From 9b7ccdc20ddfbccc07bcf7f8d4787b7aa09f70e5 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Mon, 20 May 2019 10:45:16 +0300
Subject: [PATCH] Config for cam res, crosshair and display right
---
renderer/cpp/include/ftl/display.hpp | 3 ++-
renderer/cpp/src/display.cpp | 17 +++++++++++++++--
vision/src/local.cpp | 8 ++++----
vision/src/main.cpp | 2 +-
4 files changed, 22 insertions(+), 8 deletions(-)
diff --git a/renderer/cpp/include/ftl/display.hpp b/renderer/cpp/include/ftl/display.hpp
index c60d5fc05..299009ed9 100644
--- a/renderer/cpp/include/ftl/display.hpp
+++ b/renderer/cpp/include/ftl/display.hpp
@@ -33,7 +33,8 @@ class Display {
explicit Display(nlohmann::json &config, std::string name);
~Display();
- bool render(const cv::Mat &rgb, const cv::Mat &depth, const cv::Mat &q);
+ inline bool render(const cv::Mat &rgb, const cv::Mat &depth, const cv::Mat &q) { render(rgb, cv::Mat(), q); }
+ bool render(const cv::Mat &rgb, const cv::Mat &rgbr, const cv::Mat &depth, const cv::Mat &q);
#if defined HAVE_PCL
bool render(pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr);
diff --git a/renderer/cpp/src/display.cpp b/renderer/cpp/src/display.cpp
index acedcbe37..671fc32a7 100644
--- a/renderer/cpp/src/display.cpp
+++ b/renderer/cpp/src/display.cpp
@@ -77,7 +77,7 @@ Display::~Display() {
#endif // HAVE_VIZ
}
-bool Display::render(const cv::Mat &rgb, const cv::Mat &depth, const cv::Mat &q) {
+bool Display::render(const cv::Mat &rgb, const cv::Mat &rgbr, const cv::Mat &depth, const cv::Mat &q) {
Mat idepth;
if (config_["points"] && q.rows != 0) {
@@ -117,7 +117,20 @@ bool Display::render(const cv::Mat &rgb, const cv::Mat &depth, const cv::Mat &q)
}
if (config_["left"]) {
- cv::imshow("RGB: " + name_, rgb);
+ if (config_["crosshair"]) {
+ cv::line(rgb, cv::Point(0, rgb.rows/2), cv::Point(rgb.cols-1, rgb.rows/2), cv::Scalar(0,0,255), 1);
+ cv::line(rgb, cv::Point(rgb.cols/2, 0), cv::Point(rgb.cols/2, rgb.rows-1), cv::Scalar(0,0,255), 1);
+ }
+ cv::namedWindow("Left: " + name_, cv::WINDOW_KEEPRATIO);
+ cv::imshow("Left: " + name_, rgb);
+ }
+ if (config_["right"]) {
+ if (config_["crosshair"]) {
+ cv::line(rgbr, cv::Point(0, rgbr.rows/2), cv::Point(rgbr.cols-1, rgbr.rows/2), cv::Scalar(0,0,255), 1);
+ cv::line(rgbr, cv::Point(rgbr.cols/2, 0), cv::Point(rgbr.cols/2, rgbr.rows-1), cv::Scalar(0,0,255), 1);
+ }
+ cv::namedWindow("Right: " + name_, cv::WINDOW_KEEPRATIO);
+ cv::imshow("Right: " + name_, rgbr);
}
if (config_["depth"]) {
diff --git a/vision/src/local.cpp b/vision/src/local.cpp
index 34a507a90..f26bea1d3 100644
--- a/vision/src/local.cpp
+++ b/vision/src/local.cpp
@@ -58,10 +58,10 @@ LocalSource::LocalSource(nlohmann::json &config)
stereo_ = false;
LOG(WARNING) << "Not able to find second camera for stereo";
} else {
- camera_a_->set(cv::CAP_PROP_FRAME_WIDTH,1280);
- camera_a_->set(cv::CAP_PROP_FRAME_HEIGHT,720);
- camera_b_->set(cv::CAP_PROP_FRAME_WIDTH,1280);
- camera_b_->set(cv::CAP_PROP_FRAME_HEIGHT,720);
+ camera_a_->set(cv::CAP_PROP_FRAME_WIDTH,(int)config["width"]);
+ camera_a_->set(cv::CAP_PROP_FRAME_HEIGHT,(int)config["height"]);
+ camera_b_->set(cv::CAP_PROP_FRAME_WIDTH,(int)config["width"]);
+ camera_b_->set(cv::CAP_PROP_FRAME_HEIGHT,(int)config["height"]);
Mat frame;
camera_a_->grab();
diff --git a/vision/src/main.cpp b/vision/src/main.cpp
index c0524da03..49d3f43db 100644
--- a/vision/src/main.cpp
+++ b/vision/src/main.cpp
@@ -184,7 +184,7 @@ static void run(const string &file) {
});
// Send RGB+Depth images for local rendering
- if (pl.rows > 0) display.render(pl, pdisp, Q_32F);
+ if (pl.rows > 0) display.render(pl, r, pdisp, Q_32F);
display.wait(1);
// Wait for both pipelines to complete
--
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