show image with confidence instead of grayscale

[201903hackathon.git] / cpp / sampleOpenCV / sampleOpenCV.cpp

diff --git a/cpp/sampleOpenCV/sampleOpenCV.cpp b/cpp/sampleOpenCV/sampleOpenCV.cpp
index d0587a4..93384ea 100644 (file)
--- a/cpp/sampleOpenCV/sampleOpenCV.cpp
+++ b/cpp/sampleOpenCV/sampleOpenCV.cpp
@@ -39,9 +39,9 @@ using namespace cv;
 class MyListener : public IDepthDataListener
 {
 
-    static uint32_t const num_dist_columns_=5;
-    uint32_t latest_distance_[num_dist_columns_];
-    uint32_t latest_distance_diff_[num_dist_columns_];
+    static uint32_t const num_dist_columns_=4;
+    double latest_min_distance_[num_dist_columns_];
+    double latest_min_distance_diff_[num_dist_columns_];
 
     const int DELAY_BLUR = 100;
     // const int MAX_KERNEL_LENGTH = 31;
@@ -49,7 +49,7 @@ class MyListener : public IDepthDataListener
 
     bool normblurImage = true;
 
-    const uint8_t confidence_threshold_ = 5;
+    const uint8_t confidence_threshold_ = 0;
 
 public :
 
@@ -70,6 +70,7 @@ public :
         // each image containing one 32Bit channel
         zImage.create (Size (data->width, data->height), CV_32FC1);
         grayImage.create (Size (data->width, data->height), CV_32FC1);
+        confidenceImage.create (Size (data->width, data->height), CV_8UC1);
 
         // set the image to zero
         zImage = Scalar::all (0);
@@ -80,9 +81,11 @@ public :
         {
             float *zRowPtr = zImage.ptr<float> (y);
             float *grayRowPtr = grayImage.ptr<float> (y);
+            uint8_t *confRowPtr = confidenceImage.ptr<uint8_t> (y);
             for (int x = 0; x < zImage.cols; x++, k++)
             {
                 auto curPoint = data->points.at (k);
+                confRowPtr[x] = curPoint.depthConfidence;
                 if (curPoint.depthConfidence > confidence_threshold_)
                 {
                     // if the point is valid, map the pixel from 3D world
@@ -126,8 +129,22 @@ public :
             }
         }
 
-
-
+        //// Debug: show column part of image
+        // Mat subimg = zImage8(Rect((zImage.cols/num_dist_columns_)*3,0, zImage.cols/num_dist_columns_ , zImage8.rows));
+        // imshow ("column", subimg);
+ 
+        //detect column distance
+        auto col_width = zImage.cols/num_dist_columns_;
+        for (uint32_t col=0; col<num_dist_columns_; col++)
+        {
+            auto col_y_start = col*col_width;
+            Mat subimg = zImage8(Rect(col_y_start, 0, col_width , zImage8.rows));
+            double min, max;
+            minMaxLoc(subimg,&min,&max);
+            latest_min_distance_diff_[col]=min-latest_min_distance_[col];
+            latest_min_distance_[col]=min;
+            std::cout << "col" << col << "   min:" << min << "("<<latest_min_distance_diff_[col]<<")"<< "   max:" << max << std::endl;
+        }
 
         // scale and display the depth image
         scaledZImage.create (Size (data->width * 4, data->height * 4), CV_8UC1);
@@ -143,10 +160,11 @@ public :
         }
 
         // scale and display the gray image
-        scaledGrayImage.create (Size (data->width * 4, data->height * 4), CV_8UC1);
-        resize (grayImage8, scaledGrayImage, scaledGrayImage.size());
+        // scaledGrayImage.create (Size (data->width * 4, data->height * 4), CV_8UC1);
+        // resize (grayImage8, scaledGrayImage, scaledGrayImage.size());
+        // imshow ("Gray", scaledGrayImage);
 
-        imshow ("Gray", scaledGrayImage);
+        imshow ("Confidence", confidenceImage);
     }
 
     void setLensParameters (const LensParameters &lensParameters)
@@ -204,6 +222,7 @@ private:
     // and for their 8Bit and scaled versions
     Mat zImage, zImage8, scaledZImage;
     Mat grayImage, grayImage8, scaledGrayImage;
+    Mat confidenceImage;
 
     // lens matrices used for the undistortion of
     // the image
@@ -305,7 +324,9 @@ int main (int argc, char *argv[])
 
     // create two windows
     namedWindow ("Depth", WINDOW_AUTOSIZE);
-    namedWindow ("Gray", WINDOW_AUTOSIZE);
+    // namedWindow ("Gray", WINDOW_AUTOSIZE);
+    namedWindow ("Confidence", WINDOW_AUTOSIZE);
+    // namedWindow ("column", WINDOW_AUTOSIZE);
 
     // start capture mode
     if (cameraDevice->startCapture() != CameraStatus::SUCCESS)