) printf("Invalid configuration file.\n");
 		if (sscanf(line, "%lf", &d0) != 1) printf("Invalid configuration file.\n");
 		angle = d0*M_PI/180.0;
 		if (fgets3(file, line, sizeof(line)) == NULL) printf("Invalid configuration file.\n");
+		if (sscanf(line, "%lf", &hshift) != 1) printf("Invalid configuration file.\n");
+		if (fgets3(file, line, sizeof(line)) == NULL) printf("Invalid configuration file.\n");
+		if (sscanf(line, "%lf", &vshift) != 1) printf("Invalid configuration file.\n");
+		if (fgets3(file, line, sizeof(line)) == NULL) printf("Invalid configuration file.\n");
 		if (sscanf(line, "%d", &bFlip) != 1) printf("Invalid configuration file.\n");
 		if (fgets3(file, line, sizeof(line)) == NULL) printf("Invalid configuration file.\n");
 		if (sscanf(line, "%d", &bUDP) != 1) printf("Invalid configuration file.\n");
@@ -409,6 +421,7 @@ THREAD_PROC_RETURN_VALUE handlecam(void* pParam)
 {
 	double m[6]; // For rotation...
 	CvMat M = cvMat(2, 3, CV_64F, m); // For rotation...
+	double hcenter0 = 0, vcenter0 = 0, hshift0 = 0, vshift0 = 0;
 	int nbBytes = 0;
 	char szText[256];
 	unsigned int val = 0;
@@ -467,33 +480,29 @@ THREAD_PROC_RETURN_VALUE handlecam(void* pParam)
 		else resizedframe = frame;
 
 		EnterCriticalSection(&imageCS);
-		if ((hscale == 1)&&(vscale == 1)&&(angle == 0))
+		if ((hcenter == 0)&&(vcenter == 0)&&
+			(hscale == 1)&&(vscale == 1)&&(angle == 0)&&
+			(hshift == 0)&&(vshift == 0))
 		{
 			if (bFlip) cvFlip(resizedframe, image, 1); else cvCopy(resizedframe, image, 0);
 		}
 		else
 		{
 			// Create a map_matrix, where the left 2x2 matrix is the transform and the right 2x1 is the dimensions.
-			//double hscale = 0.5, vscale = 1.33*0.5;
+
+			hcenter0 = resizedframe->width*0.5+hcenter;
+			vcenter0 = resizedframe->height*0.5+vcenter;
+			hshift0 = resizedframe->width*0.5+hshift;
+			vshift0 = resizedframe->height*0.5+vshift;
+
 			m[0] = cos(angle)/hscale;
 			m[1] = sin(angle)/hscale;
 			m[3] = -sin(angle)/vscale;
 			m[4] = cos(angle)/vscale;
-			m[2] = (1-cos(angle)/hscale)*resizedframe->width*0.5-(sin(angle)/hscale)*resizedframe->height*0.5;  
-			m[5] = (sin(angle)/vscale)*resizedframe->width*0.5+(1-cos(angle)/vscale)*resizedframe->height*0.5;
+			m[2] = (1-cos(angle)/hscale)*hshift0-(sin(angle)/hscale)*vshift0+hcenter0-hshift0;  
+			m[5] = (sin(angle)/vscale)*hshift0+(1-cos(angle)/vscale)*vshift0+vcenter0-vshift0;
 			cvWarpAffine(resizedframe, image, &M, CV_INTER_LINEAR+CV_WARP_FILL_OUTLIERS+CV_WARP_INVERSE_MAP, cvScalarAll(0));
 
-			//double hscale = 1.33*0.5, vscale = 0.5;
-			//m[0] = hscale*cos(-angle);
-			//m[1] = hscale*sin(-angle);
-			//m[3] = vscale*-sin(-angle);
-			//m[4] = vscale*cos(-angle);
-			//m[2] = (1-hscale*cos(-angle))*resizedframe->width*0.5-hscale*sin(-angle)*resizedframe->height*0.5;  
-			//m[5] = vscale*sin(-angle)*resizedframe->width*0.5+(1-vscale*cos(-angle))*resizedframe->height*0.5;
-			////cvGetQuadrangleSubPix(resizedframe, image, &M);
-			////cv2DRotationMatrix(cvPoint2D32f(resizedframe->width*0.5,resizedframe->height*0.5), -angle*180.0/M_PI, scale, &M);
-			//cvWarpAffine(resizedframe, image, &M, CV_INTER_LINEAR+CV_WARP_FILL_OUTLIERS, cvScalarAll(0));
-
 			if (bFlip) cvFlip(image, NULL, 1);
 		}
 		LeaveCriticalSection(&imageCS);
@@ -683,6 +692,7 @@ int main(int argc, char* argv[])
 #endif // __ANDROID__	
 	double m[6]; // For rotation...
 	CvMat M = cvMat(2, 3, CV_64F, m); // For rotation...
+	double hcenter0 = 0, vcenter0 = 0, hshift0 = 0, vshift0 = 0;
 	THREAD_IDENTIFIER handlecamThreadId;
 	char videorecordfilename[256];
 	int i = 0;
@@ -771,33 +781,29 @@ int main(int argc, char* argv[])
 		return EXIT_FAILURE;
 	}
 
-	if ((angle == 0)&&(hscale == 1)&&(vscale == 1))
+	if ((hcenter == 0)&&(vcenter == 0)&&
+		(hscale == 1)&&(vscale == 1)&&(angle == 0)&&
+		(hshift == 0)&&(vshift == 0))
 	{
 		if (bFlip) cvFlip(resizedframe, image, 1); else cvCopy(resizedframe, image, 0);
 	}
 	else
 	{
 		// Create a map_matrix, where the left 2x2 matrix is the transform and the right 2x1 is the dimensions.
-		//double hscale = 0.5, vscale = 1.33*0.5;
+
+		hcenter0 = resizedframe->width*0.5+hcenter;
+		vcenter0 = resizedframe->height*0.5+vcenter;
+		hshift0 = resizedframe->width*0.5+hshift;
+		vshift0 = resizedframe->height*0.5+vshift;
+
 		m[0] = cos(angle)/hscale;
 		m[1] = sin(angle)/hscale;
 		m[3] = -sin(angle)/vscale;
 		m[4] = cos(angle)/vscale;
-		m[2] = (1-cos(angle)/hscale)*resizedframe->width*0.5-(sin(angle)/hscale)*resizedframe->height*0.5;  
-		m[5] = (sin(angle)/vscale)*resizedframe->width*0.5+(1-cos(angle)/vscale)*resizedframe->height*0.5;
+		m[2] = (1-cos(angle)/hscale)*hshift0-(sin(angle)/hscale)*vshift0+hcenter0-hshift0;  
+		m[5] = (sin(angle)/vscale)*hshift0+(1-cos(angle)/vscale)*vshift0+vcenter0-vshift0;
 		cvWarpAffine(resizedframe, image, &M, CV_INTER_LINEAR+CV_WARP_FILL_OUTLIERS+CV_WARP_INVERSE_MAP, cvScalarAll(0));
 
-		//double hscale = 1.33*0.5, vscale = 0.5;
-		//m[0] = hscale*cos(-angle);
-		//m[1] = hscale*sin(-angle);
-		//m[3] = vscale*-sin(-angle);
-		//m[4] = vscale*cos(-angle);
-		//m[2] = (1-hscale*cos(-angle))*resizedframe->width*0.5-hscale*sin(-angle)*resizedframe->height*0.5;  
-		//m[5] = vscale*sin(-angle)*resizedframe->width*0.5+(1-vscale*cos(-angle))*resizedframe->height*0.5;
-		////cvGetQuadrangleSubPix(resizedframe, image, &M);
-		////cv2DRotationMatrix(cvPoint2D32f(resizedframe->width*0.5,resizedframe->height*0.5), -angle*180.0/M_PI, scale, &M);
-		//cvWarpAffine(resizedframe, image, &M, CV_INTER_LINEAR+CV_WARP_FILL_OUTLIERS, cvScalarAll(0));
-
 		if (bFlip) cvFlip(image, NULL, 1);
 	}
 

RemoteWebcamMultiSrv/RemoteWebcamMultiSrv.txt

@@ -1,5 +1,8 @@
 % camid (0..9) or a video filename
 0
+%Kinect2Color
+%Kinect2Depth
+%Kinect2Infrared
 % srvport
 4014
 % videoimgwidth
@@ -14,12 +17,20 @@
 5
 % bForceSoftwareResize
 1
+% hcenter
+0
+% vcenter
+0
 % hscale
 1
 % vscale
 1
 % rotation angle (in deg)
 0
+% hshift
+0
+% vshift
+0
 % bFlip
 0
 % bUDP

RemoteWebcamSrv/Globals.c

@@ -29,9 +29,13 @@ int videoimgheight = 0;
 int captureperiod = 0;
 int timeout = 0;
 BOOL bForceSoftwareResize = FALSE;
+double hcenter = 0;
+double vcenter = 0;
 double hscale = 1;
 double vscale = 1;
 double angle = 0;
+double hshift = 0;
+double vshift = 0;
 int bFlip = FALSE;
 BOOL bUDP = FALSE;
 int pixcolorchgthreshold = 0; 

RemoteWebcamSrv/Globals.h

@@ -36,9 +36,13 @@ EXTERN_C int videoimgheight;
 EXTERN_C int captureperiod;
 EXTERN_C int timeout;
 EXTERN_C BOOL bForceSoftwareResize;
+EXTERN_C double hcenter;
+EXTERN_C double vcenter;
 EXTERN_C double hscale;
 EXTERN_C double vscale;
 EXTERN_C double angle;
+EXTERN_C double hshift;
+EXTERN_C double vshift;
 EXTERN_C int bFlip;
 EXTERN_C BOOL bUDP;
 EXTERN_C int pixcolorchgthreshold;