From cf9b2961683f527a71842a72d73677d94e40a18b Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Tue, 7 May 2019 08:09:21 +0300
Subject: [PATCH] Add simple img show to display
---
renderer/cpp/include/ftl/display.hpp | 7 +++++++
renderer/cpp/src/display.cpp | 21 +++++++++++++++++++++
2 files changed, 28 insertions(+)
diff --git a/renderer/cpp/include/ftl/display.hpp b/renderer/cpp/include/ftl/display.hpp
index c6d63ca4f..e7642b8ac 100644
--- a/renderer/cpp/include/ftl/display.hpp
+++ b/renderer/cpp/include/ftl/display.hpp
@@ -17,6 +17,11 @@ namespace ftl {
* Multiple local display options for disparity or point clouds.
*/
class Display {
+ public:
+ enum style_t {
+ STYLE_NORMAL, STYLE_DISPARITY, STYLE_DEPTH
+ };
+
public:
explicit Display(nlohmann::json &config);
~Display();
@@ -25,6 +30,8 @@ class Display {
bool render(const cv::Mat &rgb, const cv::Mat &depth);
+ bool render(const cv::Mat &img, style_t s=STYLE_NORMAL);
+
bool active() const;
void wait(int ms);
diff --git a/renderer/cpp/src/display.cpp b/renderer/cpp/src/display.cpp
index 7ee8efe3c..aa5449dfd 100644
--- a/renderer/cpp/src/display.cpp
+++ b/renderer/cpp/src/display.cpp
@@ -84,6 +84,27 @@ bool Display::render(const cv::Mat &rgb, const cv::Mat &depth) {
return true;
}
+bool Display::render(const cv::Mat &img, style_t s) {
+ if (s == STYLE_NORMAL) {
+ cv::imshow("Image", img);
+ } else if (s = STYLE_DISPARITY) {
+ Mat idepth;
+
+ if ((bool)config_["flip_vert"]) {
+ cv::flip(img, idepth, 0);
+ } else {
+ idepth = img;
+ }
+
+ idepth.convertTo(idepth, CV_8U, 255.0f / 256.0f);
+
+ applyColorMap(idepth, idepth, cv::COLORMAP_JET);
+ cv::imshow("Disparity", idepth);
+ }
+
+ return true;
+}
+
void Display::wait(int ms) {
if (config_["points"] && q_.rows != 0) {
#if defined HAVE_VIZ
--
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