From 7d887a98eff31df0a75a9a56b4786203a5e5557d Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Fri, 12 Apr 2019 09:25:27 +0300
Subject: [PATCH] Move display code to render lib and add to reconstructor
---
CMakeLists.txt | 1 +
common/config/config.json | 10 +++++-
net/cpp/src/dispatcher.cpp | 2 +-
reconstruct/CMakeLists.txt | 2 +-
reconstruct/src/main.cpp | 26 +++++++++-----
renderer/CMakeLists.txt | 2 ++
renderer/cpp/CMakeLists.txt | 18 ++++++++++
.../cpp}/include/ftl/display.hpp | 9 +++--
{vision => renderer/cpp}/src/display.cpp | 35 +++++++++++++------
9 files changed, 80 insertions(+), 25 deletions(-)
create mode 100644 renderer/CMakeLists.txt
create mode 100644 renderer/cpp/CMakeLists.txt
rename {vision => renderer/cpp}/include/ftl/display.hpp (82%)
rename {vision => renderer/cpp}/src/display.cpp (77%)
diff --git a/CMakeLists.txt b/CMakeLists.txt
index d12b4d1a4..ca8b5b291 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -114,6 +114,7 @@ endif()
SET(CMAKE_USE_RELATIVE_PATHS ON)
+add_subdirectory(renderer)
add_subdirectory(net)
add_subdirectory(vision)
add_subdirectory(reconstruct)
diff --git a/common/config/config.json b/common/config/config.json
index 104b18dc6..bafcaf0b4 100644
--- a/common/config/config.json
+++ b/common/config/config.json
@@ -66,7 +66,15 @@
"net": {
"peers": ["tcp://localhost:9001"]
},
- "source": "ftl://utu.fi/dummy/rgb-d"
+ "source": "ftl://utu.fi/dummy/rgb-d",
+ "display": {
+ "flip_vert": false,
+ "disparity": false,
+ "points": true,
+ "depth": false,
+ "left": false,
+ "right": false
+ }
}
}
diff --git a/net/cpp/src/dispatcher.cpp b/net/cpp/src/dispatcher.cpp
index 247a829bc..34861a04f 100644
--- a/net/cpp/src/dispatcher.cpp
+++ b/net/cpp/src/dispatcher.cpp
@@ -129,7 +129,7 @@ void ftl::net::Dispatcher::dispatch_notification(Peer &s, msgpack::object const
auto &&name = std::get<1>(the_call);
auto &&args = std::get<2>(the_call);
- LOG(INFO) << "NOTIFICATION " << name << "() <- " << s.getURI();
+ //LOG(INFO) << "NOTIFICATION " << name << "() <- " << s.getURI();
auto binding = _locateHandler(name);
diff --git a/reconstruct/CMakeLists.txt b/reconstruct/CMakeLists.txt
index 8dfbccded..2b463475a 100644
--- a/reconstruct/CMakeLists.txt
+++ b/reconstruct/CMakeLists.txt
@@ -12,6 +12,6 @@ add_executable(ftl-reconstruct ${REPSRC})
add_dependencies(ftl-reconstruct ftlnet)
#target_include_directories(cv-node PUBLIC ${PROJECT_SOURCE_DIR}/include)
-target_link_libraries(ftl-reconstruct Threads::Threads ZLIB::ZLIB ${OpenCV_LIBS} glog::glog ftlnet)
+target_link_libraries(ftl-reconstruct Threads::Threads ZLIB::ZLIB ${OpenCV_LIBS} glog::glog ftlnet ftlrender)
diff --git a/reconstruct/src/main.cpp b/reconstruct/src/main.cpp
index 8b7035dfc..0ec511f87 100644
--- a/reconstruct/src/main.cpp
+++ b/reconstruct/src/main.cpp
@@ -18,6 +18,7 @@
#include <opencv2/opencv.hpp>
#include <ftl/net/universe.hpp>
+#include <ftl/display.hpp>
#include <nlohmann/json.hpp>
#include "opencv2/imgproc.hpp"
@@ -30,6 +31,7 @@
#endif
using ftl::net::Universe;
+using ftl::Display;
using std::string;
using std::vector;
using std::map;
@@ -118,6 +120,8 @@ static void run(const string &file) {
Mat rgb, depth, Q;
mutex m;
+ Display disp(config["display"]);
+
// Make sure connections are complete
sleep_for(milliseconds(500));
@@ -144,13 +148,10 @@ static void run(const string &file) {
inflateEnd(&infstream);
});
- while (true) {
+ while (disp.active()) {
Mat idepth;
unique_lock<mutex> lk(m);
- if (rgb.cols > 0) {
- cv::imshow("RGB", rgb);
- }
if (depth.cols > 0) {
if (Q.rows == 0) {
auto buf = net.findOne<vector<unsigned char>>((string)config["source"]+"/calibration");
@@ -158,14 +159,23 @@ static void run(const string &file) {
Q = Mat(cv::Size(4,4), CV_32F);
memcpy((*buf).data(), Q.data, (*buf).size());
LOG(INFO) << "Have calibration";
+ if (Q.step*Q.rows != (*buf).size()) LOG(ERROR) << "Corrupted calibration";
+ disp.setCalibration(Q);
}
}
- depth.convertTo(idepth, CV_8U, 255.0f / 256.0f); // TODO(nick)
- applyColorMap(idepth, idepth, cv::COLORMAP_JET);
- cv::imshow("Depth", idepth);
+ //depth.convertTo(idepth, CV_8U, 255.0f / 256.0f); // TODO(nick)
+ //applyColorMap(idepth, idepth, cv::COLORMAP_JET);
+ //cv::imshow("Depth", idepth);
}
+
+ if (rgb.cols > 0) {
+ //cv::imshow("RGB", rgb);
+ disp.render(rgb,depth);
+ }
+
lk.unlock();
- if (cv::waitKey(40) == 27) break;
+ //if (cv::waitKey(40) == 27) break;
+ disp.wait(40);
}
}
diff --git a/renderer/CMakeLists.txt b/renderer/CMakeLists.txt
new file mode 100644
index 000000000..dc0ad1f72
--- /dev/null
+++ b/renderer/CMakeLists.txt
@@ -0,0 +1,2 @@
+add_subdirectory(cpp)
+
diff --git a/renderer/cpp/CMakeLists.txt b/renderer/cpp/CMakeLists.txt
new file mode 100644
index 000000000..d87223c42
--- /dev/null
+++ b/renderer/cpp/CMakeLists.txt
@@ -0,0 +1,18 @@
+# Need to include staged files and libs
+#include_directories(${PROJECT_SOURCE_DIR}/net/cpp/include)
+#include_directories(${PROJECT_BINARY_DIR})
+
+
+add_library(ftlrender
+ src/display.cpp
+)
+
+target_include_directories(ftlrender PUBLIC
+ $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+ $<INSTALL_INTERFACE:include>
+ PRIVATE src)
+target_link_libraries(ftlrender Threads::Threads glog::glog ${OpenCV_LIBS})
+
+
+
+#ADD_SUBDIRECTORY(test)
diff --git a/vision/include/ftl/display.hpp b/renderer/cpp/include/ftl/display.hpp
similarity index 82%
rename from vision/include/ftl/display.hpp
rename to renderer/cpp/include/ftl/display.hpp
index 930f698d1..1daad0590 100644
--- a/vision/include/ftl/display.hpp
+++ b/renderer/cpp/include/ftl/display.hpp
@@ -9,7 +9,6 @@
#include <nlohmann/json.hpp>
#include <opencv2/opencv.hpp>
-#include <ftl/calibrate.hpp>
#include "opencv2/highgui.hpp"
namespace ftl {
@@ -19,15 +18,19 @@ namespace ftl {
*/
class Display {
public:
- Display(const Calibrate &cal, nlohmann::json &config);
+ Display(nlohmann::json &config);
~Display();
+
+ void setCalibration(const cv::Mat &q) { q_ = q; }
bool render(const cv::Mat &rgb, const cv::Mat &depth);
bool active() const;
+
+ void wait(int ms);
private:
- const ftl::Calibrate &calibrate_;
+ cv::Mat q_;
nlohmann::json config_;
#if defined HAVE_VIZ
diff --git a/vision/src/display.cpp b/renderer/cpp/src/display.cpp
similarity index 77%
rename from vision/src/display.cpp
rename to renderer/cpp/src/display.cpp
index 52a8a39fa..7ee8efe3c 100644
--- a/vision/src/display.cpp
+++ b/renderer/cpp/src/display.cpp
@@ -7,12 +7,10 @@
#include <ftl/display.hpp>
using ftl::Display;
-using ftl::Calibrate;
using cv::Mat;
using cv::Vec3f;
-Display::Display(const Calibrate &cal, nlohmann::json &config) :
- calibrate_(cal), config_(config) {
+Display::Display(nlohmann::json &config) : config_(config) {
#if defined HAVE_VIZ
window_ = new cv::viz::Viz3d("FTL");
window_->setBackgroundColor(cv::viz::Color::white());
@@ -29,12 +27,12 @@ Display::~Display() {
bool Display::render(const cv::Mat &rgb, const cv::Mat &depth) {
Mat idepth;
- if (config_["points"]) {
+ if (config_["points"] && q_.rows != 0) {
#if defined HAVE_VIZ
- cv::Mat Q_32F;
- calibrate_.getQ().convertTo(Q_32F, CV_32F);
+ //cv::Mat Q_32F;
+ //calibrate_.getQ().convertTo(Q_32F, CV_32F);
cv::Mat_<cv::Vec3f> XYZ(depth.rows, depth.cols); // Output point cloud
- reprojectImageTo3D(depth+20.0f, XYZ, Q_32F, true);
+ reprojectImageTo3D(depth+20.0f, XYZ, q_, true);
// Remove all invalid pixels from point cloud
XYZ.setTo(Vec3f(NAN, NAN, NAN), depth == 0.0f);
@@ -45,7 +43,7 @@ bool Display::render(const cv::Mat &rgb, const cv::Mat &depth) {
window_->showWidget("coosys", cv::viz::WCoordinateSystem());
window_->showWidget("Depth", cloud_widget);
- window_->spinOnce(1, true);
+ //window_->spinOnce(40, true);
#else // HAVE_VIZ
@@ -77,15 +75,30 @@ bool Display::render(const cv::Mat &rgb, const cv::Mat &depth) {
applyColorMap(idepth, idepth, cv::COLORMAP_JET);
cv::imshow("Disparity", idepth);
- if(cv::waitKey(10) == 27) {
+ //if(cv::waitKey(40) == 27) {
// exit if ESC is pressed
- active_ = false;
- }
+ // active_ = false;
+ //}
}
return true;
}
+void Display::wait(int ms) {
+ if (config_["points"] && q_.rows != 0) {
+ #if defined HAVE_VIZ
+ window_->spinOnce(1, true);
+ #endif // HAVE_VIZ
+ }
+
+ if (config_["disparity"]) {
+ if(cv::waitKey(ms) == 27) {
+ // exit if ESC is pressed
+ active_ = false;
+ }
+ }
+}
+
bool Display::active() const {
#if defined HAVE_VIZ
return active_ && !window_->wasStopped();
--
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