void ccRenderingTools::ShowDepthBuffer(ccGBLSensor* sensor, QWidget* parent)
{
if (!sensor)
return;
const ccGBLSensor::DepthBuffer& depthBuffer = sensor->getDepthBuffer();
if (!depthBuffer.zBuff)
return;
//determine min and max depths
ScalarType minDist = 0, maxDist = 0;
{
const ScalarType *_zBuff = depthBuffer.zBuff;
for (int x=0; x<depthBuffer.height*depthBuffer.width; ++x,++_zBuff)
{
if (x==0)
{
maxDist = minDist = *_zBuff;
}
else if (*_zBuff > 0)
{
maxDist = std::max(maxDist,*_zBuff);
minDist = std::min(minDist,*_zBuff);
}
}
}
QImage bufferImage(depthBuffer.width,depthBuffer.height,QImage::Format_RGB32);
{
ccColorScale::Shared colorScale = ccColorScalesManager::GetDefaultScale();
assert(colorScale);
ScalarType coef = maxDist-minDist < ZERO_TOLERANCE ? 0 : static_cast<ScalarType>(ccColorScale::MAX_STEPS-1)/(maxDist-minDist);
const ScalarType* _zBuff = depthBuffer.zBuff;
for (int y=0; y<depthBuffer.height; ++y)
{
for (int x=0; x<depthBuffer.width; ++x,++_zBuff)
{
const colorType* col = (*_zBuff >= minDist ? colorScale->getColorByIndex(static_cast<unsigned>((*_zBuff-minDist)*coef)) : ccColor::black);
bufferImage.setPixel(x,depthBuffer.height-1-y,qRgb(col[0],col[1],col[2]));
}
}
}
QDialog* dlg = new QDialog(parent);
dlg->setWindowTitle(QString("%0 depth buffer [%1 x %2]").arg(sensor->getParent()->getName()).arg(depthBuffer.width).arg(depthBuffer.height));
dlg->setFixedSize(bufferImage.size());
QVBoxLayout* vboxLayout = new QVBoxLayout(dlg);
vboxLayout->setContentsMargins(0,0,0,0);
QLabel* label = new QLabel(dlg);
label->setScaledContents(true);
vboxLayout->addWidget(label);
label->setPixmap(QPixmap::fromImage(bufferImage));
dlg->show();
}
void ccRenderingTools::ShowDepthBuffer(ccGBLSensor* sensor, QWidget* parent/*=0*/, unsigned maxDim/*=1024*/)
{
if (!sensor)
return;
const ccGBLSensor::DepthBuffer& depthBuffer = sensor->getDepthBuffer();
if (depthBuffer.zBuff.empty())
return;
//determine min and max depths
ScalarType minDist = 0.0f;
ScalarType maxDist = 0.0f;
{
const ScalarType* _zBuff = &(depthBuffer.zBuff.front());
double sumDist = 0.0;
double sumDist2 = 0.0;
unsigned count = 0;
for (unsigned x=0; x<depthBuffer.height*depthBuffer.width; ++x,++_zBuff)
{
if (x == 0)
{
maxDist = minDist = *_zBuff;
}
else if (*_zBuff > 0)
{
maxDist = std::max(maxDist,*_zBuff);
minDist = std::min(minDist,*_zBuff);
}
if (*_zBuff > 0)
{
sumDist += *_zBuff;
sumDist2 += *_zBuff * *_zBuff;
++count;
}
}
if (count)
{
double avg = sumDist / count;
double stdDev = sqrt(fabs(sumDist2 / count - avg*avg));
//for better dynamics
maxDist = std::min(maxDist, static_cast<ScalarType>(avg + 1.0 * stdDev));
}
}
QImage bufferImage(depthBuffer.width, depthBuffer.height, QImage::Format_RGB32);
{
ccColorScale::Shared colorScale = ccColorScalesManager::GetDefaultScale();
assert(colorScale);
ScalarType coef = maxDist - minDist < ZERO_TOLERANCE ? 0 : static_cast<ScalarType>(ccColorScale::MAX_STEPS - 1) / (maxDist - minDist);
const ScalarType* _zBuff = &(depthBuffer.zBuff.front());
for (unsigned y=0; y<depthBuffer.height; ++y)
{
for (unsigned x=0; x<depthBuffer.width; ++x,++_zBuff)
{
const ccColor::Rgba& col = (*_zBuff >= minDist ? colorScale->getColorByIndex(static_cast<unsigned>((std::min(maxDist,*_zBuff)-minDist)*coef)) : ccColor::black);
bufferImage.setPixel(x, depthBuffer.height - 1 - y, qRgb(col.r, col.g, col.b));
}
}
}
QDialog* dlg = new QDialog(parent);
dlg->setWindowTitle(QString("%0 depth buffer [%1 x %2]").arg(sensor->getParent()->getName()).arg(depthBuffer.width).arg(depthBuffer.height));
unsigned maxDBDim = std::max<unsigned>(depthBuffer.width, depthBuffer.height);
unsigned scale = 1;
while (maxDBDim > maxDim)
{
maxDBDim >>= 1;
scale <<= 1;
}
dlg->setFixedSize(bufferImage.size()/scale);
QVBoxLayout* vboxLayout = new QVBoxLayout(dlg);
vboxLayout->setContentsMargins(0,0,0,0);
QLabel* label = new QLabel(dlg);
label->setScaledContents(true);
vboxLayout->addWidget(label);
label->setPixmap(QPixmap::fromImage(bufferImage));
dlg->show();
}
cv::Mat cropImageBlackFrame(cv::Mat &img) { //TODO
AntiShake *aux = AntiShake::getInstance();
// aux->displayWindow(img, "original");
Mat gray, thresh, bufferImage;
cv::copyMakeBorder(img, bufferImage, 10, 10, 10, 10, BORDER_CONSTANT);
// STEP 1: transform to grayscale
if (bufferImage.type() != CV_8U) {
cvtColor(bufferImage, gray, CV_RGB2GRAY);
} else {
bufferImage.copyTo(gray);
}
// STEP 2: threshold black frame from the scene
cv::threshold(gray, thresh, 1, 255, cv::THRESH_BINARY);
aux->displayWindow(thresh, "thresh");
// aux->displayWindow(gray, "gray");
// STEP 3: Detect image corners
std::vector<cv::KeyPoint> kpts;
cv::FAST(thresh, kpts, 50, false);
cout << "==== kpts.size() " << kpts.size() << endl;
if (kpts.size() > 0) {
std::vector<cv::Point2f> corners, pointsX, pointsY;
cv::KeyPoint::convert(kpts, pointsX);
pointsX.push_back(Point2f(0, 0));
pointsX.push_back(Point2f(0, img.rows));
pointsX.push_back(Point2f(img.cols, 0));
pointsX.push_back(Point2f(img.cols, img.rows));
// STEP 4: gets only the local minimums
for (unsigned int pVar = 0; pVar < pointsX.size(); ++pVar) {
bool isNew = true;
for (unsigned int cVar = 0; cVar < corners.size(); ++cVar) {
if ((abs(pointsX[pVar].x - corners[cVar].x) < img.cols / 3)
&& (abs(pointsX[pVar].y - corners[cVar].y) < img.rows / 3)) {
isNew = false;
if (corners[cVar].x < img.cols / 2) {
corners[cVar].x = max(corners[cVar].x, pointsX[pVar].x);
} else {
corners[cVar].x = min(corners[cVar].x, pointsX[pVar].x);
}
if (corners[cVar].y < img.rows / 2) {
corners[cVar].y = max(corners[cVar].y, pointsX[pVar].y);
} else {
corners[cVar].y = min(corners[cVar].y, pointsX[pVar].y);
}
}
}
if (isNew) {
corners.push_back(pointsX[pVar]);
}
}
cout << endl;
for (unsigned int var = 0; var < corners.size(); ++var) {
cout << "==== CornersX (x, y) = " << corners[var].x << ", " << corners[var].y << endl;
}
cout << endl << endl;
if (corners.size() != 4) {
cout << "==== corners size != 4, corners.size = " << corners.size() << endl << endl << endl;
return img;
} else {
// STEP 5: Order Values according to X and Y values
pointsX = corners;
pointsY = pointsX;
std::sort(pointsX.begin(), pointsX.end(), SortOnX());
std::sort(pointsY.begin(), pointsY.end(), SortOnY());
cv::Point2f points[2];
points[0] = Point2f(pointsX[1].x, pointsY[1].y);
points[1] = Point2f(pointsX[2].x, pointsY[2].y);
cout << "points[0] (x,y) = (" << points[0].x << ", " << points[0].y << ")" << endl
<< "points[1] (x,y) = (" << points[1].x << ", " << points[1].y << ")" << endl
<< "(gray.cols, gray.rows) = (" << gray.cols << ", " << gray.rows << ")" << endl;
if (points[0].x == 12 && points[0].y == 12 && (gray.cols - points[1].x == 20)
&& (gray.rows - points[1].y == 20)) {
cout << "==== NO NEW VERTICES" << endl << endl << endl;
return img;
} else {
cv::Mat markedImage, finalImage;
bufferImage.copyTo(markedImage);
// STEP 6: Draw Green Lines on image
cv::rectangle(markedImage, points[0], points[1], cv::Scalar(0, 255, 0));
cv::Rect rect(points[0], points[1]);
aux->displayWindow(markedImage, "markedImage");
// STEP 7: Crop black Edges From images
bufferImage(rect).copyTo(finalImage);
aux->displayWindow(finalImage, "secondCrop");
return finalImage;
}
}
} else {
return img;
}
}
