disable optical flow (rescaling on CUDA missing)

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;
 		}

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();

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 &);