Merge branch 'master' into feature/registration

CMakeLists.txt

@@ -164,3 +164,13 @@ configure_file(${CMAKE_SOURCE_DIR}/common/cpp/src/config.cpp.in
                ${CMAKE_SOURCE_DIR}/common/cpp/src/config.cpp
 )
 
+# For issue #17
+# https://gitlab.kitware.com/cmake/cmake/issues/16915#note_456382
+if ( TARGET Qt5::Core )
+	get_property( core_options TARGET Qt5::Core PROPERTY INTERFACE_COMPILE_OPTIONS )
+	string( REPLACE "-fPIC" "" new_core_options "${core_options}" )
+	set_property( TARGET Qt5::Core PROPERTY INTERFACE_COMPILE_OPTIONS ${new_core_options} )
+	set_property( TARGET Qt5::Core PROPERTY INTERFACE_POSITION_INDEPENDENT_CODE "ON" )
+	set( CMAKE_CXX_COMPILE_OPTIONS_PIE "-fPIC" )
+endif()
+

common/config/config.json

@@ -10,7 +10,10 @@
 			"nostereo": false,
 			"scale": 1.0,
 			"flip_vert": false,
-			"max_fps": 25
+			"max_fps": 25,
+			"width": 640,
+			"height": 480,
+			"crosshair": false
 		},
 		"calibrate": false,
 		"calibration": {
@@ -55,7 +58,8 @@
 			"points": true,
 			"depth": false,
 			"left": false,
-			"right": false
+			"right": false,
+			"crosshair": false
 		},
 		"net": {
 			"listen": "tcp://*:9001",

renderer/cpp/include/ftl/display.hpp

@@ -33,7 +33,8 @@ class Display {
 	explicit Display(nlohmann::json &config, std::string name);
 	~Display();
 	
-	bool render(const cv::Mat &rgb, const cv::Mat &depth, const cv::Mat &q);
+	inline bool render(const cv::Mat &rgb, const cv::Mat &depth, const cv::Mat &q) { return render(rgb, cv::Mat(), q); }
+	bool render(const cv::Mat &rgb, const cv::Mat &rgbr, const cv::Mat &depth, const cv::Mat &q);
 
 #if defined HAVE_PCL
 	bool render(pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr);

renderer/cpp/src/display.cpp

@@ -85,7 +85,7 @@ Display::~Display() {
 	#endif  // HAVE_VIZ
 }
 
-bool Display::render(const cv::Mat &rgb, const cv::Mat &depth, const cv::Mat &q) {
+bool Display::render(const cv::Mat &rgb, const cv::Mat &rgbr, const cv::Mat &depth, const cv::Mat &q) {
 	Mat idepth;
 
 	if (config_["points"] && q.rows != 0) {
@@ -125,7 +125,20 @@ bool Display::render(const cv::Mat &rgb, const cv::Mat &depth, const cv::Mat &q)
 	}
 
 	if (config_["left"]) {
-		cv::imshow("RGB: " + name_, rgb);
+		if (config_["crosshair"]) {
+			cv::line(rgb, cv::Point(0, rgb.rows/2), cv::Point(rgb.cols-1, rgb.rows/2), cv::Scalar(0,0,255), 1);
+            cv::line(rgb, cv::Point(rgb.cols/2, 0), cv::Point(rgb.cols/2, rgb.rows-1), cv::Scalar(0,0,255), 1);
+		}
+		cv::namedWindow("Left: " + name_, cv::WINDOW_KEEPRATIO);
+		cv::imshow("Left: " + name_, rgb);
+	}
+	if (config_["right"]) {
+		if (config_["crosshair"]) {
+			cv::line(rgbr, cv::Point(0, rgbr.rows/2), cv::Point(rgbr.cols-1, rgbr.rows/2), cv::Scalar(0,0,255), 1);
+            cv::line(rgbr, cv::Point(rgbr.cols/2, 0), cv::Point(rgbr.cols/2, rgbr.rows-1), cv::Scalar(0,0,255), 1);
+		}
+		cv::namedWindow("Right: " + name_, cv::WINDOW_KEEPRATIO);
+		cv::imshow("Right: " + name_, rgbr);
 	}
 
 	if (config_["depth"]) {
@@ -197,7 +210,7 @@ void Display::wait(int ms) {
 		#endif  // HAVE_VIZ
 	}
 	
-	if (config_["disparity"]) {
+	if (config_["disparity"] || config_["left"] || config_["right"]) {
 		if(cv::waitKey(ms) == 27) {
 	        // exit if ESC is pressed
 	        active_ = false;

vision/src/local.cpp

@@ -58,6 +58,15 @@ LocalSource::LocalSource(nlohmann::json &config)
 		stereo_ = false;
 		LOG(WARNING) << "Not able to find second camera for stereo";
 	} else {
+		camera_a_->set(cv::CAP_PROP_FRAME_WIDTH,(int)config["width"]);
+		camera_a_->set(cv::CAP_PROP_FRAME_HEIGHT,(int)config["height"]);
+		camera_b_->set(cv::CAP_PROP_FRAME_WIDTH,(int)config["width"]);
+		camera_b_->set(cv::CAP_PROP_FRAME_HEIGHT,(int)config["height"]);
+
+		Mat frame;
+		camera_a_->grab();
+		camera_a_->retrieve(frame);
+		LOG(INFO) << "Video size : " << frame.cols << "x" << frame.rows;
 		stereo_ = true;
 	}
 

vision/src/main.cpp

@@ -184,7 +184,7 @@ static void run(const string &file) {
 		});
 
 		// Send RGB+Depth images for local rendering
-		if (pl.rows > 0) display.render(pl, pdisp, Q_32F);
+		if (pl.rows > 0) display.render(pl, r, pdisp, Q_32F);
 		display.wait(1);
 
 		// Wait for both pipelines to complete