From cd395d98335c7dd51f8d3b6f38ba64a46e5d2e4b Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Mon, 12 Aug 2019 11:22:57 +0300
Subject: [PATCH] Allow vis of energy channel
---
applications/gui/src/camera.cpp | 19 +++++++++++++++++++
applications/gui/src/media_panel.cpp | 9 +++++++++
applications/reconstruct/src/splat_render.cpp | 10 ++++++++++
.../include/ftl/rgbd/detail/source.hpp | 3 ++-
components/rgbd-sources/src/streamer.cpp | 2 ++
5 files changed, 42 insertions(+), 1 deletion(-)
diff --git a/applications/gui/src/camera.cpp b/applications/gui/src/camera.cpp
index eedf63ffd..f1682a06d 100644
--- a/applications/gui/src/camera.cpp
+++ b/applications/gui/src/camera.cpp
@@ -222,6 +222,7 @@ void ftl::gui::Camera::showSettings() {
void ftl::gui::Camera::setChannel(ftl::rgbd::channel_t c) {
channel_ = c;
switch (c) {
+ case ftl::rgbd::kChanEnergy:
case ftl::rgbd::kChanFlow:
case ftl::rgbd::kChanConfidence:
case ftl::rgbd::kChanNormals:
@@ -255,6 +256,19 @@ static void visualizeDepthMap( const cv::Mat &depth, cv::Mat &out,
out.setTo(cv::Scalar(255, 255, 255), mask);
}
+static void visualizeEnergy( const cv::Mat &depth, cv::Mat &out,
+ const float max_depth)
+{
+ DCHECK(max_depth > 0.0);
+
+ depth.convertTo(out, CV_8U, 255.0f / max_depth);
+ //out = 255 - out;
+ cv::Mat mask = (depth >= 39.0f); // TODO (mask for invalid pixels)
+
+ applyColorMap(out, out, cv::COLORMAP_JET);
+ out.setTo(cv::Scalar(255, 255, 255), mask);
+}
+
static void drawEdges( const cv::Mat &in, cv::Mat &out,
const int ksize = 3, double weight = -1.0, const int threshold = 32,
const int threshold_type = cv::THRESH_TOZERO)
@@ -303,6 +317,11 @@ const GLTexture &ftl::gui::Camera::captureFrame() {
cv::Mat tmp;
switch(channel_) {
+ case ftl::rgbd::kChanEnergy:
+ if (depth.rows == 0) { break; }
+ visualizeEnergy(depth, tmp, 10.0);
+ texture_.update(tmp);
+ break;
case ftl::rgbd::kChanDepth:
if (depth.rows == 0) { break; }
visualizeDepthMap(depth, tmp, 7.0);
diff --git a/applications/gui/src/media_panel.cpp b/applications/gui/src/media_panel.cpp
index 6fb6d5085..44bb92ec0 100644
--- a/applications/gui/src/media_panel.cpp
+++ b/applications/gui/src/media_panel.cpp
@@ -184,6 +184,15 @@ MediaPanel::MediaPanel(ftl::gui::Screen *screen) : nanogui::Window(screen, ""),
}
});
+ button = new Button(popup, "Energy");
+ button->setFlags(Button::RadioButton);
+ button->setCallback([this]() {
+ ftl::gui::Camera *cam = screen_->activeCamera();
+ if (cam) {
+ cam->setChannel(ftl::rgbd::kChanEnergy);
+ }
+ });
+
}
MediaPanel::~MediaPanel() {
diff --git a/applications/reconstruct/src/splat_render.cpp b/applications/reconstruct/src/splat_render.cpp
index aad8fb818..df9d99a9f 100644
--- a/applications/reconstruct/src/splat_render.cpp
+++ b/applications/reconstruct/src/splat_render.cpp
@@ -95,6 +95,16 @@ void Splatter::render(ftl::rgbd::Source *src, cudaStream_t stream) {
ftl::cuda::int_to_float(depth1_, depth2_, 1.0f / 1000.0f, stream);
src->writeFrames(colour1_, depth2_, stream);
}
+ } else if (src->getChannel() == ftl::rgbd::kChanEnergy) {
+ //ftl::cuda::int_to_float(depth1_, depth2_, 1.0f / 1000.0f, stream);
+ //if (src->value("splatting", false)) {
+ //ftl::cuda::splat_points(depth1_, colour1_, normal1_, depth2_, colour2_, params, stream);
+ //ftl::cuda::int_to_float(depth1_, depth2_, 1.0f / 1000.0f, stream);
+ src->writeFrames(colour1_, depth2_, stream);
+ //} else {
+ //ftl::cuda::int_to_float(depth1_, depth2_, 1.0f / 1000.0f, stream);
+ // src->writeFrames(colour1_, depth2_, stream);
+ //}
} else if (src->getChannel() == ftl::rgbd::kChanRight) {
// Adjust pose to right eye position
Eigen::Affine3f transform(Eigen::Translation3f(camera.baseline,0.0f,0.0f));
diff --git a/components/rgbd-sources/include/ftl/rgbd/detail/source.hpp b/components/rgbd-sources/include/ftl/rgbd/detail/source.hpp
index b76dd27fa..dcde8047e 100644
--- a/components/rgbd-sources/include/ftl/rgbd/detail/source.hpp
+++ b/components/rgbd-sources/include/ftl/rgbd/detail/source.hpp
@@ -21,11 +21,12 @@ static const channel_t kChanDeviation = 0x0010;
static const channel_t kChanNormals = 0x0020;
static const channel_t kChanConfidence = 0x0040;
static const channel_t kChanFlow = 0x0080;
+static const channel_t kChanEnergy = 0x0100;
static const channel_t kChanOverlay1 = 0x1000;
inline bool isFloatChannel(ftl::rgbd::channel_t chan) {
- return (chan == ftl::rgbd::kChanDepth);
+ return (chan == ftl::rgbd::kChanDepth || chan == ftl::rgbd::kChanEnergy);
}
diff --git a/components/rgbd-sources/src/streamer.cpp b/components/rgbd-sources/src/streamer.cpp
index 21821c908..e52e20e39 100644
--- a/components/rgbd-sources/src/streamer.cpp
+++ b/components/rgbd-sources/src/streamer.cpp
@@ -101,6 +101,8 @@ Streamer::Streamer(nlohmann::json &config, Universe *net)
net->bind("set_channel", [this](const string &uri, unsigned int chan) {
SHARED_LOCK(mutex_,slk);
+ LOG(INFO) << "SET CHANNEL " << chan;
+
if (sources_.find(uri) != sources_.end()) {
sources_[uri]->src->setChannel((ftl::rgbd::channel_t)chan);
}
--
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