From 4559b1fa34b736657ca311678735215b9982826a Mon Sep 17 00:00:00 2001
From: Sebastian Hahta <joseha@utu.fi>
Date: Wed, 15 May 2019 10:52:07 +0300
Subject: [PATCH] Remove Q from Display
---
reconstruct/src/main.cpp | 7 ++-----
renderer/cpp/include/ftl/display.hpp | 5 +----
renderer/cpp/src/display.cpp | 10 +++++-----
3 files changed, 8 insertions(+), 14 deletions(-)
diff --git a/reconstruct/src/main.cpp b/reconstruct/src/main.cpp
index 61049ec33..1b77929d0 100644
--- a/reconstruct/src/main.cpp
+++ b/reconstruct/src/main.cpp
@@ -149,10 +149,6 @@ static void run() {
net.subscribe(src, [&in](const vector<unsigned char> &jpg, const vector<unsigned char> &d) {
in.recv(jpg, d);
});
-
- // todo: Display should only need processed input, depth calculation etc.
- // should happen somewhere else.
- display.setCalibration(in.getQ());
}
int active = displays.size();
@@ -172,9 +168,10 @@ static void run() {
auto lk = source.lock();
Mat rgb = source.getRGB();
Mat disparity = source.getDisparity();
+ Mat q = source.getQ();
lk.unlock();
- display.render(rgb, disparity);
+ display.render(rgb, disparity, q);
display.wait(50);
}
diff --git a/renderer/cpp/include/ftl/display.hpp b/renderer/cpp/include/ftl/display.hpp
index bb7d5444c..c60d5fc05 100644
--- a/renderer/cpp/include/ftl/display.hpp
+++ b/renderer/cpp/include/ftl/display.hpp
@@ -33,9 +33,7 @@ class Display {
explicit Display(nlohmann::json &config, std::string name);
~Display();
- void setCalibration(const cv::Mat &q) { q_ = q; }
-
- bool render(const cv::Mat &rgb, const cv::Mat &depth);
+ bool render(const cv::Mat &rgb, const cv::Mat &depth, const cv::Mat &q);
#if defined HAVE_PCL
bool render(pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr);
@@ -47,7 +45,6 @@ class Display {
void wait(int ms);
private:
- cv::Mat q_;
nlohmann::json config_;
#if defined HAVE_VIZ
diff --git a/renderer/cpp/src/display.cpp b/renderer/cpp/src/display.cpp
index 6f70787ed..acedcbe37 100644
--- a/renderer/cpp/src/display.cpp
+++ b/renderer/cpp/src/display.cpp
@@ -77,13 +77,13 @@ Display::~Display() {
#endif // HAVE_VIZ
}
-bool Display::render(const cv::Mat &rgb, const cv::Mat &depth) {
+bool Display::render(const cv::Mat &rgb, const cv::Mat &depth, const cv::Mat &q) {
Mat idepth;
- if (config_["points"] && q_.rows != 0) {
+ if (config_["points"] && q.rows != 0) {
#if defined HAVE_PCL
cv::Mat_<cv::Vec3f> XYZ(depth.rows, depth.cols); // Output point cloud
- reprojectImageTo3D(depth, XYZ, q_, false);
+ reprojectImageTo3D(depth, XYZ, q, false);
auto pc = ftl::utility::matToPointXYZ(XYZ, rgb);
pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGB> rgb(pc);
@@ -96,7 +96,7 @@ bool Display::render(const cv::Mat &rgb, const cv::Mat &depth) {
//cv::Mat Q_32F;
//calibrate_.getQ().convertTo(Q_32F, CV_32F);
cv::Mat_<cv::Vec3f> XYZ(depth.rows, depth.cols); // Output point cloud
- reprojectImageTo3D(depth+20.0f, XYZ, q_, true);
+ reprojectImageTo3D(depth+20.0f, XYZ, q, true);
// Remove all invalid pixels from point cloud
XYZ.setTo(Vec3f(NAN, NAN, NAN), depth == 0.0f);
@@ -181,7 +181,7 @@ bool Display::render(const cv::Mat &img, style_t s) {
}
void Display::wait(int ms) {
- if (config_["points"] && q_.rows != 0) {
+ if (config_["points"]) {
#if defined HAVE_PCL
pclviz_->spinOnce(20);
#elif defined HAVE_VIZ
--
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