From 185b9d7ed53ca755b27f2ce17e660d072fe6c115 Mon Sep 17 00:00:00 2001
From: Sebastian Hahta <joseha@utu.fi>
Date: Fri, 30 Aug 2019 15:33:01 +0300
Subject: [PATCH] updated interface with automatic cpu/gpu transfer
---
.../rgbd-sources/include/ftl/rgbd/frame.hpp | 53 ++++++++++---------
components/rgbd-sources/src/stereovideo.cpp | 16 +++---
2 files changed, 34 insertions(+), 35 deletions(-)
diff --git a/components/rgbd-sources/include/ftl/rgbd/frame.hpp b/components/rgbd-sources/include/ftl/rgbd/frame.hpp
index fa87424ad..e41d8d188 100644
--- a/components/rgbd-sources/include/ftl/rgbd/frame.hpp
+++ b/components/rgbd-sources/include/ftl/rgbd/frame.hpp
@@ -27,55 +27,57 @@ public:
return available_[_channelIdx(channel)];
}
- /* @brief Get reference to the channel data.
- * @param Channel type
- * @param Output parameter
- * @param User of the method sets data. NOTE: Only works on unused
- * channels or if reset() was called previously (TODO).
- * @returns True, if output parameter contains valid data
+ /* @brief get reference to the channel contents
+ * @param channel type
+ * @returns const reference to channel data
*
* Methods automatically copy between host/gpu if the data is only available
- * in the other. Results are cached.
+ * in the other. Results are cached. Result is valid only if hasChannel() is
+ * true.
*/
- bool getChannel(const ftl::rgbd::channel_t& channel, cv::Mat& out, bool set=false)
+ const cv::Mat& getChannel(const ftl::rgbd::channel_t& channel)
{
auto idx = _channelIdx(channel);
- bool retval = available_[idx] & mask_host;
- if (!retval)
+ if (!(available_[idx] & mask_host))
{
if (available_[idx] & mask_gpu)
{
channels_gpu_[idx].download(channels_host_[idx]);
- retval = true;
- set = true;
+ available_[idx] |= mask_host;
}
}
- if (set) { available_[idx] |= mask_host; }
+ return channels_host_[idx];
+ }
- out = channels_host_[idx];
- return retval;
+ cv::Mat& setChannel(const ftl::rgbd::channel_t& channel)
+ {
+ auto idx = _channelIdx(channel);
+ available_[idx] = mask_host;
+ return channels_host_[idx];
}
- bool getChannel(const ftl::rgbd::channel_t& channel, cv::cuda::GpuMat& out, bool set=false)
+ const cv::cuda::GpuMat& getChannelGpu(const ftl::rgbd::channel_t& channel)
{
auto idx = _channelIdx(channel);
- bool retval = available_[idx] & mask_gpu;
- if (!retval)
+ if (!(available_[idx] & mask_gpu))
{
if (available_[idx] & mask_host)
{
channels_gpu_[idx].upload(channels_host_[idx]);
- retval = true;
- set = true;
+ available_[idx] |= mask_gpu;
}
}
-
- if (set) { available_[idx] |= mask_host; }
- out = channels_gpu_[idx];
- return retval;
+ return channels_gpu_[idx];
+ }
+
+ cv::cuda::GpuMat& setChannelGpu(const ftl::rgbd::channel_t& channel)
+ {
+ auto idx = _channelIdx(channel);
+ available_[idx] = mask_gpu;
+ return channels_gpu_[idx];
}
private:
@@ -94,7 +96,8 @@ private:
case kChanConfidence: return 7;
case kChanFlow: return 8;
case kChanEnergy: return 9;
- default: return 0; // should not happen (error)
+ // 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 a4c19767c..75ed21230 100644
--- a/components/rgbd-sources/src/stereovideo.cpp
+++ b/components/rgbd-sources/src/stereovideo.cpp
@@ -173,9 +173,8 @@ bool StereoVideoSource::capture(int64_t ts) {
bool StereoVideoSource::retrieve() {
auto &frame = frames_[0];
frame.reset();
- cv::cuda::GpuMat left, right;
- frame.getChannel(ftl::rgbd::kChanLeft, left, true);
- frame.getChannel(ftl::rgbd::kChanRight, right, true);
+ auto &left = frame.setChannelGpu(ftl::rgbd::kChanLeft);
+ auto &right = frame.setChannelGpu(ftl::rgbd::kChanRight);
lsrc_->get(left, right, calib_, stream2_);
#ifdef HAVE_OPTFLOW
@@ -209,18 +208,15 @@ void StereoVideoSource::swap() {
bool StereoVideoSource::compute(int n, int b) {
auto &frame = frames_[1];
- cv::cuda::GpuMat left, right, disp, depth;
- frame.getChannel(ftl::rgbd::kChanLeft, left);
- frame.getChannel(ftl::rgbd::kChanRight, right);
+ auto &left = frame.getChannelGpu(ftl::rgbd::kChanLeft);
+ auto &right = frame.getChannelGpu(ftl::rgbd::kChanRight);
const ftl::rgbd::channel_t chan = host_->getChannel();
if (left.empty() || right.empty()) return false;
-
-
if (chan == ftl::rgbd::kChanDepth) {
- frame.getChannel(ftl::rgbd::kChanDepth, depth, true);
- frame.getChannel(ftl::rgbd::kChanDisparity, disp, true);
+ auto &depth = frame.setChannelGpu(ftl::rgbd::kChanDepth);
+ auto &disp = frame.setChannelGpu(ftl::rgbd::kChanDisparity);
if (depth.empty()) depth = cv::cuda::GpuMat(left.size(), CV_32FC1);
if (disp.empty()) disp = cv::cuda::GpuMat(left.size(), CV_32FC1);
--
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