diff --git a/applications/gui/src/main.cpp b/applications/gui/src/main.cpp
index ea45a23ce6c883e49f9f87340f6458723a6c893d..c93f64381b9fefb968e1f2424813afd4b01e45d4 100644
--- a/applications/gui/src/main.cpp
+++ b/applications/gui/src/main.cpp
@@ -28,6 +28,113 @@ using ftl::rgbd::Source;
nanogui::ImageView *view;
};*/
+class StatisticsImage {
+private:
+ std::vector<float> data_;
+ cv::Size size_;
+ int n_;
+
+public:
+ StatisticsImage(cv::Size size) {
+ size_ = size;
+ data_ = std::vector<float>(size.width * size.height * 2, 0.0f);
+ n_ = 0;
+ }
+
+ void update(const cv::Mat &in);
+ void getStdDev(cv::Mat &out);
+ void getMean(cv::Mat &out);
+};
+
+void StatisticsImage::update(const cv::Mat &in) {
+ DCHECK(in.type() == CV_32F);
+ DCHECK(in.size() == size_);
+ // Knuth's method
+
+ n_++;
+ for (int i = 0; i < size_.width * size_.height; i++) {
+ float x = ((float*) in.data)[i];
+ if (x > 30.0f || x < 0.001) { continue; } // invalid value
+ float &m = data_[2*i];
+ float &S = data_[2*i+1];
+ float m_prev = m;
+ m = m + (x - m) / n_;
+ S = S + (x - m) * (x - m_prev);
+ }
+}
+
+void StatisticsImage::getStdDev(cv::Mat &in) {
+ in = cv::Mat(size_, CV_32F, 0.0f);
+
+ for (int i = 0; i < size_.width * size_.height; i++) {
+ float &m = data_[2*i];
+ float &S = data_[2*i+1];
+ ((float*) in.data)[i] = sqrt(S / n_);
+ }
+}
+
+void StatisticsImage::getMean(cv::Mat &in) {
+ in = cv::Mat(size_, CV_32F, 0.0f);
+
+ for (int i = 0; i < size_.width * size_.height; i++) {
+ ((float*) in.data)[i] = data_[2*i];
+ }
+}
+
+class StatisticsImageNSamples {
+private:
+ std::vector<cv::Mat> samples_;
+ cv::Size size_;
+ int i_;
+ int n_;
+
+public:
+ StatisticsImageNSamples(cv::Size size, int n) {
+ size_ = size;
+ samples_ = std::vector<cv::Mat>(n);
+ i_ = 0;
+ n_ = n;
+ }
+
+ void update(const cv::Mat &in);
+ void getStdDev(cv::Mat &out);
+ void getMean(cv::Mat &out);
+};
+
+void StatisticsImageNSamples::update(const cv::Mat &in) {
+ DCHECK(in.type() == CV_32F);
+ DCHECK(in.size() == size_);
+
+ i_ = (i_ + 1) % n_;
+ in.copyTo(samples_[i_]);
+}
+
+void StatisticsImageNSamples::getStdDev(cv::Mat &in) {
+ // Knuth's method
+ cv::Mat mat_m(size_, CV_32F, 0.0f);
+ cv::Mat mat_S(size_, CV_32F, 0.0f);
+
+ float n = 0.0f;
+ for (int i_sample = (i_ + 1) % n_; i_sample != i_; i_sample = (i_sample + 1) % n_) {
+ n += 1.0f;
+ for (int i = 0; i < size_.width * size_.height; i++) {
+ float &x = ((float*) samples_[i_sample].data)[i];
+ float &m = ((float*) mat_m.data)[i];
+ float &S = ((float*) mat_S.data)[i];
+ float m_prev = m;
+
+ if (x > 30.0 || x < 0.001) continue;
+
+ m = m + (x - m) / n;
+ S = S + (x - m) * (x - m_prev);
+ }
+ }
+
+ mat_S.copyTo(in);
+ cv::sqrt(in, in);
+}
+
+void StatisticsImageNSamples::getMean(cv::Mat &in) {}
namespace {
constexpr char const *const defaultImageViewVertexShader =
@@ -211,6 +318,8 @@ class FTLApplication : public nanogui::Screen {
}
}
+ StatisticsImageNSamples *stats_ = nullptr;
+
virtual void draw(NVGcontext *ctx) {
using namespace Eigen;
@@ -230,21 +339,40 @@ class FTLApplication : public nanogui::Screen {
src_->grab();
src_->getFrames(rgb, depth);
- if (swindow_->getDepth()) {
- if (depth.rows > 0) {
+ if (!stats_ && depth.rows > 0) {
+ stats_ = new StatisticsImageNSamples(depth.size(), 25);
+ }
+
+ if (stats_ && depth.rows > 0) { stats_->update(depth); }
+
+ cv::Mat tmp;
+
+ using ftl::gui::SourceWindow;
+ switch(swindow_->getMode()) {
+ case SourceWindow::Mode::depth:
+ if (depth.rows == 0) { break; }
imageSize = Vector2f(depth.cols,depth.rows);
- cv::Mat idepth;
- depth.convertTo(idepth, CV_8U, 255.0f / 10.0f); // TODO(nick)
- applyColorMap(idepth, idepth, cv::COLORMAP_JET);
- texture_.update(idepth);
+ depth.convertTo(tmp, CV_8U, 255.0f / 10.0f); // TODO(nick)
+ applyColorMap(tmp, tmp, cv::COLORMAP_JET);
+ texture_.update(tmp);
mImageID = texture_.texture();
- }
- } else {
- if (rgb.rows > 0) {
+ break;
+
+ case SourceWindow::Mode::stddev:
+ if (depth.rows == 0) { break; }
+ imageSize = Vector2f(depth.cols, depth.rows);
+ stats_->getStdDev(tmp);
+ tmp.convertTo(tmp, CV_8U, 50.0);
+ applyColorMap(tmp, tmp, cv::COLORMAP_HOT);
+ texture_.update(tmp);
+ mImageID = texture_.texture();
+ break;
+
+ default:
+ if (rgb.rows == 0) { break; }
imageSize = Vector2f(rgb.cols,rgb.rows);
texture_.update(rgb);
mImageID = texture_.texture();
- }
}
}
diff --git a/applications/gui/src/src_window.cpp b/applications/gui/src/src_window.cpp
index 62fbb7265f84bf03ffbe536aa30a2d9d8131828a..1aa1bd353c177a511392ff08cde101e9834a8f34 100644
--- a/applications/gui/src/src_window.cpp
+++ b/applications/gui/src/src_window.cpp
@@ -1,6 +1,8 @@
#include "src_window.hpp"
#include <nanogui/imageview.h>
+#include <nanogui/textbox.h>
+#include <nanogui/slider.h>
#include <nanogui/combobox.h>
#include <nanogui/label.h>
#include <nanogui/opengl.h>
@@ -158,37 +160,43 @@ SourceWindow::SourceWindow(nanogui::Widget *parent, ftl::ctrl::Master *ctrl)
setLayout(new nanogui::GroupLayout());
using namespace nanogui;
-
- depth_ = false;
- src_ = ftl::create<Source>(ctrl->getRoot(), "source", ctrl->getNet());
+
+ mode_ = Mode::rgb;
+ src_ = ftl::create<Source>(ctrl->getRoot(), "source", ctrl->getNet());
//Widget *tools = new Widget(this);
- // tools->setLayout(new BoxLayout(Orientation::Horizontal,
- // Alignment::Middle, 0, 6));
+ // tools->setLayout(new BoxLayout(Orientation::Horizontal,
+ // Alignment::Middle, 0, 6));
- new Label(this, "Select source","sans-bold");
- available_ = ctrl->getNet()->findAll<string>("list_streams");
- auto select = new ComboBox(this, available_);
- select->setCallback([this,select](int ix) {
- LOG(INFO) << "Change source: " << ix;
- src_->set("uri", available_[ix]);
- });
+ new Label(this, "Select source","sans-bold");
+ available_ = ctrl->getNet()->findAll<string>("list_streams");
+ auto select = new ComboBox(this, available_);
+ select->setCallback([this,select](int ix) {
+ LOG(INFO) << "Change source: " << ix;
+ src_->set("uri", available_[ix]);
+});
ctrl->getNet()->onConnect([this,select](ftl::net::Peer *p) {
- available_ = ctrl_->getNet()->findAll<string>("list_streams");
- select->setItems(available_);
+ available_ = ctrl_->getNet()->findAll<string>("list_streams");
+ select->setItems(available_);
});
- auto depth = new Button(this, "Depth");
- depth->setFlags(Button::ToggleButton);
- depth->setChangeCallback([this](bool state) {
- //image_->setDepth(state);
- depth_ = state;
- });
+ auto button_rgb = new Button(this, "RGB (left)");
+ button_rgb->setFlags(Button::RadioButton);
+ button_rgb->setPushed(true);
+ button_rgb->setChangeCallback([this](bool state) { mode_ = Mode::rgb; });
+
+ auto button_depth = new Button(this, "Depth");
+ button_depth->setFlags(Button::RadioButton);
+ button_depth->setChangeCallback([this](bool state) { mode_ = Mode::depth; });
+
+ auto button_stddev = new Button(this, "Standard Deviation (25 frames)");
+ button_stddev->setFlags(Button::RadioButton);
+ button_stddev->setChangeCallback([this](bool state) { mode_ = Mode::stddev; });
#ifdef HAVE_LIBARCHIVE
- auto snapshot = new Button(this, "Snapshot");
- snapshot->setCallback([this] {
+ auto button_snapshot = new Button(this, "Snapshot");
+ button_snapshot->setCallback([this] {
try {
char timestamp[18];
std::time_t t=std::time(NULL);
diff --git a/applications/gui/src/src_window.hpp b/applications/gui/src/src_window.hpp
index 6258267c62fcec81c688a89a9361c4c58d166938..e7aa192133eebd7ec306c41be1d84d30a8861538 100644
--- a/applications/gui/src/src_window.hpp
+++ b/applications/gui/src/src_window.hpp
@@ -18,16 +18,18 @@ namespace gui {
*/
class SourceWindow : public nanogui::Window {
public:
+ enum class Mode { rgb, depth, stddev };
SourceWindow(nanogui::Widget *parent, ftl::ctrl::Master *ctrl);
~SourceWindow();
ftl::rgbd::Source *getSource() const { return src_; }
- bool getDepth() const { return depth_; }
+ bool getDepth() const { return mode_ == Mode::depth; }
+ Mode getMode() { return mode_; }
private:
ftl::ctrl::Master *ctrl_;
ftl::rgbd::Source *src_;
- bool depth_;
+ Mode mode_;
VirtualCameraView *image_;
std::vector<std::string> available_;