From 19a3c41e1851e81d4fdc27560389379dfa0487ae Mon Sep 17 00:00:00 2001
From: Sebastian Hahta <joseha@utu.fi>
Date: Fri, 1 Nov 2019 13:05:28 +0200
Subject: [PATCH] off filter: gpumat
---
components/rgbd-sources/include/ftl/offilter.hpp | 1 +
components/rgbd-sources/src/algorithms/fixstars_sgm.cpp | 7 ++++++-
components/rgbd-sources/src/offilter.cpp | 5 +++++
3 files changed, 12 insertions(+), 1 deletion(-)
diff --git a/components/rgbd-sources/include/ftl/offilter.hpp b/components/rgbd-sources/include/ftl/offilter.hpp
index 6aece39aa..0e273d80d 100644
--- a/components/rgbd-sources/include/ftl/offilter.hpp
+++ b/components/rgbd-sources/include/ftl/offilter.hpp
@@ -17,6 +17,7 @@ public:
OFDisparityFilter() : n_max_(0), threshold_(0.0) {}
OFDisparityFilter(cv::Size size, int n_frames, float threshold);
void filter(ftl::rgbd::Frame &frame, cv::cuda::Stream &stream);
+ void filter(cv::cuda::GpuMat &disp, cv::cuda::GpuMat &optflow, cv::cuda::Stream &stream);
private:
int n_max_;
diff --git a/components/rgbd-sources/src/algorithms/fixstars_sgm.cpp b/components/rgbd-sources/src/algorithms/fixstars_sgm.cpp
index a8a4982c7..9052f3540 100644
--- a/components/rgbd-sources/src/algorithms/fixstars_sgm.cpp
+++ b/components/rgbd-sources/src/algorithms/fixstars_sgm.cpp
@@ -154,6 +154,7 @@ bool FixstarsSGM::updateOFDisparityFilter() {
}
if (enable) {
+ LOG(INFO) << "Optical flow filter, size: " << off_size << ", threshold: " << off_threshold;
off_ = ftl::rgbd::OFDisparityFilter(size_, off_size, off_threshold);
use_off_ = true;
}
@@ -206,7 +207,11 @@ void FixstarsSGM::compute(ftl::rgbd::Frame &frame, cv::cuda::Stream &stream)
cv::cuda::threshold(dispt_, dispt_, 4096.0f, 0.0f, cv::THRESH_TOZERO_INV, stream);
#ifdef HAVE_OPTFLOW
- if (use_off_) { off_.filter(frame, stream); }
+ if (use_off_) {
+ frame.upload(Channel::Flow, stream);
+ stream.waitForCompletion();
+ off_.filter(dispt_, frame.get<GpuMat>(Channel::Flow), stream);
+ }
#endif
// TODO: filter could be applied after upscaling (to the upscaled disparity image)
diff --git a/components/rgbd-sources/src/offilter.cpp b/components/rgbd-sources/src/offilter.cpp
index 34c01c1fe..832ed467a 100644
--- a/components/rgbd-sources/src/offilter.cpp
+++ b/components/rgbd-sources/src/offilter.cpp
@@ -39,4 +39,9 @@ void OFDisparityFilter::filter(ftl::rgbd::Frame &frame, cv::cuda::Stream &stream
ftl::cuda::optflow_filter(disp, optflow, disp_old_, n_max_, threshold_, stream);
}
+void OFDisparityFilter::filter(cv::cuda::GpuMat &disp, cv::cuda::GpuMat &optflow, cv::cuda::Stream &stream)
+{
+ ftl::cuda::optflow_filter(disp, optflow, disp_old_, n_max_, threshold_, stream);
+}
+
#endif // HAVE_OPTFLOW
--
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