From 7029fb63dbdc42d4dc360c91a7dc6d39e921f657 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Mon, 20 Jul 2020 18:29:50 +0300
Subject: [PATCH] Display depth at cursor
---
applications/gui2/src/modules/camera.cpp | 25 ++++++++++++++++---
applications/gui2/src/modules/camera.hpp | 2 ++
applications/gui2/src/views/camera.cpp | 11 ++++++++
applications/gui2/src/views/statistics.cpp | 9 +------
.../common/cpp/include/ftl/utility/string.hpp | 12 +++++++++
5 files changed, 47 insertions(+), 12 deletions(-)
create mode 100644 components/common/cpp/include/ftl/utility/string.hpp
diff --git a/applications/gui2/src/modules/camera.cpp b/applications/gui2/src/modules/camera.cpp
index 1bf50c6a9..1103dd0df 100644
--- a/applications/gui2/src/modules/camera.cpp
+++ b/applications/gui2/src/modules/camera.cpp
@@ -235,6 +235,11 @@ void Camera::activate(ftl::data::FrameID id) {
std::atomic_store(¤t_fs_, fs);
std::atomic_store(&latest_, fs);
+ // Deal with audio
+ if (fs->frames[frame_idx].hasOwn(Channel::AudioStereo)) {
+ speaker->queue(fs->timestamp(), fs->frames[frame_idx]);
+ }
+
// Need to notify GUI thread when first data comes
if (!has_seen_frame_) {
//std::unique_lock<std::mutex> lk(m);
@@ -270,10 +275,6 @@ void Camera::activate(ftl::data::FrameID id) {
}
}
- // Deal with audio
- if (fs->frames[frame_idx].hasOwn(Channel::AudioStereo)) {
- speaker->queue(fs->timestamp(), fs->frames[frame_idx]);
- }
screen->redraw();
nframes_++;
return true;
@@ -396,3 +397,19 @@ void Camera::touch(int id, ftl::codecs::TouchType t, int x, int y, float d, int
}*/
}
+
+float Camera::depthAt(int x, int y) {
+ auto ptr = std::atomic_load(&latest_);
+
+ if (ptr) {
+ const auto &frame = ptr->frames[frame_idx].cast<ftl::rgbd::Frame>();
+
+ if (frame.hasChannel(Channel::Depth)) {
+ const auto &depth = frame.get<cv::Mat>(Channel::Depth);
+ if (x >= 0 && y >= 0 && x < depth.cols && y < depth.rows) {
+ return depth.at<float>(y, x);
+ }
+ }
+ }
+ return 0.0f;
+}
diff --git a/applications/gui2/src/modules/camera.hpp b/applications/gui2/src/modules/camera.hpp
index a33a1950c..2f2857b3a 100644
--- a/applications/gui2/src/modules/camera.hpp
+++ b/applications/gui2/src/modules/camera.hpp
@@ -52,6 +52,8 @@ public:
std::string getActiveSourceURI();
+ float depthAt(int x, int y);
+
bool isRecording();
void stopRecording();
void startRecording(const std::string &filename, const std::unordered_set<ftl::codecs::Channel> &channels);
diff --git a/applications/gui2/src/views/camera.cpp b/applications/gui2/src/views/camera.cpp
index 4b4dd782f..87469f851 100644
--- a/applications/gui2/src/views/camera.cpp
+++ b/applications/gui2/src/views/camera.cpp
@@ -2,6 +2,7 @@
#include <nanogui/layout.h>
#include <nanogui/button.h>
#include <nanogui/vscrollpanel.h>
+#include <ftl/utility/string.hpp>
#include <ftl/codecs/touch.hpp>
@@ -394,6 +395,8 @@ bool CameraView::mouseMotionEvent(const Eigen::Vector2i &p, const Eigen::Vector2
auto pos = imview_->imageCoordinateAt((p - mPos + rel).cast<float>());
if (pos.x() >= 0.0f && pos.y() >= 0.0f) {
ctrl_->touch(0, ftl::codecs::TouchType::MOUSE_LEFT, pos.x(), pos.y(), 0.0f, (button > 0) ? 255 : 0);
+
+ //LOG(INFO) << "Depth at " << pos.x() << "," << pos.y() << " = " << ctrl_->depthAt(pos.x(), pos.y());
}
return true;
//}
@@ -423,6 +426,14 @@ void CameraView::draw(NVGcontext*ctx) {
}
}
View::draw(ctx);
+
+ auto mouse = screen()->mousePos();
+ auto pos = imview_->imageCoordinateAt((mouse - mPos).cast<float>());
+ float d = ctrl_->depthAt(pos.x(), pos.y());
+
+ if (d > 0.0f) {
+ nvgText(ctx, mouse.x()+25.0f, mouse.y()+20.0f, (to_string_with_precision(d,2) + std::string("m")).c_str(), nullptr);
+ }
}
void CameraView::performLayout(NVGcontext* ctx) {
diff --git a/applications/gui2/src/views/statistics.cpp b/applications/gui2/src/views/statistics.cpp
index 7a512c096..a593ac942 100644
--- a/applications/gui2/src/views/statistics.cpp
+++ b/applications/gui2/src/views/statistics.cpp
@@ -4,6 +4,7 @@
#include <ftl/streams/builder.hpp>
#include <ftl/streams/netstream.hpp>
#include <ftl/render/colouriser.hpp>
+#include <ftl/utility/string.hpp>
#include <nanogui/screen.h>
#include <nanogui/opengl.h>
@@ -13,14 +14,6 @@
using ftl::gui2::StatisticsWidget;
using std::string;
-template <typename T>
-std::string to_string_with_precision(const T a_value, const int n = 6) {
- std::ostringstream out;
- out.precision(n);
- out << std::fixed << a_value;
- return out.str();
-}
-
StatisticsWidget::StatisticsWidget(nanogui::Widget* parent, ftl::gui2::Statistics* ctrl) :
nanogui::Widget(parent), ctrl_(ctrl), last_stats_count_(0) {
diff --git a/components/common/cpp/include/ftl/utility/string.hpp b/components/common/cpp/include/ftl/utility/string.hpp
new file mode 100644
index 000000000..d88aa1153
--- /dev/null
+++ b/components/common/cpp/include/ftl/utility/string.hpp
@@ -0,0 +1,12 @@
+#ifndef _FTL_UTILITY_STRING_HPP_
+#define _FTL_UTILITY_STRING_HPP_
+
+template <typename T>
+std::string to_string_with_precision(const T a_value, const int n = 6) {
+ std::ostringstream out;
+ out.precision(n);
+ out << std::fixed << a_value;
+ return out.str();
+}
+
+#endif
\ No newline at end of file
--
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