throw out some unneeded stuff for RPi

diff --git a/cpp/sampleOpenCV/sampleOpenCV.cpp b/cpp/sampleOpenCV/sampleOpenCV.cpp
index 8a085fe..6170396 100644 (file)
--- a/cpp/sampleOpenCV/sampleOpenCV.cpp
+++ b/cpp/sampleOpenCV/sampleOpenCV.cpp
@@ -20,6 +20,8 @@ using namespace sample_utils;
 using namespace std;
 using namespace cv;
 
 using namespace std;
 using namespace cv;
 

+//#define SHOW_GUI_WINDOWS
+

 // Linker errors for the OpenCV sample
 //
 // If this example gives linker errors about undefined references to cv::namedWindow and cv::imshow,
 // Linker errors for the OpenCV sample
 //
 // If this example gives linker errors about undefined references to cv::namedWindow and cv::imshow,

@@ -50,7 +52,7 @@ class MyListener : public IDepthDataListener
     bool normblurImage = true;
 
     const uint8_t confidence_threshold_ = 0;
     bool normblurImage = true;
 
     const uint8_t confidence_threshold_ = 0;

-    const double distance_threshold_ = 50;
+    const double distance_threshold_ = 80;

 
 public :
 
 
 public :
 

@@ -70,33 +72,45 @@ public :
         // create two images which will be filled afterwards
         // each image containing one 32Bit channel
         zImage.create (Size (data->width, data->height), CV_32FC1);
         // create two images which will be filled afterwards
         // each image containing one 32Bit channel
         zImage.create (Size (data->width, data->height), CV_32FC1);

+#ifdef SHOW_GUI_WINDOWS

         grayImage.create (Size (data->width, data->height), CV_32FC1);
         confidenceImage.create (Size (data->width, data->height), CV_8UC1);
         grayImage.create (Size (data->width, data->height), CV_32FC1);
         confidenceImage.create (Size (data->width, data->height), CV_8UC1);

+#endif

 
         // set the image to zero
         zImage = Scalar::all (0);
 
         // set the image to zero
         zImage = Scalar::all (0);

+#ifdef SHOW_GUI_WINDOWS

         grayImage = Scalar::all (0);
         grayImage = Scalar::all (0);

+#endif

 
         int k = 0;
         for (int y = 0; y < zImage.rows; y++)
         {
             float *zRowPtr = zImage.ptr<float> (y);
 
         int k = 0;
         for (int y = 0; y < zImage.rows; y++)
         {
             float *zRowPtr = zImage.ptr<float> (y);

+#ifdef SHOW_GUI_WINDOWS

             float *grayRowPtr = grayImage.ptr<float> (y);
             uint8_t *confRowPtr = confidenceImage.ptr<uint8_t> (y);
             float *grayRowPtr = grayImage.ptr<float> (y);
             uint8_t *confRowPtr = confidenceImage.ptr<uint8_t> (y);

+#endif

             for (int x = 0; x < zImage.cols; x++, k++)
             {
                 auto curPoint = data->points.at (k);
             for (int x = 0; x < zImage.cols; x++, k++)
             {
                 auto curPoint = data->points.at (k);

+#ifdef SHOW_GUI_WINDOWS

                 confRowPtr[x] = curPoint.depthConfidence;
                 confRowPtr[x] = curPoint.depthConfidence;

+#endif

                 if (curPoint.depthConfidence > confidence_threshold_)
                 {
                     // if the point is valid, map the pixel from 3D world
                     // coordinates to a 2D plane (this will distort the image)
                     zRowPtr[x] = adjustZValue (curPoint.z);
                 if (curPoint.depthConfidence > confidence_threshold_)
                 {
                     // if the point is valid, map the pixel from 3D world
                     // coordinates to a 2D plane (this will distort the image)
                     zRowPtr[x] = adjustZValue (curPoint.z);

+#ifdef SHOW_GUI_WINDOWS

                     grayRowPtr[x] = adjustGrayValue (curPoint.grayValue);
                     grayRowPtr[x] = adjustGrayValue (curPoint.grayValue);

+#endif

                 } else {
                     //asume point is as far away as possible and thus "SAFE" for obstacle avoidance
                     zRowPtr[x] = 255;
                 } else {
                     //asume point is as far away as possible and thus "SAFE" for obstacle avoidance
                     zRowPtr[x] = 255;

+#ifdef SHOW_GUI_WINDOWS

                     grayRowPtr[x] = 255;
                     grayRowPtr[x] = 255;

+#endif

                 }
             }
         }
                 }
             }
         }

@@ -104,15 +118,18 @@ public :
         // create images to store the 8Bit version (some OpenCV
         // functions may only work on 8Bit images)
         zImage8.create (Size (data->width, data->height), CV_8UC1);
         // create images to store the 8Bit version (some OpenCV
         // functions may only work on 8Bit images)
         zImage8.create (Size (data->width, data->height), CV_8UC1);

+#ifdef SHOW_GUI_WINDOWS

         grayImage8.create (Size (data->width, data->height), CV_8UC1);
         grayImage8.create (Size (data->width, data->height), CV_8UC1);

-
+#endif

         // convert images to the 8Bit version
         // This sample uses a fixed scaling of the values to (0, 255) to avoid flickering.
         // You can also replace this with an automatic scaling by using
         // normalize(zImage, zImage8, 0, 255, NORM_MINMAX, CV_8UC1)
         // normalize(grayImage, grayImage8, 0, 255, NORM_MINMAX, CV_8UC1)
         zImage.convertTo (zImage8, CV_8UC1);
         // convert images to the 8Bit version
         // This sample uses a fixed scaling of the values to (0, 255) to avoid flickering.
         // You can also replace this with an automatic scaling by using
         // normalize(zImage, zImage8, 0, 255, NORM_MINMAX, CV_8UC1)
         // normalize(grayImage, grayImage8, 0, 255, NORM_MINMAX, CV_8UC1)
         zImage.convertTo (zImage8, CV_8UC1);

+#ifdef SHOW_GUI_WINDOWS

         grayImage.convertTo (grayImage8, CV_8UC1);
         grayImage.convertTo (grayImage8, CV_8UC1);

+#endif

 
         if (undistortImage)
         {
 
         if (undistortImage)
         {

@@ -133,7 +150,7 @@ 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);
         //// 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++)
         //detect column distance
         auto col_width = zImage.cols/num_dist_columns_;
         for (uint32_t col=0; col<num_dist_columns_; col++)

@@ -144,31 +161,36 @@ public :
             minMaxLoc(subimg,&min,&max);
             latest_min_distance_diff_[col]=min-latest_min_distance_[col];
             latest_min_distance_[col]=min;
             minMaxLoc(subimg,&min,&max);
             latest_min_distance_diff_[col]=min-latest_min_distance_[col];
             latest_min_distance_[col]=min;

+#ifdef SHOW_GUI_WINDOWS

             std::cout << "col" << col << "   min:" << min << "("<<latest_min_distance_diff_[col]<<")"<< "   max:" << max << std::endl;
             std::cout << "col" << col << "   min:" << min << "("<<latest_min_distance_diff_[col]<<")"<< "   max:" << max << std::endl;

+#endif

         }
 
         }
 

-        //naive obstacle avoidance demo
+        //naive obstacle avoidance demo, uses global latest_min_distance_diff_

         naiveObstacleAvoidanceDemo();
 
         // scale and display the depth image
         naiveObstacleAvoidanceDemo();
 
         // scale and display the depth image

-        scaledZImage.create (Size (data->width * 4, data->height * 4), CV_8UC1);
-        resize (zImage8, scaledZImage, scaledZImage.size());
-
-        imshow ("Depth", scaledZImage);
+        // scaledZImage.create (Size (data->width * 4, data->height * 4), CV_8UC1);
+        // resize (zImage8, scaledZImage, scaledZImage.size());
+        // imshow ("Depth", scaledZImage);

 
 

-        if (undistortImage)
-        {
-            // call the undistortion function on the gray image
-            Mat temp = grayImage8.clone();
-            undistort (temp, grayImage8, cameraMatrix, distortionCoefficients);
-        }
+#ifdef SHOW_GUI_WINDOWS
+        imshow ("Depth", zImage8);

 
         // scale and display the gray image
         // scaledGrayImage.create (Size (data->width * 4, data->height * 4), CV_8UC1);
         // resize (grayImage8, scaledGrayImage, scaledGrayImage.size());
         // imshow ("Gray", scaledGrayImage);
 
 
         // scale and display the gray image
         // scaledGrayImage.create (Size (data->width * 4, data->height * 4), CV_8UC1);
         // resize (grayImage8, scaledGrayImage, scaledGrayImage.size());
         // imshow ("Gray", scaledGrayImage);
 

+        // if (undistortImage)
+        // {
+        //     // call the undistortion function on the gray image
+        //     Mat temp = grayImage8.clone();
+        //     undistort (temp, grayImage8, cameraMatrix, distortionCoefficients);
+        // }
+

         imshow ("Confidence", confidenceImage);
         imshow ("Confidence", confidenceImage);

+#endif

     }
 
     void setLensParameters (const LensParameters &lensParameters)
     }
 
     void setLensParameters (const LensParameters &lensParameters)

@@ -361,11 +383,21 @@ int main (int argc, char *argv[])
         return 1;
     }
 
         return 1;
     }
 

+#ifdef SHOW_GUI_WINDOWS

     // create two windows
     namedWindow ("Depth", WINDOW_AUTOSIZE);
     // namedWindow ("Gray", WINDOW_AUTOSIZE);
     namedWindow ("Confidence", WINDOW_AUTOSIZE);
     // namedWindow ("column", WINDOW_AUTOSIZE);
     // create two windows
     namedWindow ("Depth", WINDOW_AUTOSIZE);
     // namedWindow ("Gray", WINDOW_AUTOSIZE);
     namedWindow ("Confidence", WINDOW_AUTOSIZE);
     // namedWindow ("column", WINDOW_AUTOSIZE);

+#endif
+
+
+    // set an operation mode
+    if (cameraDevice->setUseCase ("MODE_5_45FPS_500") != royale::CameraStatus::SUCCESS)
+    {
+        cerr << "Error setting use case" << endl;
+        return 1;
+    }

 
     // start capture mode
     if (cameraDevice->startCapture() != CameraStatus::SUCCESS)
 
     // start capture mode
     if (cameraDevice->startCapture() != CameraStatus::SUCCESS)

@@ -374,6 +406,23 @@ int main (int argc, char *argv[])
         return 1;
     }
 
         return 1;
     }
 

+
+    // Change the exposure time for the first stream of the use case (Royale will limit this to an
+    // eye-safe exposure time, with limits defined by the use case).  The time is given in
+    // microseconds.
+    //
+    // Non-mixed mode use cases have exactly one stream, mixed mode use cases have more than one.
+    // For this example we only change the first stream.
+    // if (cameraDevice->setExposureTime (200, streamIds[0]) != royale::CameraStatus::SUCCESS)
+    // {
+    //     cerr << "Cannot set exposure time for stream" << streamIds[0] << endl;
+    // }
+    // else
+    // {
+    //     cout << "Changed exposure time for stream " << streamIds[0] << " to 200 microseconds ..." << endl;
+    // }
+
+

     int currentKey = 0;
 
     while (currentKey != 27)
     int currentKey = 0;
 
     while (currentKey != 27)