From 744267cfe00b907b63a31124a6a096ded49087e1 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Sat, 7 Nov 2020 10:42:01 +0200
Subject: [PATCH] Add normals channel
---
SDK/C++/private/frame_impl.cpp | 1 +
SDK/C++/private/image_impl.cpp | 9 +++++++++
SDK/C++/public/include/voltu/types/image.hpp | 5 +++--
SDK/C++/public/samples/fusion_evaluator/main.cpp | 2 +-
SDK/C++/public/voltu_cv.cpp | 13 +++++++++++++
5 files changed, 27 insertions(+), 3 deletions(-)
diff --git a/SDK/C++/private/frame_impl.cpp b/SDK/C++/private/frame_impl.cpp
index ae295fe03..0b0779b6a 100644
--- a/SDK/C++/private/frame_impl.cpp
+++ b/SDK/C++/private/frame_impl.cpp
@@ -24,6 +24,7 @@ std::list<voltu::ImagePtr> FrameImpl::getImageSet(voltu::Channel c)
{
case voltu::Channel::kColour : channel = ftl::codecs::Channel::Colour; break;
case voltu::Channel::kDepth : channel = ftl::codecs::Channel::Depth; break;
+ case voltu::Channel::kNormals : channel = ftl::codecs::Channel::Normals; break;
default: throw voltu::exceptions::BadImageChannel();
}
diff --git a/SDK/C++/private/image_impl.cpp b/SDK/C++/private/image_impl.cpp
index f8bf63a27..76dea9a22 100644
--- a/SDK/C++/private/image_impl.cpp
+++ b/SDK/C++/private/image_impl.cpp
@@ -30,6 +30,10 @@ voltu::ImageData ImageImpl::getHost()
{
r.format = voltu::ImageFormat::kFloat32;
}
+ else if (m.type() == CV_16FC4)
+ {
+ r.format = voltu::ImageFormat::kFloat16_4;
+ }
return r;
}
@@ -51,6 +55,10 @@ voltu::ImageData ImageImpl::getDevice()
{
r.format = voltu::ImageFormat::kFloat32;
}
+ else if (m.type() == CV_16FC4)
+ {
+ r.format = voltu::ImageFormat::kFloat16_4;
+ }
return r;
}
@@ -66,6 +74,7 @@ voltu::Channel ImageImpl::getChannel()
{
case ftl::codecs::Channel::Colour : return voltu::Channel::kColour;
case ftl::codecs::Channel::Depth : return voltu::Channel::kDepth;
+ case ftl::codecs::Channel::Normals : return voltu::Channel::kNormals;
default: return voltu::Channel::kInvalid;
}
}
diff --git a/SDK/C++/public/include/voltu/types/image.hpp b/SDK/C++/public/include/voltu/types/image.hpp
index 6064f894d..406c81df8 100644
--- a/SDK/C++/public/include/voltu/types/image.hpp
+++ b/SDK/C++/public/include/voltu/types/image.hpp
@@ -15,7 +15,8 @@ enum class ImageFormat
{
kInvalid = 0,
kFloat32 = 1,
- kBGRA8 = 2
+ kBGRA8 = 2,
+ kFloat16_4 = 3
};
PY_NO_SHARED_PTR struct ImageData
@@ -31,7 +32,7 @@ class Image
{
public:
virtual ~Image() = default;
-
+
PY_API PY_RV_LIFETIME_PARENT virtual ImageData getHost() = 0;
virtual ImageData getDevice() = 0;
diff --git a/SDK/C++/public/samples/fusion_evaluator/main.cpp b/SDK/C++/public/samples/fusion_evaluator/main.cpp
index 7745484df..d388851e9 100644
--- a/SDK/C++/public/samples/fusion_evaluator/main.cpp
+++ b/SDK/C++/public/samples/fusion_evaluator/main.cpp
@@ -42,7 +42,7 @@ int main(int argc, char **argv)
pipe->submit(frame);
pipe->waitCompletion(1000);
- auto imgset = frame->getImageSet(voltu::Channel::kColour);
+ auto imgset = frame->getImageSet(voltu::Channel::kNormals);
for (auto img : imgset)
{
diff --git a/SDK/C++/public/voltu_cv.cpp b/SDK/C++/public/voltu_cv.cpp
index 3b77155b6..d74ad9313 100644
--- a/SDK/C++/public/voltu_cv.cpp
+++ b/SDK/C++/public/voltu_cv.cpp
@@ -14,6 +14,10 @@ void voltu::cv::convert(voltu::ImagePtr img, ::cv::Mat &mat)
{
mat = ::cv::Mat(data.height, data.width, CV_32FC1, data.data);
}
+ else if (data.format == voltu::ImageFormat::kFloat16_4)
+ {
+ mat = ::cv::Mat(data.height, data.width, CV_16FC4, data.data);
+ }
else
{
mat = ::cv::Mat();
@@ -47,4 +51,13 @@ void voltu::cv::visualise(voltu::ImagePtr img, ::cv::Mat &mat)
::cv::applyColorMap(tmp, mat, ::cv::COLORMAP_INFERNO);
//#endif
}
+ else if (data.format == voltu::ImageFormat::kFloat16_4)
+ {
+ ::cv::Mat tmp;
+ voltu::cv::convert(img, tmp);
+ tmp.convertTo(tmp, CV_32FC4);
+ tmp += 1.0f;
+ tmp *= 127.0f;
+ tmp.convertTo(mat, CV_8UC4);
+ }
}
--
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