Add support for showing depth

applications/gui/src/main.cpp

@@ -36,38 +36,6 @@ class FTLApplication : public nanogui::Screen {
 		using namespace nanogui;
 		net_ = net;
 
-		/*for (auto &src : root->getConfig()["sources"]) {		
-			RGBDSource *in = ftl::rgbd::RGBDSource::create(src, net); //new ftl::rgbd::NetSource(src, &net);
-			if (!in) {
-				LOG(ERROR) << "Unrecognised source: " << src;
-			} else {
-				//auto &cam = sources_.emplace_back();
-				//cam.source = in;
-
-				auto imageWindow = new Window(this, *in->get<string>("uri"));
-				imageWindow->setPosition(Eigen::Vector2i(710, 15));
-				imageWindow->setLayout(new GroupLayout());
-				imageWindow->setSize(Vector2i(400,400));
-
-				new Label(imageWindow, "Select source","sans-bold");
-				auto available = net->findAll<string>("list_streams");
-				auto select = new ComboBox(imageWindow, available);
-				select->setCallback([this,available](int ix) {
-					LOG(INFO) << "Change source: " << ix;
-					
-				});
-
-				auto imageView = new VirtualCameraView(imageWindow);
-				//cam.view = imageView;
-				imageView->setGridThreshold(20);
-				imageView->setSource(in);
-				//imageView->setPixelInfoThreshold(20);
-				
-				//displays.emplace_back(config["display"], src["uri"]);
-				LOG(INFO) << (string)src["uri"] << " loaded ";
-			}
-		}*/
-
 		auto cwindow = new ftl::gui::ControlWindow(this, controller);
 		auto swindow = new ftl::gui::SourceWindow(this, controller);
 
@@ -95,7 +63,12 @@ int main(int argc, char **argv) {
 
 	ftl::ctrl::Master controller(root, net);
 	controller.onLog([](const ftl::ctrl::LogEvent &e){
-		LOG(INFO) << "Remote log: " << e.message;
+		const int v = e.verbosity;
+		switch (v) {
+		case -2:	LOG(ERROR) << "Remote log: " << e.message; break;
+		case -1:	LOG(WARNING) << "Remote log: " << e.message; break;
+		case 0:		LOG(INFO) << "Remote log: " << e.message; break;
+		}
 	});
 
 	/*auto available = net.findAll<string>("list_streams");

applications/gui/src/src_window.cpp

@@ -77,6 +77,7 @@ class VirtualCameraView : public nanogui::ImageView {
 		up_ = Eigen::Vector3f(0,1.0f,0);
 		lookPoint_ = Eigen::Vector3f(0.0f,0.0f,-4.0f);
 		lerpSpeed_ = 0.4f;
+		depth_ = false;
 	}
 
 	void setSource(RGBDSource *src) { src_ = src; }
@@ -114,16 +115,29 @@ class VirtualCameraView : public nanogui::ImageView {
 			src_->setPose(viewPose);
 			src_->grab();
 			src_->getRGBD(rgb, depth);
+
+			if (depth_) {
+				if (depth.rows > 0) {
+					cv::Mat idepth;
+					depth.convertTo(idepth, CV_8U, 255.0f / 10.0f);  // TODO(nick)
+    				applyColorMap(idepth, idepth, cv::COLORMAP_JET);
+					texture_.update(idepth);
+					bindImage(texture_.texture());
+				}
+			} else {
 				if (rgb.rows > 0) {
 					texture_.update(rgb);
 					bindImage(texture_.texture());
 				}
+			}
 
 			screen()->performLayout(ctx);
 		}
 		ImageView::draw(ctx);
 	}
 
+	void setDepth(bool d) { depth_ = d; }
+
 	private:
 	RGBDSource *src_;
 	GLTexture texture_;
@@ -132,6 +146,7 @@ class VirtualCameraView : public nanogui::ImageView {
 	Eigen::Vector3f up_;
 	Eigen::Vector3f lookPoint_;
 	float lerpSpeed_;
+	bool depth_;
 };
 
 SourceWindow::SourceWindow(nanogui::Widget *parent, ftl::ctrl::Master *ctrl)
@@ -142,18 +157,30 @@ SourceWindow::SourceWindow(nanogui::Widget *parent, ftl::ctrl::Master *ctrl)
 
     src_ = ftl::create<ftl::rgbd::NetSource>(ctrl->getRoot(), "source", ctrl->getNet());
 
-    new Label(this, "Select source","sans-bold");
+	Widget *tools = new Widget(this);
+        tools->setLayout(new BoxLayout(Orientation::Horizontal,
+                                       Alignment::Middle, 0, 6));
+
+    new Label(tools, "Select source","sans-bold");
     auto available = ctrl->getNet()->findAll<string>("list_streams");
-    auto select = new ComboBox(this, available);
+    auto select = new ComboBox(tools, available);
     select->setCallback([this,available](int ix) {
         LOG(INFO) << "Change source: " << ix;
         src_->set("uri", available[ix]);
     });
 
+	auto depth = new Button(tools, "Depth");
+	depth->setFlags(Button::ToggleButton);
+	depth->setChangeCallback([this](bool state) {
+		image_->setDepth(state);
+	});
+
+
     auto imageView = new VirtualCameraView(this);
     //cam.view = imageView;
     imageView->setGridThreshold(20);
     imageView->setSource(src_);
+	image_ = imageView;
 }
 
 SourceWindow::~SourceWindow() {

applications/gui/src/src_window.hpp

@@ -6,6 +6,8 @@
 #include <ftl/uuid.hpp>
 #include <ftl/net_source.hpp>
 
+class VirtualCameraView;
+
 namespace ftl {
 namespace gui {
 
@@ -20,6 +22,7 @@ class SourceWindow : public nanogui::Window {
 	private:
 	ftl::ctrl::Master *ctrl_;
 	ftl::rgbd::NetSource *src_;
+	VirtualCameraView *image_;
 
 };
 

components/control/cpp/include/ftl/master.hpp

@@ -12,6 +12,7 @@ namespace ftl {
 namespace ctrl {
 
 struct LogEvent {
+	int verbosity;
 	std::string preamble;
 	std::string message;
 };

components/control/cpp/src/master.cpp

@@ -12,9 +12,8 @@ using ftl::ctrl::LogEvent;
 Master::Master(Configurable *root, Universe *net)
 		: root_(root), net_(net) {
 	net->bind("log", [this](int v, const std::string &pre, const std::string &msg) {
-		LOG(INFO) << "RECEIVE LOG";
 		for (auto f : log_handlers_) {
-			f({pre,msg});
+			f({v,pre,msg});
 		}
 	});