From 1615b0c40fd95ed981bd1b42cca67b6ec9318553 Mon Sep 17 00:00:00 2001
From: Sebastian Hahta <joseha@utu.fi>
Date: Wed, 4 Sep 2019 13:51:22 +0300
Subject: [PATCH] disable optical flow (rescaling on CUDA missing)
---
.../rgbd-sources/include/ftl/rgbd/frame.hpp | 18 ++++++++++--------
components/rgbd-sources/src/stereovideo.cpp | 7 ++++++-
components/rgbd-sources/src/stereovideo.hpp | 3 +++
3 files changed, 19 insertions(+), 9 deletions(-)
diff --git a/components/rgbd-sources/include/ftl/rgbd/frame.hpp b/components/rgbd-sources/include/ftl/rgbd/frame.hpp
index e17b05702..17205d4c6 100644
--- a/components/rgbd-sources/include/ftl/rgbd/frame.hpp
+++ b/components/rgbd-sources/include/ftl/rgbd/frame.hpp
@@ -12,22 +12,22 @@ namespace rgbd {
typedef unsigned int channel_t;
static const channel_t kChanNone = 0;
-static const channel_t kChanLeft = 0x0001;
-static const channel_t kChanDepth = 0x0002;
-static const channel_t kChanRight = 0x0004;
-static const channel_t kChanDisparity = 0x0008;
+static const channel_t kChanLeft = 0x0001; // CV_8UC3
+static const channel_t kChanDepth = 0x0002; // CV_32FC1
+static const channel_t kChanRight = 0x0004; // CV_8UC3
+static const channel_t kChanDisparity = 0x0008; // CV_32FC1
static const channel_t kChanDeviation = 0x0010;
static const channel_t kChanNormals = 0x0020;
static const channel_t kChanConfidence = 0x0040;
-static const channel_t kChanFlow = 0x0080;
+static const channel_t kChanFlow = 0x0080; // CV_32FC2 or CV_16FC2 (fix)
static const channel_t kChanEnergy = 0x0100;
-static const channel_t kChanLeftGray = 0x0200;
-static const channel_t kChanRightGray = 0x0400;
+//static const channel_t kChanLeftGray = 0x0200; // not used // CV_8UC1
+//static const channel_t kChanRightGray = 0x0400; // not used // CV_8UC1
static const channel_t kChanOverlay1 = 0x1000;
// maximum number of available channels
-static const unsigned int n_channels = 13;
+static const unsigned int n_channels = 11;
inline bool isFloatChannel(ftl::rgbd::channel_t chan) {
return (chan == ftl::rgbd::kChanDepth || chan == ftl::rgbd::kChanEnergy);
@@ -100,6 +100,8 @@ private:
case kChanConfidence: return 7;
case kChanFlow: return 8;
case kChanEnergy: return 9;
+// case kChanLeftGray: return 11;
+// case kChanRightGray: return 12;
// should not happen (error); returned index is kChanNone
default: return 0;
}
diff --git a/components/rgbd-sources/src/stereovideo.cpp b/components/rgbd-sources/src/stereovideo.cpp
index 0935e238a..05f0f6765 100644
--- a/components/rgbd-sources/src/stereovideo.cpp
+++ b/components/rgbd-sources/src/stereovideo.cpp
@@ -61,13 +61,14 @@ void StereoVideoSource::init(const string &file)
frames_ = std::vector<Frame>(2);
#ifdef HAVE_OPTFLOW
- // TODO could be calculated at later step too if have access to old frames
+/*
use_optflow_ = host_->value("use_optflow", false);
LOG(INFO) << "Using optical flow: " << (use_optflow_ ? "true" : "false");
nvof_ = cv::cuda::NvidiaOpticalFlow_1_0::create(size.width, size.height,
cv::cuda::NvidiaOpticalFlow_1_0::NV_OF_PERF_LEVEL_SLOW,
true, false, false, 0);
+*/
#endif
calib_ = ftl::create<Calibrate>(host_, "calibration", size, stream_);
@@ -180,6 +181,9 @@ bool StereoVideoSource::retrieve() {
lsrc_->get(left, right, calib_, stream2_);
#ifdef HAVE_OPTFLOW
+/*
+ // see comments in https://gitlab.utu.fi/nicolas.pope/ftl/issues/155
+
if (use_optflow_)
{
auto &left_gray = frame.setChannel<cv::cuda::GpuMat>(kChanLeftGray);
@@ -197,6 +201,7 @@ bool StereoVideoSource::retrieve() {
cv::cuda::resize(optflow_, optflow, left.size(), 0.0, 0.0, cv::INTER_NEAREST, stream2_);
}
}
+*/
#endif
stream2_.waitForCompletion();
diff --git a/components/rgbd-sources/src/stereovideo.hpp b/components/rgbd-sources/src/stereovideo.hpp
index 934aeaf56..226f1c548 100644
--- a/components/rgbd-sources/src/stereovideo.hpp
+++ b/components/rgbd-sources/src/stereovideo.hpp
@@ -51,8 +51,11 @@ class StereoVideoSource : public detail::Source {
cv::Mat mask_l_;
#ifdef HAVE_OPTFLOW
+/*
+ // see comments in https://gitlab.utu.fi/nicolas.pope/ftl/issues/155
cv::Ptr<cv::cuda::NvidiaOpticalFlow_1_0> nvof_;
cv::cuda::GpuMat optflow_;
+*/
#endif
void init(const std::string &);
--
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