From 0e5c9d46005a77f7230289a345117563e42e22c2 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Thu, 3 Oct 2019 20:49:02 +0300
Subject: [PATCH] Allow splat enable disable
---
.../cpp/include/ftl/render/splat_render.hpp | 1 +
components/renderers/cpp/src/splat_render.cpp | 67 ++++++++++---------
2 files changed, 38 insertions(+), 30 deletions(-)
diff --git a/components/renderers/cpp/include/ftl/render/splat_render.hpp b/components/renderers/cpp/include/ftl/render/splat_render.hpp
index 93f31e16b..5f8a8ba49 100644
--- a/components/renderers/cpp/include/ftl/render/splat_render.hpp
+++ b/components/renderers/cpp/include/ftl/render/splat_render.hpp
@@ -46,6 +46,7 @@ class Splatter : public ftl::render::Renderer {
float norm_filter_;
bool backcull_;
cv::Scalar background_;
+ bool splat_;
};
}
diff --git a/components/renderers/cpp/src/splat_render.cpp b/components/renderers/cpp/src/splat_render.cpp
index 94199d55c..26f8e893e 100644
--- a/components/renderers/cpp/src/splat_render.cpp
+++ b/components/renderers/cpp/src/splat_render.cpp
@@ -79,6 +79,11 @@ Splatter::Splatter(nlohmann::json &config, ftl::rgbd::FrameSet *fs) : ftl::rende
backcull_ = value("back_cull", true);
});
+ splat_ = value("splatting", true);
+ on("splatting", [this](const ftl::config::Event &e) {
+ splat_ = value("splatting", true);
+ });
+
background_ = parseColour(value("background", std::string("#e0e0e0")));
on("background", [this](const ftl::config::Event &e) {
background_ = parseColour(value("background", std::string("#e0e0e0")));
@@ -170,7 +175,7 @@ void Splatter::renderChannel(
f.createTexture<float4>(channel),
f.createTexture<float4>(Channel::Points),
temp_.getTexture<int>(Channel::Depth2),
- temp_.createTexture<float4>(Channel::Colour2),
+ (splat_) ? temp_.createTexture<float4>(Channel::Colour2) : out.createTexture<float4>(channel),
params, stream
);
} else if (is_float) {
@@ -178,7 +183,7 @@ void Splatter::renderChannel(
f.createTexture<float>(channel),
f.createTexture<float4>(Channel::Points),
temp_.getTexture<int>(Channel::Depth2),
- temp_.createTexture<float>(Channel::Colour2),
+ (splat_) ? temp_.createTexture<float>(Channel::Colour2) : out.createTexture<float>(channel),
params, stream
);
} else {
@@ -186,7 +191,7 @@ void Splatter::renderChannel(
f.createTexture<uchar4>(channel),
f.createTexture<float4>(Channel::Points),
temp_.getTexture<int>(Channel::Depth2),
- temp_.createTexture<uchar4>(Channel::Colour2),
+ (splat_) ? temp_.createTexture<uchar4>(Channel::Colour2) : out.createTexture<uchar4>(channel),
params, stream
);
}
@@ -195,33 +200,35 @@ void Splatter::renderChannel(
//out.get<GpuMat>(Channel::Left).setTo(cv::Scalar(0,0,0,0), cvstream);
// Now splat the points
- if (is_4chan) {
- ftl::cuda::splat(
- out.getTexture<float4>(Channel::Normals),
- temp_.getTexture<float4>(Channel::Colour2),
- temp_.getTexture<int>(Channel::Depth2),
- out.createTexture<float>(Channel::Depth),
- out.createTexture<float4>(channel),
- params, stream
- );
- } else if (is_float) {
- ftl::cuda::splat(
- out.getTexture<float4>(Channel::Normals),
- temp_.getTexture<float>(Channel::Colour2),
- temp_.getTexture<int>(Channel::Depth2),
- out.createTexture<float>(Channel::Depth),
- out.createTexture<float>(channel),
- params, stream
- );
- } else {
- ftl::cuda::splat(
- out.getTexture<float4>(Channel::Normals),
- temp_.getTexture<uchar4>(Channel::Colour2),
- temp_.getTexture<int>(Channel::Depth2),
- out.createTexture<float>(Channel::Depth),
- out.createTexture<uchar4>(channel),
- params, stream
- );
+ if (splat_) {
+ if (is_4chan) {
+ ftl::cuda::splat(
+ out.getTexture<float4>(Channel::Normals),
+ temp_.getTexture<float4>(Channel::Colour2),
+ temp_.getTexture<int>(Channel::Depth2),
+ out.createTexture<float>(Channel::Depth),
+ out.createTexture<float4>(channel),
+ params, stream
+ );
+ } else if (is_float) {
+ ftl::cuda::splat(
+ out.getTexture<float4>(Channel::Normals),
+ temp_.getTexture<float>(Channel::Colour2),
+ temp_.getTexture<int>(Channel::Depth2),
+ out.createTexture<float>(Channel::Depth),
+ out.createTexture<float>(channel),
+ params, stream
+ );
+ } else {
+ ftl::cuda::splat(
+ out.getTexture<float4>(Channel::Normals),
+ temp_.getTexture<uchar4>(Channel::Colour2),
+ temp_.getTexture<int>(Channel::Depth2),
+ out.createTexture<float>(Channel::Depth),
+ out.createTexture<uchar4>(channel),
+ params, stream
+ );
+ }
}
}
--
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