Image display utility function

components/common/cpp/CMakeLists.txt

@@ -14,6 +14,7 @@ set(COMMONSRC
 	src/exception.cpp
 	src/file.cpp
 	src/utility/base64.cpp
+	src/utility/image_debug.cpp
 )
 
 check_function_exists(uriParseSingleUriA HAVE_URIPARSESINGLE)

components/common/cpp/include/ftl/utility/image_debug.hpp

+#ifndef _FTL_UTILITY_IMAGE_DEBUG_HPP_
+#define _FTL_UTILITY_IMAGE_DEBUG_HPP_
+
+namespace ftl {
+namespace utility {
+
+enum class ImageVisualisation {
+	RAW_COLOUR,
+	RAW_GRAY,
+	NORMALISED_FLOAT,
+	HEAT_MAPPED
+};
+
+void show_image(
+	const cv::cuda::GpuMat &m,
+	const std::string &name,
+	float scale,
+	ImageVisualisation iv);
+
+}
+}
+
+#endif
\ No newline at end of file

components/common/cpp/src/utility/image_debug.cpp

+#include <ftl/utility/image_debug.hpp>
+
+#include <opencv2/core.hpp>
+#include <opencv2/imgproc.hpp>
+#include <opencv2/cudaimgproc.hpp>
+#include <opencv2/highgui.hpp>
+
+void ftl::utility::show_image(
+	const cv::cuda::GpuMat &m,
+	const std::string &name,
+	float scale,
+	ImageVisualisation iv
+) {
+	cv::Mat tmp;
+	m.download(tmp);
+
+	if (scale != 1.0f) {
+		cv::resize(tmp, tmp, cv::Size(float(tmp.cols)*scale, float(tmp.rows)*scale));
+	}
+
+	// Must do some conversion.
+	if (tmp.type() == CV_32F) {
+
+	}
+
+	if (iv == ftl::utility::ImageVisualisation::HEAT_MAPPED) {
+		#if OPENCV_VERSION >= 40102
+		cv::applyColorMap(tmp, tmp, cv::COLORMAP_TURBO);
+		#else
+		cv::applyColorMap(tmp, tmp, cv::COLORMAP_INFERNO);
+		#endif
+	}
+
+	cv::imshow(name, tmp);
+	cv::waitKey(1);
+}

components/operators/src/disparity/fixstars_sgm.cpp

@@ -2,6 +2,7 @@
 
 #include "ftl/operators/disparity.hpp"
 #include <ftl/operators/cuda/disparity.hpp>
+#include <ftl/utility/image_debug.hpp>
 
 #include <opencv2/cudaimgproc.hpp>
 #include <opencv2/cudaarithm.hpp>
@@ -215,6 +216,8 @@ bool FixstarsSGM::apply(Frame &in, Frame &out, cudaStream_t stream) {
 		cv::cuda::normalize(weightsF_, weightsF_, minweight, 1.0, cv::NORM_MINMAX, -1, cv::noArray(), cvstream);
 		weightsF_.convertTo(weights_, CV_8UC1, 255.0f, cvstream);
 
+		//ftl::utility::show_image(weights_, "VarWeight", 0.5f, ftl::utility::ImageVisualisation::HEAT_MAPPED);
+
 		//if ((int)P2_map_.step != P2_map_.cols) LOG(ERROR) << "P2 map step error: " << P2_map_.cols << "," << P2_map_.step;
 		ssgm_->execute(lbw_.data, rbw_.data, disp_int_.data, P2_map_.data, (uint8_t*) weights_.data, weights_.step1(), config()->value("min_disp", 60), stream);
 	} else {