Move display code to separate file and class

cv-node/CMakeLists.txt

@@ -76,6 +76,7 @@ set(CVNODESRC
 	src/calibrate.cpp
 	src/local.cpp
 	src/sync.cpp
+	src/display.cpp
 	src/disparity.cpp
 	src/middlebury.cpp
 	src/algorithms/rtcensus.cpp

cv-node/include/ftl/display.hpp

+#ifndef _FTL_DISPLAY_HPP_
+#define _FTL_DISPLAY_HPP_
+
+#include <nlohmann/json.hpp>
+#include <opencv2/opencv.hpp>
+#include <ftl/calibrate.hpp>
+#include "opencv2/highgui.hpp"
+
+namespace ftl {
+	class Display {
+		public:
+		Display(const Calibrate &cal, nlohmann::json &config);
+		~Display();
+
+		bool render(const cv::Mat &rgb, const cv::Mat &depth);
+
+		bool active() const;
+
+		private:
+		const ftl::Calibrate &calibrate_;
+		nlohmann::json config_;
+		cv::viz::Viz3d *window_;
+		bool active_;
+	};
+};
+
+#endif // _FTL_DISPLAY_HPP_
+

cv-node/src/display.cpp

+#include <ftl/display.hpp>
+
+using ftl::Display;
+using namespace cv;
+
+Display::Display(const Calibrate &cal, nlohmann::json &config) : calibrate_(cal), config_(config) {
+	window_ = new cv::viz::Viz3d("FTL");
+	window_->setBackgroundColor(cv::viz::Color::white());
+	active_ = true;
+}
+
+Display::~Display() {
+	delete window_;
+}
+
+bool Display::render(const cv::Mat &rgb, const cv::Mat &depth) {
+	Mat idepth;
+
+	if (config_["points"]) {
+		cv::Mat Q_32F; // = (Mat_<double>(4,4) << 1, 0, 0, 0,  0, 1, 0, 0,  0, 0, 1, 0,  0, 0, 0, 1); //(4,4,CV_32F);
+		calibrate_.getQ().convertTo(Q_32F,CV_32F);
+		cv::Mat_<cv::Vec3f> XYZ(depth.rows,depth.cols);   // Output point cloud
+		reprojectImageTo3D(depth, XYZ, Q_32F, false);
+		
+		//cv::imshow("Points",XYZ);
+		
+		cv::viz::WCloud cloud_widget = cv::viz::WCloud( XYZ, rgb );
+		cloud_widget.setRenderingProperty( cv::viz::POINT_SIZE, 2 );
+		
+		/* Rotation using rodrigues */
+	    /// Rotate around (1,1,1)
+	    /*rot_vec.at<float>(0,0) = 0.0f;
+	    rot_vec.at<float>(0,1) = 0.0f;
+	    rot_vec.at<float>(0,2) = CV_PI * 1.0f;*/
+
+	    //Mat rot_mat;
+	    //Rodrigues(rot_vec, rot_mat);
+
+	    /// Construct pose
+	    //Affine3f pose(rot_mat, Vec3f(0, 20.0, 0));
+		window_->showWidget( "coosys", viz::WCoordinateSystem() );
+		window_->showWidget( "Depth", cloud_widget );
+		//window_->setWidgetPose("Depth", pose);
+
+		window_->spinOnce( 1, true );
+	}
+	
+	if (config_["depth"]) {
+		/*Mat depth32F = (focal * (float)l.cols * base_line) / depth;
+		normalize(depth32F, depth32F, 0, 255, NORM_MINMAX, CV_8U);
+		cv::imshow("Depth", depth32F);
+		if(cv::waitKey(10) == 27){
+	        //exit if ESC is pressed
+	       	active_ = false;
+	    }*/
+    } else if (config_["disparity"]) {
+    	//if (disparity32F.type() == CV_32FC1) {
+    		//disparity32F = disparity32F / (float)config["disparity"]["maximum"];
+    		depth.convertTo(idepth,CV_8U,255.0f / 208.0f); //(float)config_["maximum"]);
+    	//}
+    	//normalize(disparity32F, disparity32F, 0, 255, NORM_MINMAX, CV_8U);
+    	applyColorMap(idepth, idepth, cv::COLORMAP_JET);
+		cv::imshow("Disparity", idepth);
+		if(cv::waitKey(10) == 27){
+	        //exit if ESC is pressed
+	        active_ = false;
+	    }
+    }
+
+	return true;
+}
+
+bool Display::active() const {
+	return active_ && !window_->wasStopped();
+}
+

cv-node/src/main.cpp

@@ -4,6 +4,7 @@
 #include <ftl/calibrate.hpp>
 #include <ftl/disparity.hpp>
 #include <ftl/middlebury.hpp>
+#include <ftl/display.hpp>
 #include <nlohmann/json.hpp>
 
 #include "opencv2/imgproc.hpp"
@@ -137,14 +138,13 @@ static void run(const string &file) {
 	
 	Mat l, r, disparity32F, depth32F, lbw, rbw;
 	
-	cv::viz::Viz3d myWindow("FTL");
-	myWindow.setBackgroundColor(cv::viz::Color::white());
+	Display display(calibrate, config["display"]);
 	
 	float base_line = (float)config["camera"]["base_line"];
 	float focal = (float)(config["camera"]["focal_length"]) / (float)(config["camera"]["sensor_width"]);
 	Mat rot_vec = Mat::zeros(1,3,CV_32F);
 	
-	while (!myWindow.wasStopped()) {
+	while (display.active()) {
 		// Read calibrated images.
 		calibrate.undistort(l,r);
 		
@@ -156,64 +156,15 @@ static void run(const string &file) {
 		sync->get(LEFT,l);
 		sync->get(RIGHT,r);
         
-        // TODO Check other algorithms convert to BW
         disparity->compute(l,r,disparity32F);
 		
-		//disparity32F += 10.0f; // TODO REMOVE
-		
 		// Clip the left edge
 		//Rect rect((int)config["disparity"]["maximum"],7,disparity32F.cols-(int)config["disparity"]["maximum"],disparity32F.rows-14);
 
-		if (config["display"]["points"]) {
-			cv::Mat Q_32F; // = (Mat_<double>(4,4) << 1, 0, 0, 0,  0, 1, 0, 0,  0, 0, 1, 0,  0, 0, 0, 1); //(4,4,CV_32F);
-			calibrate.getQ().convertTo(Q_32F,CV_32F);
-			cv::Mat_<cv::Vec3f> XYZ(disparity32F.rows,disparity32F.cols);   // Output point cloud
-			reprojectImageTo3D(disparity32F, XYZ, Q_32F, false);
-			
-			//cv::imshow("Points",XYZ);
-			
-			cv::viz::WCloud cloud_widget = cv::viz::WCloud( XYZ, l );
-			cloud_widget.setRenderingProperty( cv::viz::POINT_SIZE, 2 );
-			
-			/* Rotation using rodrigues */
-		    /// Rotate around (1,1,1)
-		    rot_vec.at<float>(0,0) = 0.0f;
-		    rot_vec.at<float>(0,1) = 0.0f;
-		    rot_vec.at<float>(0,2) = CV_PI * 1.0f;
-
-		    Mat rot_mat;
-		    Rodrigues(rot_vec, rot_mat);
-
-		    /// Construct pose
-		    Affine3f pose(rot_mat, Vec3f(0, 20.0, 0));
-			myWindow.showWidget( "coosys", viz::WCoordinateSystem() );
-			myWindow.showWidget( "Depth", cloud_widget );
-			myWindow.setWidgetPose("Depth", pose);
-
-			myWindow.spinOnce( 1, true );
-		}
-		
-		if (config["display"]["depth"]) {
-			depth32F = (focal * (float)l.cols * base_line) / disparity32F;
-			normalize(depth32F, depth32F, 0, 255, NORM_MINMAX, CV_8U);
-			cv::imshow("Depth", depth32F);
-			if(cv::waitKey(10) == 27){
-		        //exit if ESC is pressed
-		        break;
-		    }
-        } else if (config["display"]["disparity"]) {
-        	//if (disparity32F.type() == CV_32FC1) {
-        		//disparity32F = disparity32F / (float)config["disparity"]["maximum"];
-        		disparity32F.convertTo(disparity32F,CV_8U,255.0f / (float)config["disparity"]["maximum"]);
-        	//}
-        	//normalize(disparity32F, disparity32F, 0, 255, NORM_MINMAX, CV_8U);
-        	applyColorMap(disparity32F, disparity32F, cv::COLORMAP_JET);
-			cv::imshow("Disparity", disparity32F);
-			if(cv::waitKey(10) == 27){
-		        //exit if ESC is pressed
-		        break;
-		    }
-        }
+		// Send RGB+Depth images for local rendering
+		display.render(l, disparity32F);
+
+		//streamer.send(l, disparity32F);
 	}
 }