Resolving #16

common/cpp/CMakeLists.txt

 set(COMMONSRC
 	src/config.cpp
 	src/configuration.cpp
+	src/opencv_to_pcl.cpp
 )
 
 add_library(ftlcommon ${COMMONSRC})
 
 target_include_directories(ftlcommon PUBLIC
+	${PCL_INCLUDE_DIRS}
 	$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
 	$<INSTALL_INTERFACE:include>
 	PRIVATE src)
-target_link_libraries(ftlcommon glog::glog)
+target_link_libraries(ftlcommon glog::glog ${OpenCV_LIBS} ${PCL_LIBRARIES})
 

common/cpp/include/ftl/utility/opencv_to_pcl.hpp

+#ifndef _FTL_COMMON_OPENCV_TO_PCL_HPP_
+#define _FTL_COMMON_OPENCV_TO_PCL_HPP_
+
+#include <ftl/config.h>
+#include <opencv2/opencv.hpp>
+
+#if defined HAVE_PCL
+#include <pcl/common/common_headers.h>
+#endif  // HAVE_PCL
+
+namespace ftl {
+namespace utility {
+
+/**
+ * Convert an OpenCV point cloud matrix and RGB image to a PCL XYZRGB point cloud.
+ */
+pcl::PointCloud<pcl::PointXYZRGB>::Ptr matToPointXYZ(const cv::Mat &cvcloud, const cv::Mat &rgbimage);
+
+};
+};
+
+#endif  // _FTL_COMMON_OPENCV_TO_PCL_HPP_

common/cpp/src/opencv_to_pcl.cpp

+#include <ftl/utility/opencv_to_pcl.hpp>
+
+#if defined HAVE_PCL
+pcl::PointCloud<pcl::PointXYZRGB>::Ptr ftl::utility::matToPointXYZ(const cv::Mat &cvcloud, const cv::Mat &rgbimage) {
+	pcl::PointCloud<pcl::PointXYZRGB>::Ptr point_cloud_ptr(new pcl::PointCloud<pcl::PointXYZRGB>);
+
+	for(int i=0;i<cvcloud.rows;i++) {
+	for(int j=0;j<cvcloud.cols;j++) {
+		//std::cout<<i<<endl;
+
+		pcl::PointXYZRGB point;
+		cv::Vec3f cvpoint = cvcloud.at<cv::Vec3f>(i,j);
+		point.x = cvpoint[0];
+		point.y = cvpoint[1];
+		point.z = cvpoint[2];
+
+		if (point.x == INFINITY || point.y == INFINITY || point.z == INFINITY || point.z < 600.0f) {
+			point.x = 0; point.y = 0; point.z = 0;
+		}
+
+		cv::Point3_<uchar> prgb = rgbimage.at<cv::Point3_<uchar>>(i, j);
+
+		// when color needs to be added:
+		uint32_t rgb = (static_cast<uint32_t>(prgb.z) << 16 | static_cast<uint32_t>(prgb.y) << 8 | static_cast<uint32_t>(prgb.x));
+		point.rgb = *reinterpret_cast<float*>(&rgb);
+
+		point_cloud_ptr -> points.push_back(point);
+	}
+	}
+	point_cloud_ptr->width = cvcloud.cols;
+	point_cloud_ptr->height = cvcloud.rows;
+
+	return point_cloud_ptr;
+}
+#endif  // HAVE_PCL
\ No newline at end of file

renderer/cpp/CMakeLists.txt

@@ -10,6 +10,6 @@ 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} ${PCL_LIBRARIES})
+target_link_libraries(ftlrender ftlcommon Threads::Threads glog::glog ${OpenCV_LIBS} ${PCL_LIBRARIES})
 
 #ADD_SUBDIRECTORY(test)

renderer/cpp/src/display.cpp

@@ -5,6 +5,7 @@
 #include <glog/logging.h>
 
 #include <ftl/display.hpp>
+#include <ftl/utility/opencv_to_pcl.hpp>
 
 using ftl::Display;
 using cv::Mat;
@@ -75,48 +76,6 @@ Display::~Display() {
 	#endif  // HAVE_VIZ
 }
 
-#if defined HAVE_PCL
-static pcl::PointCloud<pcl::PointXYZRGB>::Ptr matToPointXYZ(const cv::Mat &cvcloud, const cv::Mat &rgbimage) {
-	/*
-	*  Function: Get from a Mat to pcl pointcloud datatype
-	*  In: cv::Mat
-	*  Out: pcl::PointCloud
-	*/
-
-	//char pr=100, pg=100, pb=100;
-	pcl::PointCloud<pcl::PointXYZRGB>::Ptr point_cloud_ptr(new pcl::PointCloud<pcl::PointXYZRGB>);//(new pcl::pointcloud<pcl::pointXYZ>);
-
-	for(int i=0;i<cvcloud.rows;i++) {
-	for(int j=0;j<cvcloud.cols;j++) {
-		//std::cout<<i<<endl;
-
-		pcl::PointXYZRGB point;
-		cv::Vec3f cvpoint = cvcloud.at<cv::Vec3f>(i,j);
-		point.x = cvpoint[0];
-		point.y = cvpoint[1];
-		point.z = cvpoint[2];
-
-		//LOG(INFO) << point.x;
-		if (point.x == INFINITY || point.y == INFINITY || point.z == INFINITY || point.z < 600.0f) {
-			point.x = 0; point.y = 0; point.z = 0;
-		}
-
-		cv::Point3_<uchar> prgb = rgbimage.at<cv::Point3_<uchar>>(i, j);
-
-		// when color needs to be added:
-		uint32_t rgb = (static_cast<uint32_t>(prgb.z) << 16 | static_cast<uint32_t>(prgb.y) << 8 | static_cast<uint32_t>(prgb.x));
-		point.rgb = *reinterpret_cast<float*>(&rgb);
-
-		point_cloud_ptr -> points.push_back(point);
-	}
-	}
-	point_cloud_ptr->width = cvcloud.cols;
-	point_cloud_ptr->height = cvcloud.rows;
-
-	return point_cloud_ptr;
-}
-#endif  // HAVE_PCL
-
 bool Display::render(const cv::Mat &rgb, const cv::Mat &depth) {
 	Mat idepth;
 
@@ -124,7 +83,7 @@ bool Display::render(const cv::Mat &rgb, const cv::Mat &depth) {
 #if defined HAVE_PCL
 		cv::Mat_<cv::Vec3f> XYZ(depth.rows, depth.cols);   // Output point cloud
 		reprojectImageTo3D(depth, XYZ, q_, false);
-		auto pc = matToPointXYZ(XYZ, rgb);
+		auto pc = ftl::utility::matToPointXYZ(XYZ, rgb);
 
 		pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGB> rgb(pc);
 		if (!pclviz_->updatePointCloud<pcl::PointXYZRGB> (pc, rgb, "reconstruction")) {