From ebd010b3b8ce2693c0193a4504d42fabdbcb1609 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Fri, 12 Apr 2019 08:45:27 +0300
Subject: [PATCH] Send calibration data over network
---
reconstruct/src/main.cpp | 10 +++++++++-
vision/src/main.cpp | 13 +++++++++++++
2 files changed, 22 insertions(+), 1 deletion(-)
diff --git a/reconstruct/src/main.cpp b/reconstruct/src/main.cpp
index 806e17bb9..8b7035dfc 100644
--- a/reconstruct/src/main.cpp
+++ b/reconstruct/src/main.cpp
@@ -115,7 +115,7 @@ static void process_options(const map<string, string> &opts) {
static void run(const string &file) {
Universe net(config["net"]);
- Mat rgb, depth;
+ Mat rgb, depth, Q;
mutex m;
// Make sure connections are complete
@@ -152,6 +152,14 @@ static void run(const string &file) {
cv::imshow("RGB", rgb);
}
if (depth.cols > 0) {
+ if (Q.rows == 0) {
+ auto buf = net.findOne<vector<unsigned char>>((string)config["source"]+"/calibration");
+ if (buf) {
+ Q = Mat(cv::Size(4,4), CV_32F);
+ memcpy((*buf).data(), Q.data, (*buf).size());
+ LOG(INFO) << "Have calibration";
+ }
+ }
depth.convertTo(idepth, CV_8U, 255.0f / 256.0f); // TODO(nick)
applyColorMap(idepth, idepth, cv::COLORMAP_JET);
cv::imshow("Depth", idepth);
diff --git a/vision/src/main.cpp b/vision/src/main.cpp
index 31e1c4100..16e1bc6ae 100644
--- a/vision/src/main.cpp
+++ b/vision/src/main.cpp
@@ -139,9 +139,21 @@ static void run(const string &file) {
Calibrate calibrate(lsrc, config["calibration"]);
if (config["calibrate"]) calibrate.recalibrate();
if (!calibrate.isCalibrated()) LOG(WARNING) << "Cameras are not calibrated!";
+
+ // 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> {
+ 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;
+ });
// Choose and configure disparity algorithm
auto disparity = Disparity::create(config["disparity"]);
+ if (!disparity) LOG(FATAL) << "Unknown disparity algorithm : " << config["disparity"];
Mat l, r, disp;
@@ -160,6 +172,7 @@ static void run(const string &file) {
sync->get(ftl::LEFT, l);
sync->get(ftl::RIGHT, r);
+ // TODO(nick) Pipeline this
disparity->compute(l, r, disp);
// Send RGB+Depth images for local rendering
--
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