From 52f818f35cd9fb1bb46bc0e259db2e6c0700c928 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Fri, 24 May 2019 14:48:19 +0300
Subject: [PATCH] Ray cast to mat image
---
.../reconstruct/include/ftl/ray_cast_util.hpp | 2 +-
applications/reconstruct/src/main.cpp | 21 ++++++++++---------
components/renderers/cpp/src/display.cpp | 1 +
3 files changed, 13 insertions(+), 11 deletions(-)
diff --git a/applications/reconstruct/include/ftl/ray_cast_util.hpp b/applications/reconstruct/include/ftl/ray_cast_util.hpp
index ecd82ea17..ed01c5e65 100644
--- a/applications/reconstruct/include/ftl/ray_cast_util.hpp
+++ b/applications/reconstruct/include/ftl/ray_cast_util.hpp
@@ -61,7 +61,7 @@ struct RayCastData {
__host__ void download(float3 *points, uchar3 *colours, const RayCastParams& params) const {
//printf("Download: %d,%d\n", params.m_width, params.m_height);
- cudaSafeCall(cudaMemcpy(points, d_depth3, sizeof(float3) * params.m_width * params.m_height, cudaMemcpyDeviceToHost));
+ //cudaSafeCall(cudaMemcpy(points, d_depth3, sizeof(float3) * params.m_width * params.m_height, cudaMemcpyDeviceToHost));
cudaSafeCall(cudaMemcpy(colours, d_colors, sizeof(uchar3) * params.m_width * params.m_height, cudaMemcpyDeviceToHost));
}
diff --git a/applications/reconstruct/src/main.cpp b/applications/reconstruct/src/main.cpp
index d715e19fa..dcbc47a46 100644
--- a/applications/reconstruct/src/main.cpp
+++ b/applications/reconstruct/src/main.cpp
@@ -396,18 +396,19 @@ static void run() {
LOG(INFO) << "Scene created";
float3 *point_array = new float3[rayparams.m_width*rayparams.m_height];
- uchar3 *colour_array = new uchar3[rayparams.m_width*rayparams.m_height];
+ //uchar3 *colour_array = new uchar3[rayparams.m_width*rayparams.m_height];
+ cv::Mat colour_array(cv::Size(rayparams.m_width,rayparams.m_height), CV_8UC3);
float bounce = 0.0;
int bounce_dir = 1;
- net.broadcast("grab"); // To sync cameras
+ //net.broadcast("grab"); // To sync cameras
int active = inputs.size();
while (active > 0 && display_merged.active()) {
active = 0;
-
+ net.broadcast("grab"); // To sync cameras
PointCloud<PointXYZRGB>::Ptr cloud(new PointCloud<PointXYZRGB>);
@@ -462,7 +463,7 @@ static void run() {
else bounce -= 0.02f;
if (fabs(bounce) > 1.0f) bounce_dir = (bounce_dir > 0) ? -1 : 1;
- Eigen::Affine3f transform(Eigen::Translation3f(bounce,0.0f,0.0f));
+ Eigen::Affine3f transform(Eigen::Translation3f(-1.0f+bounce*0.3f,0.0f,bounce));
Eigen::Matrix4f viewPose = transform.matrix();
//viewPose = inputs[0].source->getPose();
@@ -471,11 +472,11 @@ static void run() {
rays.render(scene.getHashData(), scene.getHashParams(), inputs[0].gpu, viewPose);
LOG(INFO) << "Download points";
- rays.getRayCastData().download(point_array, colour_array, rayparams);
+ rays.getRayCastData().download(point_array, (uchar3*)colour_array.data, rayparams);
int pc = 0;
- LOG(INFO) << "Convert points...";
+ /*LOG(INFO) << "Convert points...";
for (int i=0; i<rayparams.m_width*rayparams.m_height; i++) {
if (point_array[i].x == MINF || point_array[i].z == 0.0f) continue;
pcl::PointXYZRGB p(colour_array[i].z, colour_array[i].y, colour_array[i].x);
@@ -487,14 +488,14 @@ static void run() {
pc++;
}
- if (pc > 0) {
- display_merged.render(cloud);
+ if (pc > 0) {*/
+ display_merged.render(colour_array);
display_merged.wait(1);
- }
+ //}
}
delete [] point_array;
- delete [] colour_array;
+ //delete [] colour_array;
#endif
// TODO non-PCL (?)
}
diff --git a/components/renderers/cpp/src/display.cpp b/components/renderers/cpp/src/display.cpp
index a768c10e8..9e8e72cad 100644
--- a/components/renderers/cpp/src/display.cpp
+++ b/components/renderers/cpp/src/display.cpp
@@ -222,6 +222,7 @@ bool Display::render(pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr pc) {
#endif // HAVE_PCL
bool Display::render(const cv::Mat &img, style_t s) {
if (s == STYLE_NORMAL) {
+ cv::namedWindow("Image", cv::WINDOW_KEEPRATIO);
cv::imshow("Image", img);
} else if (s = STYLE_DISPARITY) {
Mat idepth;
--
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