view_depth.cc

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#include "../lib/common.h"
#include "../lib/args.h"
#include "../lib/viewer.h"
#include "../lib/opencv.h"
#include <cstdlib>
#include <iostream>
#include <string>

using namespace tlz;


int main(int argc, const char* argv[]) {
    get_args(argc, argv, "depth.png [min_d max_d] [out.png]");
    std::string depth_filename = in_filename_arg();
    int z_near_init = int_opt_arg(-1);
    int z_far_init = int_opt_arg(-1);
    std::string out_depth_filename = out_filename_opt_arg();
        
    cv::Mat_<ushort> depth = cv::imread(depth_filename, CV_LOAD_IMAGE_ANYDEPTH);
    bool is16bit = (depth.depth() == CV_16U);

    // scale if too large (not when saving to file)
    int max_cols = 1000;
    if(out_depth_filename.empty() && depth.cols > max_cols) {
        int new_cols = max_cols;
        int new_rows = new_cols * depth.rows / depth.cols;
        cv::resize(depth, depth, cv::Size(new_cols, new_rows));
    }

    // get min/max value in image (excluding 0 pixels)
    ushort min_value = (is16bit ? 0xffff : 0xff), max_value = 0;
    for(ushort value : depth) {
        if(value == 0) continue;
        else if(value > max_value) max_value = value;
        else if(value < min_value) min_value = value;
    }
    
    
    if(out_depth_filename.empty()) {
        viewer view("Depth map");
        const int slider_steps = 200;
        auto& z_near_slider = view.add_real_slider("z near", (z_near_init == -1 ? min_value : z_near_init), min_value, max_value, slider_steps);
        auto& z_far_slider = view.add_real_slider("z far", (z_far_init == -1 ? max_value : z_near_init), min_value, max_value, slider_steps);
        
        auto update = [&]() {
            real min_d = z_near_slider.value();
            real max_d = z_far_slider.value();
            
            std::cout << "min_d=" << min_d << ", max_d=" << max_d << std::endl;
            
            cv::Mat_<uchar> img = viewer::visualize_depth(depth, min_d, max_d);
            view.clear(img.size());
            view.draw(img);
        };
        view.update_callback = update;
        view.show_modal();

    } else {
        cv::Mat_<uchar> img = viewer::visualize_depth(depth, z_near_init, z_far_init);
        cv::imwrite(out_depth_filename, img);
        std::cout << "saved to " << out_depth_filename << std::endl;
    }

}