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HaruArima08HaruArima08
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add:時間指定動画作成の追加
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‎Makefile‎

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Original file line numberDiff line numberDiff line change
@@ -27,6 +27,10 @@ help:
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@echo " $$ make test"
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@echo 画像をサーバーにアップロードする
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@echo " $$ make upload-image"
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@echo ライントレース画像から動画を作成する
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@echo " $$ make create-line-trace-video"
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@echo " $$ make create-line-trace-video DURATION=60"
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@echo " $$ make create-line-trace-video START=60 END=100"
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## 実行関連 ##
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build: build-client build-camera
@@ -41,6 +45,7 @@ build-camera:
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start: start-camera start-client
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start-client:
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rm -rf camera_server/datafiles/line_trace
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cd $(MAKEFILE_PATH)../ && make start
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start-camera:
@@ -155,3 +160,32 @@ upload-image:
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# ミニフィグの正面らしさ比較用画像をサーバーにアップロードする
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upload-minifig-image:
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curl --fail -X POST -F "file=@$(FILE_PATH)" http://$(SERVER_IP):8000/minifig/detect
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## デバッグ関連 ##
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# ライントレース画像から動画を作成（ROI描画付き）
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# 使用例:
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# make create-line-trace-video # 全体（最大120秒）
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# make create-line-trace-video DURATION=60 # 最初の60秒
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# make create-line-trace-video START=60 END=100 # 60秒から100秒まで
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# make create-line-trace-video DURATION=0 START=60 END=100 # 60秒から100秒まで（DURATIONは無視される）
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create-line-trace-video:
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@if [ ! -d "$(MAKEFILE_PATH)camera_server/datafiles/line_trace" ]; then \
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echo "Error: camera_server/datafiles/line_trace not found"; \
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exit 1; \
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fi
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@echo "動画作成ツールをコンパイル中..."
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@cd $(MAKEFILE_PATH)camera_server && \
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g++ -std=c++17 -Wall -Wextra -O2 $$(pkg-config --cflags opencv4) \
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create_video.cpp $$(pkg-config --libs opencv4) -o create_video_app
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@echo "動画を作成中..."
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@cd $(MAKEFILE_PATH)camera_server && { \
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if [ -n "$(START)" ] && [ -n "$(END)" ]; then \
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./create_video_app datafiles/line_trace $(MAKEFILE_PATH)line_trace.mp4 $${DURATION:-0} $(START) $(END); \
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elif [ -n "$(DURATION)" ]; then \
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./create_video_app datafiles/line_trace $(MAKEFILE_PATH)line_trace.mp4 $(DURATION); \
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else \
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./create_video_app datafiles/line_trace $(MAKEFILE_PATH)line_trace.mp4; \
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fi; \
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}
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@rm -f $(MAKEFILE_PATH)camera_server/create_video_app
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@echo "動画を作成しました: $(MAKEFILE_PATH)line_trace.mp4"

‎camera_server/create_video.cpp‎

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@@ -0,0 +1,217 @@
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/**
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* @file create_video.cpp
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* @brief ライントレース画像から動画を作成するツール
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* @author Hara1274 HaruArima08
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*/
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#include <opencv2/opencv.hpp>
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#include <iostream>
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#include <vector>
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#include <string>
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#include <filesystem>
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#include <algorithm>
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int main(int argc, char* argv[])
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{
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if(argc < 3 || argc > 6) {
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std::cerr << "Usage: " << argv[0]
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<< " <input_dir> <output_video> [duration_seconds] [start_seconds] [end_seconds]"
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<< std::endl;
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std::cerr << "Examples:" << std::endl;
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std::cerr << " " << argv[0] << " input_dir output.mp4" << std::endl;
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std::cerr << " " << argv[0] << " input_dir output.mp4 120" << std::endl;
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std::cerr << " " << argv[0] << " input_dir output.mp4 0 60 100" << std::endl;
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return 1;
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}
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std::string inputDir = argv[1];
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std::string outputPath = argv[2];
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int durationSeconds = (argc >= 4) ? std::stoi(argv[3]) : 120; // デフォルト120秒
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int startSeconds = (argc >= 5) ? std::stoi(argv[4]) : 0; // デフォルト0秒から
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int endSeconds = (argc == 6) ? std::stoi(argv[5]) : -1; // デフォルト指定なし
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namespace fs = std::filesystem;
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// 入力ディレクトリの存在確認
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if(!fs::exists(inputDir) || !fs::is_directory(inputDir)) {
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std::cerr << "Error: " << inputDir << " not found or is not a directory" << std::endl;
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return 1;
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}
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// 画像ファイルを収集してソート
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std::vector<fs::path> imageFiles;
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for(const auto& entry : fs::directory_iterator(inputDir)) {
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if(entry.is_regular_file()) {
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std::string filename = entry.path().filename().string();
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if(filename.find("roi_") == 0 && filename.find(".JPEG") != std::string::npos) {
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imageFiles.push_back(entry.path());
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}
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}
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}
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if(imageFiles.empty()) {
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std::cerr << "No image files found in " << inputDir << std::endl;
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return 1;
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}
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// ファイル名でソート（タイムスタンプ順）
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std::sort(imageFiles.begin(), imageFiles.end(), [](const fs::path& a, const fs::path& b) {
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std::string nameA = a.filename().string();
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std::string nameB = b.filename().string();
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// タイムスタンプを抽出（最後の_以降の数字）
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size_t posA = nameA.rfind('_');
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size_t posB = nameB.rfind('_');
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if(posA != std::string::npos && posB != std::string::npos) {
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long long tsA = std::stoll(nameA.substr(posA + 1));
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long long tsB = std::stoll(nameB.substr(posB + 1));
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return tsA < tsB;
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}
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return nameA < nameB;
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});
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std::cerr << "Found " << imageFiles.size() << " images" << std::endl;
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// 最初の画像を読み込んでサイズを取得
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cv::Mat firstFrame = cv::imread(imageFiles[0].string());
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if(firstFrame.empty()) {
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std::cerr << "Failed to read first image: " << imageFiles[0] << std::endl;
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return 1;
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}
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// 解像度を縮小
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double scale = 0.5;
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cv::Size frameSize(static_cast<int>(firstFrame.cols * scale),
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static_cast<int>(firstFrame.rows * scale));
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std::cerr << "Original size: " << firstFrame.cols << "x" << firstFrame.rows << std::endl;
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std::cerr << "Video size: " << frameSize.width << "x" << frameSize.height << std::endl;
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// VideoWriterを作成
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double fps = 15.0;
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cv::VideoWriter writer(outputPath, cv::VideoWriter::fourcc('H', '2', '6', '4'), fps, frameSize);
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if(!writer.isOpened()) {
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std::cerr << "Failed to open VideoWriter: " << outputPath << std::endl;
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return 1;
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}
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// 時間指定の処理
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double totalDuration = static_cast<double>(imageFiles.size()) / fps;
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// 終了時間が指定されていない場合は、開始時間+durationSecondsまたは全体の長さ
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if(endSeconds == -1) {
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if(startSeconds > 0) {
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endSeconds = startSeconds + durationSeconds;
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} else {
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endSeconds = std::min(durationSeconds, 120);
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}
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}
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// 範囲チェック
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if(startSeconds < 0) startSeconds = 0;
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if(endSeconds > totalDuration) endSeconds = static_cast<int>(totalDuration);
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if(startSeconds >= endSeconds) {
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std::cerr << "Error: start_seconds (" << startSeconds << ") must be less than end_seconds ("
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<< endSeconds << ")" << std::endl;
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return 1;
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}
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// フレーム範囲の計算
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int startFrame = static_cast<int>(fps * startSeconds);
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int endFrame = static_cast<int>(fps * endSeconds);
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std::cerr << "Total images: " << imageFiles.size() << " (" << totalDuration << " seconds at "
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<< fps << " fps)" << std::endl;
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std::cerr << "Creating video from " << startSeconds << "s to " << endSeconds << "s (frames "
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<< startFrame << "-" << endFrame << ")" << std::endl;
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// 各画像を処理
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int frameCount = 0;
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for(size_t i = 0; i < imageFiles.size(); i++) {
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// 指定された時間範囲外のフレームをスキップ
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if(static_cast<int>(i) < startFrame) continue;
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if(static_cast<int>(i) >= endFrame) break;
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const auto& imagePath = imageFiles[i];
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cv::Mat frame = cv::imread(imagePath.string());
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if(frame.empty()) {
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std::cerr << "Failed to read image: " << imagePath << std::endl;
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continue;
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}
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// --- ここから変更点：リサイズを先に行い、ROIはスケール後の座標で描画 ---
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cv::Mat resizedFrame;
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cv::resize(frame, resizedFrame, frameSize, 0, 0, cv::INTER_AREA);
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// ファイル名からROI情報を抽出
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std::string filename = imagePath.filename().string();
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int x = 0, y = 0, w = 0, h = 0;
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size_t xPos = filename.find("_x");
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size_t yPos = filename.find("_y");
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size_t wPos = filename.find("_w");
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size_t hPos = filename.find("_h");
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if(xPos != std::string::npos && yPos != std::string::npos && wPos != std::string::npos
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&& hPos != std::string::npos) {
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try {
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x = std::stoi(filename.substr(xPos + 2, yPos - xPos - 2));
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y = std::stoi(filename.substr(yPos + 2, wPos - yPos - 2));
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w = std::stoi(filename.substr(wPos + 2, hPos - wPos - 2));
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h = std::stoi(filename.substr(hPos + 2));
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} catch(const std::exception& e) {
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std::cerr << "Failed to parse ROI from filename: " << filename << std::endl;
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// リサイズ済みフレームを書き出して次へ
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writer.write(resizedFrame);
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frameCount++;
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continue;
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}
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// スケールに合わせたROI座標
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int sx = static_cast<int>(x * scale);
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int sy = static_cast<int>(y * scale);
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int sw = static_cast<int>(w * scale);
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int sh = static_cast<int>(h * scale);
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// 範囲チェック（簡潔に調整）
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if(sx < 0) sx = 0;
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if(sy < 0) sy = 0;
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if(sw < 0) sw = 0;
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if(sh < 0) sh = 0;
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if(sx + sw > resizedFrame.cols) sw = resizedFrame.cols - sx;
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if(sy + sh > resizedFrame.rows) sh = resizedFrame.rows - sy;
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// ROI矩形を描画（赤色、太さ2）
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if(sw > 0 && sh > 0) {
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cv::rectangle(resizedFrame, cv::Rect(sx, sy, sw, sh), cv::Scalar(0, 0, 255), 2);
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}
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// ROI文字情報を描画
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std::string roiText1 = "ROI: x=" + std::to_string(x) + ", y=" + std::to_string(y);
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std::string roiText2 = "w=" + std::to_string(w) + ", h=" + std::to_string(h);
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cv::putText(resizedFrame, roiText1, cv::Point(10, 22), cv::FONT_HERSHEY_SIMPLEX, 0.6,
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cv::Scalar(0, 0, 255), 1);
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cv::putText(resizedFrame, roiText2, cv::Point(10, 22 + 18), cv::FONT_HERSHEY_SIMPLEX, 0.6,
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cv::Scalar(0, 0, 255), 1);
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}
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// 動画に書き込み
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writer.write(resizedFrame);
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frameCount++;
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}
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writer.release();
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// 元の画像ディレクトリを削除
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try {
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fs::remove_all(inputDir);
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std::cerr << "Removed directory: " << inputDir << std::endl;
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} catch(const std::exception& e) {
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std::cerr << "Failed to remove directory: " << e.what() << std::endl;
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}
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std::cerr << "動画を作成しました: " << outputPath << std::endl;
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return 0;
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}

‎camera_server/modules/image_processors/LineBoundingBoxDetector.cpp‎

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@@ -60,6 +60,13 @@ void LineBoundingBoxDetector::detect(const cv::Mat& frame, BoundingBoxDetectionR
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return;
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}
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// 画像保存
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std::string filename
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= "roi_x" + std::to_string(roi.x) + "_y" + std::to_string(roi.y) + "_w"
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+ std::to_string(roi.width) + "_h" + std::to_string(roi.height) + "_"
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+ std::to_string(std::chrono::system_clock::now().time_since_epoch().count());
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FrameSave::save(const_cast<cv::Mat&>(frame), "datafiles/line_trace", filename);
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// 入力画像が指定の解像度と異なる場合、リサイズ処理
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cv::Mat frameProcessed;
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if(frame.size() != resolution) {

‎camera_server/modules/image_processors/LineBoundingBoxDetector.h‎

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#include "BoundingBoxDetector.h"
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#include "SystemInfo.h"
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#include "FrameSave.h"
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class LineBoundingBoxDetector : public BoundingBoxDetector {
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public:

‎camera_server/modules/image_processors/TwoColorLineBoundingBoxDetector.cpp‎

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@@ -71,6 +71,13 @@ void TwoColorLineBoundingBoxDetector::detect(const cv::Mat& frame,
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return;
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}
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// 画像保存
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std::string filename
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= "roi_x" + std::to_string(roi.x) + "_y" + std::to_string(roi.y) + "_w"
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+ std::to_string(roi.width) + "_h" + std::to_string(roi.height) + "_"
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+ std::to_string(std::chrono::system_clock::now().time_since_epoch().count());
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FrameSave::save(const_cast<cv::Mat&>(frame), "datafiles/line_trace", filename);
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// 1. リサイズ処理
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cv::Mat frameProcessed;
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if(frame.size() != resolution) {

‎camera_server/modules/image_processors/TwoColorLineBoundingBoxDetector.h‎

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#include "BoundingBoxDetector.h"
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#include "SystemInfo.h"
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#include "FrameSave.h"
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class TwoColorLineBoundingBoxDetector {
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public:

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