diff --git a/applications/reconstruct/include/ftl/voxel_hash_params.hpp b/applications/reconstruct/include/ftl/voxel_hash_params.hpp
index 480e16d478a7a3c82d046f6de464d7bb20c04f64..5e13ec21c259eec02d9a2f49b25ad3a98c06d08c 100644
--- a/applications/reconstruct/include/ftl/voxel_hash_params.hpp
+++ b/applications/reconstruct/include/ftl/voxel_hash_params.hpp
@@ -28,8 +28,8 @@ struct __align__(16) HashParams {
unsigned int m_integrationWeightSample;
unsigned int m_integrationWeightMax;
- int3 m_minBounds;
- int3 m_maxBounds;
+ float3 m_minBounds;
+ float3 m_maxBounds;
float m_spatialSmoothing;
float m_colourSmoothing;
float m_confidenceThresh;
diff --git a/applications/reconstruct/src/voxel_scene.cpp b/applications/reconstruct/src/voxel_scene.cpp
index 5d392d4f74f010c25fc52da3bc0f6936fc15efce..2dca323166936658a14870606a036baf80991b89 100644
--- a/applications/reconstruct/src/voxel_scene.cpp
+++ b/applications/reconstruct/src/voxel_scene.cpp
@@ -295,14 +295,14 @@ HashParams SceneRep::_parametersFromConfig() {
params.m_flags = 0;
params.m_flags |= (value("clipping", false)) ? ftl::voxhash::kFlagClipping : 0;
params.m_flags |= (value("mls", false)) ? ftl::voxhash::kFlagMLS : 0;
- params.m_maxBounds = make_int3(
- value("bbox_x_max", 2.0f) / (params.m_virtualVoxelSize*SDF_BLOCK_SIZE),
- value("bbox_y_max", 2.0f) / (params.m_virtualVoxelSize*SDF_BLOCK_SIZE),
- value("bbox_z_max", 2.0f) / (params.m_virtualVoxelSize*SDF_BLOCK_SIZE));
- params.m_minBounds = make_int3(
- value("bbox_x_min", -2.0f) / (params.m_virtualVoxelSize*SDF_BLOCK_SIZE),
- value("bbox_y_min", -2.0f) / (params.m_virtualVoxelSize*SDF_BLOCK_SIZE),
- value("bbox_z_min", -2.0f) / (params.m_virtualVoxelSize*SDF_BLOCK_SIZE));
+ params.m_maxBounds = make_float3(
+ value("bbox_x_max", 2.0f),
+ value("bbox_y_max", 2.0f),
+ value("bbox_z_max", 2.0f));
+ params.m_minBounds = make_float3(
+ value("bbox_x_min", -2.0f),
+ value("bbox_y_min", -2.0f),
+ value("bbox_z_min", -2.0f));
return params;
}
diff --git a/components/rgbd-sources/include/ftl/rgbd/streamer.hpp b/components/rgbd-sources/include/ftl/rgbd/streamer.hpp
index d2beacb2105c38dfa7d3c8317f2e6512cb07c570..82dba747857eb0c6fc7ab62e52990f3e2a30ae67 100644
--- a/components/rgbd-sources/include/ftl/rgbd/streamer.hpp
+++ b/components/rgbd-sources/include/ftl/rgbd/streamer.hpp
@@ -35,7 +35,7 @@ static const unsigned int kFrameDropLimit = 5;
struct StreamSource {
ftl::rgbd::Source *src;
- std::atomic<unsigned int> jobs; // Busy or ready to swap?
+ std::atomic<int> jobs; // Busy or ready to swap?
std::atomic<unsigned int> clientCount;
cv::Mat rgb; // Tx buffer
cv::Mat depth; // Tx buffer
diff --git a/components/rgbd-sources/src/source.cpp b/components/rgbd-sources/src/source.cpp
index 9aee6dfbdbbcbec518ed3c3da879c7aa346c3096..913fe4acb53afb28b63c6e89d97e50dca6a669b6 100644
--- a/components/rgbd-sources/src/source.cpp
+++ b/components/rgbd-sources/src/source.cpp
@@ -165,10 +165,10 @@ ftl::rgbd::detail::Source *Source::_createDeviceImpl(const ftl::URI &uri) {
void Source::getFrames(cv::Mat &rgb, cv::Mat &depth) {
SHARED_LOCK(mutex_,lk);
- //rgb_.copyTo(rgb);
- //depth_.copyTo(depth);
- rgb = rgb_;
- depth = depth_;
+ rgb_.copyTo(rgb);
+ depth_.copyTo(depth);
+ //rgb = rgb_;
+ //depth = depth_;
/*cv::Mat tmp;
tmp = rgb;
@@ -244,7 +244,7 @@ bool Source::compute(int N, int B) {
return true;
} else if (impl_ && impl_->compute(N,B)) {
timestamp_ = impl_->timestamp_;
- /*cv::Mat tmp;
+ cv::Mat tmp;
rgb_.create(impl_->rgb_.size(), impl_->rgb_.type());
depth_.create(impl_->depth_.size(), impl_->depth_.type());
tmp = rgb_;
@@ -252,10 +252,10 @@ bool Source::compute(int N, int B) {
impl_->rgb_ = tmp;
tmp = depth_;
depth_ = impl_->depth_;
- impl_->depth_ = tmp;*/
+ impl_->depth_ = tmp;
- impl_->rgb_.copyTo(rgb_);
- impl_->depth_.copyTo(depth_);
+ //impl_->rgb_.copyTo(rgb_);
+ //impl_->depth_.copyTo(depth_);
return true;
}
return false;
diff --git a/components/rgbd-sources/src/streamer.cpp b/components/rgbd-sources/src/streamer.cpp
index ab03f2a6527163d3413e7a1d2ada8aed9803f07f..21821c908964b5f0889330fa931888c9bc10bcf1 100644
--- a/components/rgbd-sources/src/streamer.cpp
+++ b/components/rgbd-sources/src/streamer.cpp
@@ -263,30 +263,31 @@ void Streamer::run(bool block) {
void Streamer::_swap(StreamSource *src) {
if (src->jobs == 0) {
UNIQUE_LOCK(src->mutex,lk);
-
- for (unsigned int b=0; b<10; ++b) {
- auto i = src->clients[b].begin();
- while (i != src->clients[b].end()) {
- // Client request completed so remove from list
- if ((*i).txcount >= (*i).txmax) {
- LOG(INFO) << "Remove client: " << (*i).uri;
- i = src->clients[b].erase(i);
- --src->clientCount;
- } else {
- i++;
+ if (src->jobs == 0) {
+ for (unsigned int b=0; b<10; ++b) {
+ auto i = src->clients[b].begin();
+ while (i != src->clients[b].end()) {
+ // Client request completed so remove from list
+ if ((*i).txcount >= (*i).txmax) {
+ LOG(INFO) << "Remove client: " << (*i).uri;
+ i = src->clients[b].erase(i);
+ --src->clientCount;
+ } else {
+ i++;
+ }
}
}
- }
- src->src->getFrames(src->rgb, src->depth);
- src->src->swap();
+ src->src->swap();
+ src->src->getFrames(src->rgb, src->depth);
- //if (!src->rgb.empty() && src->prev_depth.empty()) {
- //src->prev_depth = cv::Mat(src->rgb.size(), CV_16UC1, cv::Scalar(0));
- //LOG(INFO) << "Creating prevdepth: " << src->rgb.cols << "," << src->rgb.rows;
- //}
- src->jobs = 0;
- src->frame++;
+ //if (!src->rgb.empty() && src->prev_depth.empty()) {
+ //src->prev_depth = cv::Mat(src->rgb.size(), CV_16UC1, cv::Scalar(0));
+ //LOG(INFO) << "Creating prevdepth: " << src->rgb.cols << "," << src->rgb.rows;
+ //}
+ src->jobs = -1;
+ src->frame++;
+ }
}
}
@@ -310,19 +311,13 @@ void Streamer::wait() {
}
void Streamer::_schedule(StreamSource *src) {
- // There will be two jobs for this source...
- //UNIQUE_LOCK(job_mtx_,lk);
- jobs_ += 2 + kChunkCount;
- //lk.unlock();
+ if (src == nullptr || src->jobs > 0) return;
- //StreamSource *src = sources_[uri];
- if (src == nullptr || src->jobs != 0) return;
+ jobs_ += 2 + kChunkCount;
src->jobs = 2 + kChunkCount;
// Grab / capture job
ftl::pool.push([this,src](int id) {
- //auto start = std::chrono::high_resolution_clock::now();
-
auto start = std::chrono::high_resolution_clock::now();
int64_t now = std::chrono::time_point_cast<std::chrono::milliseconds>(start).time_since_epoch().count()+clock_adjust_;
int64_t target = now / mspf_;
@@ -374,7 +369,7 @@ void Streamer::_schedule(StreamSource *src) {
// Mark job as finished
std::unique_lock<std::mutex> lk(job_mtx_);
--jobs_;
- job_cv_.notify_one();
+ if (jobs_ == 0) job_cv_.notify_one();
});
// Compute job
@@ -395,7 +390,7 @@ void Streamer::_schedule(StreamSource *src) {
// Mark job as finished
std::unique_lock<std::mutex> lk(job_mtx_);
--jobs_;
- job_cv_.notify_one();
+ if (jobs_ == 0) job_cv_.notify_one();
});
// Create jobs for each chunk
@@ -415,7 +410,7 @@ void Streamer::_schedule(StreamSource *src) {
_swap(src);
std::unique_lock<std::mutex> lk(job_mtx_);
--jobs_;
- job_cv_.notify_one();
+ if (jobs_ == 0) job_cv_.notify_one();
});
}
}
diff --git a/config/config_nick.jsonc b/config/config_nick.jsonc
index 5e3a29a40abd6da9c577f185584f937c94cf44d0..2dac067a2115b634ec53fa73d58ef702f8d4f1ca 100644
--- a/config/config_nick.jsonc
+++ b/config/config_nick.jsonc
@@ -150,13 +150,13 @@
"confidenceThreshold": 0.0,
"mls": true,
"voxels": false,
- "clipping": false,
- "bbox_x_max": 1.5,
- "bbox_x_min": -1.5,
+ "clipping": true,
+ "bbox_x_max": 0.6,
+ "bbox_x_min": -0.6,
"bbox_y_max": 3.0,
"bbox_y_min": -3.0,
- "bbox_z_max": 2.5,
- "bbox_z_min": 0.0,
+ "bbox_z_max": 3.5,
+ "bbox_z_min": 2.0,
"cudaDevice": 1
},
"rs": {
@@ -507,6 +507,34 @@
"stream": {}
},
+ "reconstruction_snap10": {
+ "net": {
+ "peers": [],
+ "listen": "tcp://*:9002"
+ },
+ "sources": [
+ {"uri":"file:///home/nick/Pictures/FTL/snaptest10.tar.gz#0", "index": "camera0"},
+ {"uri":"file:///home/nick/Pictures/FTL/snaptest10.tar.gz#1", "index": "camera1"},
+ {"uri":"file:///home/nick/Pictures/FTL/snaptest10.tar.gz#2", "index": "camera2"},
+ {"uri":"file:///home/nick/Pictures/FTL/snaptest10.tar.gz#3", "index": "camera3"},
+ {"uri":"file:///home/nick/Pictures/FTL/snaptest10.tar.gz#4", "index": "camera4"}
+ ],
+ "display": { "$ref": "#displays/left" },
+ "virtual": { "$ref": "#virtual_cams/default" },
+ "voxelhash": { "$ref": "#hash_conf/default" },
+ "merge": {
+ "$id": "ftl://blah/blah",
+ "targetsource" : "ftl://utu.fi/node3#vision_default/source",
+ "register": false,
+ "chain": false,
+ "maxerror": 100,
+ "iterations" : 10,
+ "delay" : 500,
+ "patternsize" : [9, 6]
+ },
+ "stream": {}
+ },
+
"reconstruction_lab": {
"net": {
"peers": ["tcp://ftl-node-4:9001",