From 01eebd22a7c47c75ac1eb528df7f37f193898767 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Thu, 19 Sep 2019 16:04:46 +0300
Subject: [PATCH] Fix for missing tex init in ilw
---
applications/reconstruct/src/ilw.cpp | 17 +++++++++++++++++
1 file changed, 17 insertions(+)
diff --git a/applications/reconstruct/src/ilw.cpp b/applications/reconstruct/src/ilw.cpp
index 57ad8634c..86a4cca5e 100644
--- a/applications/reconstruct/src/ilw.cpp
+++ b/applications/reconstruct/src/ilw.cpp
@@ -53,6 +53,19 @@ bool ILW::_phase0(ftl::rgbd::FrameSet &fs, cudaStream_t stream) {
// TODO: Create energy vector texture and clear it
// Create energy and clear it
+
+ // Convert colour from BGR to BGRA if needed
+ if (f.get<GpuMat>(Channel::Colour).type() == CV_8UC3) {
+ // Convert to 4 channel colour
+ auto &col = f.get<GpuMat>(Channel::Colour);
+ GpuMat tmp(col.size(), CV_8UC4);
+ cv::cuda::swap(col, tmp);
+ cv::cuda::cvtColor(tmp,col, cv::COLOR_BGR2BGRA);
+ }
+
+ f.createTexture<float4>(Channel::EnergyVector, Format<float4>(f.get<GpuMat>(Channel::Colour).size()));
+ f.createTexture<float>(Channel::Energy, Format<float>(f.get<GpuMat>(Channel::Colour).size()));
+ f.createTexture<uchar4>(Channel::Colour);
}
return true;
@@ -75,6 +88,7 @@ bool ILW::_phase1(ftl::rgbd::FrameSet &fs, cudaStream_t stream) {
auto pose = MatrixConversion::toCUDA(s2->getPose().cast<float>().inverse());
+ try {
//Calculate energy vector to best correspondence
ftl::cuda::correspondence_energy_vector(
f1.getTexture<float4>(Channel::Points),
@@ -88,6 +102,9 @@ bool ILW::_phase1(ftl::rgbd::FrameSet &fs, cudaStream_t stream) {
s2->parameters(),
stream
);
+ } catch (ftl::exception &e) {
+ LOG(ERROR) << "Exception in correspondence: " << e.what();
+ }
LOG(INFO) << "Correspondences done... " << i;
}
--
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