From 677f4221c0efb46d661defd298e52ad4f9ef0b0c Mon Sep 17 00:00:00 2001
From: Sebastian Hahta <joseha@utu.fi>
Date: Tue, 6 Aug 2019 12:43:36 +0300
Subject: [PATCH] visualize edges in depth map
---
applications/gui/src/camera.cpp | 31 +++++++++++++++++++++++++++----
1 file changed, 27 insertions(+), 4 deletions(-)
diff --git a/applications/gui/src/camera.cpp b/applications/gui/src/camera.cpp
index 4ee248dc3..892ba32e8 100644
--- a/applications/gui/src/camera.cpp
+++ b/applications/gui/src/camera.cpp
@@ -242,6 +242,31 @@ void ftl::gui::Camera::setChannel(ftl::rgbd::channel_t c) {
}
}
+static void visualizeDepthMap( const cv::Mat &depth, cv::Mat &out,
+ const float max_depth)
+{
+ DCHECK(max_depth > 0.0);
+
+ depth.convertTo(out, CV_8U, 255.0f / max_depth);
+ out = 255 - out;
+ cv::Mat mask = (depth >= 39.0f); // TODO (mask for invalid pixels)
+
+ applyColorMap(out, out, cv::COLORMAP_JET);
+ out.setTo(cv::Scalar(255, 255, 255), mask);
+}
+
+static void drawEdges( const cv::Mat &in, cv::Mat &out,
+ const int ksize = 3, double weight = -1.0, const int threshold = 32,
+ const int threshold_type = cv::THRESH_TOZERO)
+{
+ cv::Mat edges;
+ cv::Laplacian(in, edges, 8, ksize);
+ cv::threshold(edges, edges, threshold, 255, threshold_type);
+
+ cv::Mat edges_color(in.size(), CV_8UC3);
+ cv::addWeighted(edges, weight, out, 1.0, 0.0, out, CV_8UC3);
+}
+
const GLTexture &ftl::gui::Camera::captureFrame() {
float now = (float)glfwGetTime();
delta_ = now - ftime_;
@@ -280,10 +305,8 @@ const GLTexture &ftl::gui::Camera::captureFrame() {
switch(channel_) {
case ftl::rgbd::kChanDepth:
if (depth.rows == 0) { break; }
- //imageSize = Vector2f(depth.cols,depth.rows);
- depth.convertTo(tmp, CV_8U, 255.0f / 5.0f);
- tmp = 255 - tmp;
- applyColorMap(tmp, tmp, cv::COLORMAP_JET);
+ visualizeDepthMap(depth, tmp, 7.0);
+ drawEdges(rgb, tmp);
texture_.update(tmp);
break;
--
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