Remove Q from Display

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);
 		}
 		

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

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