From 63bff2eb1b5d831dca98959a1e7bbf90a688bcd8 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Wed, 10 Apr 2019 10:32:29 +0300
Subject: [PATCH] Again fix cmake for windows. Add disparity flip option and
rgb display.
---
CMakeLists.txt | 4 ++--
cmake/Findglog.cmake | 1 +
cv-node/config/config.json | 3 ++-
cv-node/include/ftl/local.hpp | 1 +
cv-node/src/display.cpp | 12 +++++++++++-
cv-node/src/local.cpp | 12 +++++++++++-
6 files changed, 28 insertions(+), 5 deletions(-)
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 969acb22d..ac657f104 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -13,8 +13,8 @@ enable_testing()
set(THREADS_PREFER_PTHREAD_FLAG ON)
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/")
-#include(Findglog)
-find_package( glog REQUIRED )
+include(Findglog)
+#find_package( glog REQUIRED )
find_package( OpenCV REQUIRED )
find_package( Threads REQUIRED )
find_package( URIParser REQUIRED )
diff --git a/cmake/Findglog.cmake b/cmake/Findglog.cmake
index 9079190dc..6b07e3ba4 100644
--- a/cmake/Findglog.cmake
+++ b/cmake/Findglog.cmake
@@ -9,6 +9,7 @@ set(glog_DIR ${glog_DIR})
find_package(glog QUIET PATHS "${glog_DIR}/lib/cmake" NO_DEFAULT_PATH)
if (GLOG_FOUND)
+message(STATUS "Found installed glog")
return()
endif()
diff --git a/cv-node/config/config.json b/cv-node/config/config.json
index a0bf49e50..1979288d6 100644
--- a/cv-node/config/config.json
+++ b/cv-node/config/config.json
@@ -7,7 +7,8 @@
"source": {
"flip": false,
"nostereo": false,
- "scale": 1.0
+ "scale": 1.0,
+ "flip_vert": false
},
"calibrate": false,
"calibration": {
diff --git a/cv-node/include/ftl/local.hpp b/cv-node/include/ftl/local.hpp
index f4c98f357..cf18b9928 100644
--- a/cv-node/include/ftl/local.hpp
+++ b/cv-node/include/ftl/local.hpp
@@ -31,6 +31,7 @@ class LocalSource {
bool stereo_;
//float fps_;
bool flip_;
+ bool flip_v_;
bool nostereo_;
float downsize_;
cv::VideoCapture *camera_a_;
diff --git a/cv-node/src/display.cpp b/cv-node/src/display.cpp
index 4889b8026..52a8a39fa 100644
--- a/cv-node/src/display.cpp
+++ b/cv-node/src/display.cpp
@@ -54,6 +54,10 @@ bool Display::render(const cv::Mat &rgb, const cv::Mat &depth) {
#endif // HAVE_VIZ
}
+ if (config_["left"]) {
+ cv::imshow("RGB", rgb);
+ }
+
if (config_["depth"]) {
/*Mat depth32F = (focal * (float)l.cols * base_line) / depth;
normalize(depth32F, depth32F, 0, 255, NORM_MINMAX, CV_8U);
@@ -63,7 +67,13 @@ bool Display::render(const cv::Mat &rgb, const cv::Mat &depth) {
active_ = false;
}*/
} else if (config_["disparity"]) {
- depth.convertTo(idepth, CV_8U, 255.0f / 208.0f); // TODO(nick)
+ if ((bool)config_["flip_vert"]) {
+ cv::flip(depth, idepth, 0);
+ } else {
+ idepth = depth;
+ }
+
+ idepth.convertTo(idepth, CV_8U, 255.0f / 256.0f); // TODO(nick)
applyColorMap(idepth, idepth, cv::COLORMAP_JET);
cv::imshow("Disparity", idepth);
diff --git a/cv-node/src/local.cpp b/cv-node/src/local.cpp
index cb7ee6484..ea000e1a0 100644
--- a/cv-node/src/local.cpp
+++ b/cv-node/src/local.cpp
@@ -21,8 +21,9 @@ using std::chrono::duration;
using std::chrono::high_resolution_clock;
LocalSource::LocalSource(nlohmann::json &config)
- : timestamp_(0.0),
+ : timestamp_(0.0),
flip_(config["flip"]),
+ flip_v_(config["flip_vert"]),
nostereo_(config["nostereo"]),
downsize_(config.value("scale", 1.0f)) {
// Use cameras
@@ -55,6 +56,7 @@ LocalSource::LocalSource(nlohmann::json &config)
LocalSource::LocalSource(const string &vid, nlohmann::json &config)
: timestamp_(0.0),
flip_(config["flip"]),
+ flip_v_(config["flip_vert"]),
nostereo_(config["nostereo"]),
downsize_(config.value("scale", 1.0f)) {
if (vid == "") {
@@ -211,6 +213,14 @@ bool LocalSource::get(cv::Mat &l, cv::Mat &r) {
0, 0, cv::INTER_LINEAR);
}
+ if (flip_v_) {
+ Mat tl, tr;
+ cv::flip(l, tl, 0);
+ cv::flip(r, tr, 0);
+ l = tl;
+ r = tr;
+ }
+
return true;
}
--
GitLab