static cv::Mat enhance_image(cv::Mat const& src, Settings const& settings, DebugImageWriter & w)
{
cv::Mat grey;
cv::cvtColor(src, grey, CV_RGB2GRAY);
cv::Mat enhanced = remove_background(grey, settings, w);
w.write("enhanced", enhanced);
double const angle = find_optimal_angle(enhanced, settings, w);
printf("Best angle: %.2f\n", angle);
cv::Mat rotated = rotate_around_center(enhanced, angle);
cv::Mat downscaled = downscale(rotated, settings, w);
return downscaled;
}
int main(int argc, char * argv[]) try
{
// Create and initialize GUI related objects
window app(1280, 720, "CPP - Align Example"); // Simple window handling
ImGui_ImplGlfw_Init(app, false); // ImGui library intializition
rs2::colorizer c; // Helper to colorize depth images
texture renderer; // Helper for renderig images
const rs2_stream align_to = RS2_STREAM_COLOR;
// Using the context to create a rs2::align object.
// rs2::align allows you to perform aliment of depth frames to others
rs2::align align(align_to);
// Create a pipeline to easily configure and start the camera
rs2::pipeline pipe;
//Calling pipeline's start() without any additional parameters will start the first device
// with its default streams.
//The start function returns the pipeline profile which the pipeline used to start the device
rs2::pipeline_profile profile = pipe.start();
// Each depth camera might have different units for depth pixels, so we get it here
float depth_scale;
//Using the pipeline's profile, we can retrieve the device that the pipeline uses
if (!try_get_depth_scale(profile.get_device(), depth_scale))
{
std::cerr << "Device does not have a depth sensor" << std::endl;
return EXIT_FAILURE;
}
// Define a variable for controlling the distance to clip
float depth_clipping_distance = 1.f;
while (app) // Application still alive?
{
// Using the align object, we block the application until a frameset is available
rs2::frameset frameset;
while (!frameset.first_or_default(RS2_STREAM_DEPTH) || !frameset.first_or_default(align_to))
{
frameset = pipe.wait_for_frames();
}
auto proccessed = align.proccess(frameset);
// Trying to get both color and aligned depth frames
rs2::video_frame color_frame = proccessed.get_color_frame();
rs2::depth_frame aligned_depth_frame = proccessed.get_depth_frame();
//If one of them is unavailable, continue iteration
if (!aligned_depth_frame || !color_frame)
{
continue;
}
// Passing both frames to remove_background so it will "strip" the background
// NOTE: in this example, we alter the buffer of the color frame, instead of copying it and altering the copy
// This behavior is not recommended in real application since the color frame could be used elsewhere
remove_background(color_frame, aligned_depth_frame, depth_scale, depth_clipping_distance);
// Taking dimensions of the window for rendering purposes
float w = static_cast<float>(app.width());
float h = static_cast<float>(app.height());
// At this point, "color_frame" is an altered color frame, stripped form its background
// Calculating the position to place the frame in the window
rect altered_color_frame_rect{ 0, 0, w, h };
altered_color_frame_rect = altered_color_frame_rect.adjust_ratio({ static_cast<float>(color_frame.get_width()),static_cast<float>(color_frame.get_height()) });
// Render aligned color
renderer.render(color_frame, altered_color_frame_rect);
// The example also renders the depth frame, as a picture-in-picture
// Calculating the position to place the depth frame in the window
rect pip_stream{ 0, 0, w / 5, h / 5 };
pip_stream = pip_stream.adjust_ratio({ static_cast<float>(aligned_depth_frame.get_width()),static_cast<float>(aligned_depth_frame.get_height()) });
pip_stream.x = altered_color_frame_rect.x + altered_color_frame_rect.w - pip_stream.w - (std::max(w, h) / 25);
pip_stream.y = altered_color_frame_rect.y + altered_color_frame_rect.h - pip_stream.h - (std::max(w, h) / 25);
// Render depth (as picture in pipcture)
renderer.upload(c(aligned_depth_frame));
renderer.show(pip_stream);
// Using ImGui library to provide a slide controller to select the depth clipping distance
ImGui_ImplGlfw_NewFrame(1);
render_slider({ 5.f, 0, w, h }, depth_clipping_distance);
ImGui::Render();
}
return EXIT_SUCCESS;
}
catch (const rs2::error & e)
{
std::cerr << "RealSense error calling " << e.get_failed_function() << "(" << e.get_failed_args() << "):\n " << e.what() << std::endl;
return EXIT_FAILURE;
}
catch (const std::exception & e)
{
std::cerr << e.what() << std::endl;
return EXIT_FAILURE;
}
