From 8ed13e24facc85cdbd538402217294b66b3c128f Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nicolas.pope@utu.fi>
Date: Wed, 13 Nov 2019 16:40:16 +0200
Subject: [PATCH] Add source colouring option
---
components/renderers/cpp/src/tri_render.cpp | 55 ++++++++++++++++++++-
1 file changed, 54 insertions(+), 1 deletion(-)
diff --git a/components/renderers/cpp/src/tri_render.cpp b/components/renderers/cpp/src/tri_render.cpp
index 72e4f0546..7998cae17 100644
--- a/components/renderers/cpp/src/tri_render.cpp
+++ b/components/renderers/cpp/src/tri_render.cpp
@@ -398,6 +398,53 @@ void Triangular::_renderChannel(
_reprojectChannel(out, channel_in, channel_out, stream);
}
+/*
+ * H(Hue): 0 - 360 degree (integer)
+ * S(Saturation): 0 - 1.00 (double)
+ * V(Value): 0 - 1.00 (double)
+ *
+ * output[3]: Output, array size 3, int
+ */
+static cv::Scalar HSVtoRGB(int H, double S, double V) {
+ double C = S * V;
+ double X = C * (1 - abs(fmod(H / 60.0, 2) - 1));
+ double m = V - C;
+ double Rs, Gs, Bs;
+
+ if(H >= 0 && H < 60) {
+ Rs = C;
+ Gs = X;
+ Bs = 0;
+ }
+ else if(H >= 60 && H < 120) {
+ Rs = X;
+ Gs = C;
+ Bs = 0;
+ }
+ else if(H >= 120 && H < 180) {
+ Rs = 0;
+ Gs = C;
+ Bs = X;
+ }
+ else if(H >= 180 && H < 240) {
+ Rs = 0;
+ Gs = X;
+ Bs = C;
+ }
+ else if(H >= 240 && H < 300) {
+ Rs = X;
+ Gs = 0;
+ Bs = C;
+ }
+ else {
+ Rs = C;
+ Gs = 0;
+ Bs = X;
+ }
+
+ return cv::Scalar((Bs + m) * 255, (Gs + m) * 255, (Rs + m) * 255, 0);
+}
+
bool Triangular::render(ftl::rgbd::VirtualSource *src, ftl::rgbd::Frame &out) {
SHARED_LOCK(scene_->mtx, lk);
if (!src->isReady()) return false;
@@ -444,15 +491,21 @@ bool Triangular::render(ftl::rgbd::VirtualSource *src, ftl::rgbd::Frame &out) {
bool show_discon = value("show_discontinuity_mask", false);
bool show_fill = value("show_filled", false);
+ bool colour_sources = value("colour_sources", false);
temp_.createTexture<int>(Channel::Depth);
//temp_.get<GpuMat>(Channel::Normals).setTo(cv::Scalar(0.0f,0.0f,0.0f,0.0f), cvstream);
- // Display mask values
+ // Display mask values or otherwise alter colour image
for (int i=0; i<scene_->frames.size(); ++i) {
auto &f = scene_->frames[i];
auto s = scene_->sources[i];
+ if (colour_sources) {
+ auto colour = HSVtoRGB(360 / scene_->frames.size() * i, 0.6, 0.85); //(i == 0) ? cv::Scalar(255,0,0,0) : cv::Scalar(0,255,0,0);
+ f.get<GpuMat>(Channel::Colour).setTo(colour, cvstream);
+ }
+
if (f.hasChannel(Channel::Mask)) {
if (show_discon) {
ftl::cuda::show_mask(f.getTexture<uchar4>(Channel::Colour), f.getTexture<int>(Channel::Mask), Mask::kMask_Discontinuity, make_uchar4(0,0,255,255), stream_);
--
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