From c857543f75ca8f04cae4bcd7fc970878719d71e3 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Fri, 12 Apr 2019 09:53:49 +0300
Subject: [PATCH] Add missing refactor of vision
---
vision/CMakeLists.txt | 4 ++--
vision/src/main.cpp | 13 ++++++++-----
2 files changed, 10 insertions(+), 7 deletions(-)
diff --git a/vision/CMakeLists.txt b/vision/CMakeLists.txt
index b07dcc8b2..47a39a6e4 100644
--- a/vision/CMakeLists.txt
+++ b/vision/CMakeLists.txt
@@ -10,7 +10,6 @@ set(CVNODESRC
src/calibrate.cpp
src/local.cpp
src/sync.cpp
- src/display.cpp
src/disparity.cpp
src/streamer.cpp
src/middlebury.cpp
@@ -40,6 +39,7 @@ endif (CUDA_FOUND)
add_executable(ftl-vision ${CVNODESRC})
add_dependencies(ftl-vision ftlnet)
+add_dependencies(ftl-vision ftlrender)
add_dependencies(ftl-vision libelas)
if (CUDA_FOUND)
@@ -47,6 +47,6 @@ set_property(TARGET ftl-vision PROPERTY CUDA_SEPARABLE_COMPILATION ON)
endif()
#target_include_directories(cv-node PUBLIC ${PROJECT_SOURCE_DIR}/include)
-target_link_libraries(ftl-vision Threads::Threads ZLIB::ZLIB libelas ${OpenCV_LIBS} ${LIBSGM_LIBRARIES} ${CUDA_LIBRARIES} glog::glog ftlnet)
+target_link_libraries(ftl-vision ftlrender Threads::Threads ZLIB::ZLIB libelas ${OpenCV_LIBS} ${LIBSGM_LIBRARIES} ${CUDA_LIBRARIES} glog::glog ftlnet)
diff --git a/vision/src/main.cpp b/vision/src/main.cpp
index 16e1bc6ae..1b0c709c0 100644
--- a/vision/src/main.cpp
+++ b/vision/src/main.cpp
@@ -140,12 +140,12 @@ static void run(const string &file) {
if (config["calibrate"]) calibrate.recalibrate();
if (!calibrate.isCalibrated()) LOG(WARNING) << "Cameras are not calibrated!";
+ cv::Mat Q_32F;
+ calibrate.getQ().convertTo(Q_32F, CV_32F);
+
// Allow remote users to access camera calibration matrix
- net.bind(string("ftl://utu.fi/")+(string)config["stream"]["name"]+string("/rgb-d/calibration"), [&calibrate]() -> vector<unsigned char> {
+ net.bind(string("ftl://utu.fi/")+(string)config["stream"]["name"]+string("/rgb-d/calibration"), [&calibrate,Q_32F]() -> vector<unsigned char> {
vector<unsigned char> buf;
- cv::Mat Q_32F;
- calibrate.getQ().convertTo(Q_32F, CV_32F);
-
buf.resize(Q_32F.step*Q_32F.rows);
memcpy(Q_32F.data, buf.data(), buf.size());
return buf;
@@ -157,7 +157,9 @@ static void run(const string &file) {
Mat l, r, disp;
- Display display(calibrate, config["display"]);
+ Display display(config["display"]);
+ display.setCalibration(Q_32F);
+
Streamer stream(net, config["stream"]);
while (display.active()) {
@@ -179,6 +181,7 @@ static void run(const string &file) {
display.render(l, disp);
stream.send(l, disp);
+ display.wait(1);
}
}
--
GitLab