void draw_ground_plane_estimator(const GroundPlaneEstimator &ground_plane_estimator,
const AbstractVideoInput::input_image_view_t &input_view,
const StereoCameraCalibration &stereo_calibration,
boost::gil::rgb8_view_t &screen_view)
{
// copy right screen image ---
copy_and_convert_pixels(input_view, screen_view);
// draw v-disparity image in the right screen image --
GroundPlaneEstimator::v_disparity_const_view_t raw_v_disparity_const_view =
ground_plane_estimator.get_raw_v_disparity_view();
boost::gil::rgb8_view_t screen_subview = boost::gil::subimage_view(screen_view,
0,0,
raw_v_disparity_const_view.width(),
raw_v_disparity_const_view.height());
copy_and_convert_pixels(raw_v_disparity_const_view, screen_subview);
// copy v disparity into the blue channel -
GroundPlaneEstimator::v_disparity_const_view_t v_disparity_const_view =
ground_plane_estimator.get_v_disparity_view();
copy_pixels(v_disparity_const_view, boost::gil::kth_channel_view<0>(screen_subview));
draw_v_disparity_lines(ground_plane_estimator,
stereo_calibration,
screen_subview);
return;
} // end of StixelWorldGui::draw_ground_plane_estimator(...)
int FeaturesDetectionApplication::main_loop(program_options::variables_map &options)
{
printf("FeaturesDetectionApplication::main_loop says hello world !\n");
//init_gui(options);
//run_gui();
// initialization ---
gst_video_input_p.reset(new GstVideoInput(options));
features_detector_p.reset(new SimpleFAST(options));
// video output ---
rgb8_cimg_t current_image(gst_video_input_p->get_image_dimensions());
gst_video_input_p->get_new_image(current_image.view); // copy the data
CImgDisplay video_display(current_image.dimx(), current_image.dimy(), get_application_title().c_str());
video_display.show();
video_display.display(current_image);
// intermediary image --
gray8_image_t gray_image(current_image.view.dimensions());
// main loop ---
do
{
// get new image --
gst_video_input_p->get_new_image(current_image.view); // copy the data
// color to gray_image
copy_and_convert_pixels(current_image.view, boost::gil::view(gray_image));
// compute features
const vector<FASTFeature> &features =
features_detector_p->detect_features((const_view(gray_image)));
// plot features on output image
draw_features(features, current_image);
video_display.display(current_image);
// add a delay ---
wait_some_seconds(0.1); // [seconds]
}
while (video_display.is_closed == false);
return 0;
}
void draw_ground_plane_estimator(const FastGroundPlaneEstimator &ground_plane_estimator,
const AbstractVideoInput::input_image_view_t &input_view,
const StereoCameraCalibration &stereo_calibration,
boost::gil::rgb8_view_t &screen_view)
{
// copy right screen image ---
copy_and_convert_pixels(input_view, screen_view);
// draw v-disparity image in the right screen image --
FastGroundPlaneEstimator::v_disparity_const_view_t raw_v_disparity_view =
ground_plane_estimator.get_v_disparity_view();
boost::gil::rgb8_view_t screen_subview = boost::gil::subimage_view(screen_view,
0,0,
raw_v_disparity_view.width(),
screen_view.height());
fill_pixels(screen_subview, boost::gil::rgb8_pixel_t());
boost::gil::rgb8_view_t screen_subsubview = boost::gil::subimage_view(screen_subview,
0, raw_v_disparity_view.height(),
raw_v_disparity_view.width(),
raw_v_disparity_view.height());
Eigen::MatrixXf v_disparity_data;
v_disparity_data_to_matrix(ground_plane_estimator.get_v_disparity(),
v_disparity_data);
normalize_each_row(v_disparity_data);
draw_matrix(v_disparity_data, screen_subsubview);
if(false)
{
log_debug() << "(over)Writing ground_v_disparity_data.png" << std::endl;
boost::gil::png_write_view("ground_v_disparity_data.png", screen_subsubview);
}
const bool draw_lines_on_top = true;
if(draw_lines_on_top)
{
draw_v_disparity_lines(ground_plane_estimator,
stereo_calibration,
screen_subview);
// draw the points used to estimate the objects
typedef std::pair<int, int> point_t;
const FastGroundPlaneEstimator::points_t &points = ground_plane_estimator.get_points();
BOOST_FOREACH(const point_t &point, points)
{
*screen_subsubview.at(point.first, point.second) = rgb8_colors::orange;
}
}
