diff --git a/applications/gui/src/camera.cpp b/applications/gui/src/camera.cpp
index e444f778f64b8aa28c5ebb2bb77bb284dedeafc9..862dd60bcea28a9bd59415c82cc9955c004e12bf 100644
--- a/applications/gui/src/camera.cpp
+++ b/applications/gui/src/camera.cpp
@@ -327,11 +327,14 @@ void ftl::gui::Camera::showSettings() {
#ifdef HAVE_OPENVR
bool ftl::gui::Camera::setVR(bool on) {
+
if (on == vr_mode_) {
LOG(WARNING) << "VR mode already enabled";
return on;
}
+ vr_mode_ = on;
+ /*
if (on) {
setChannel(Channel::Right);
src_->set("baseline", baseline_);
@@ -357,7 +360,7 @@ bool ftl::gui::Camera::setVR(bool on) {
setChannel(Channel::Left); // reset to left channel
// todo restore camera params
}
-
+ */
return vr_mode_;
}
#endif
@@ -493,7 +496,7 @@ const GLTexture &ftl::gui::Camera::captureFrame() {
if (baseline_in != baseline_) {
baseline_ = baseline_in;
- src_->set("baseline", baseline_);
+ //src_->set("baseline", baseline_);
}
Eigen::Matrix4d pose = ConvertSteamVRMatrixToMatrix4(rTrackedDevicePose_[vr::k_unTrackedDeviceIndex_Hmd].mDeviceToAbsoluteTracking);
Eigen::Vector3d ea = pose.block<3, 3>(0, 0).eulerAngles(0, 1, 2);
diff --git a/components/rgbd-sources/src/sources/stereovideo/calibrate.hpp b/components/rgbd-sources/src/sources/stereovideo/calibrate.hpp
index 82a06e756591ced2fe11535011b7d422320b7597..2f4a8603ca5f324f1db88e487f4457d6d6b61430 100644
--- a/components/rgbd-sources/src/sources/stereovideo/calibrate.hpp
+++ b/components/rgbd-sources/src/sources/stereovideo/calibrate.hpp
@@ -43,8 +43,8 @@ class Calibrate : public ftl::Configurable {
/* @brief Get disparity to depth matrix
*
- * 2020/01/15: Not used, StereoVideoSource creates a Camera object which
- * is used to calculate depth from disparity (disp2depth.cu)
+ * 2020/01/15: StereoVideoSource creates a Camera object which is used to
+ * calculate depth from disparity (disp2depth.cu)
*/
const cv::Mat &getQ() const { return Q_; }
@@ -56,7 +56,7 @@ class Calibrate : public ftl::Configurable {
/* @brief Get camera pose from calibration
*/
- cv::Mat getPose() { return pose_; };
+ const cv::Mat &getPose() const { return pose_; };
/* @brief Enable/disable recitification. If disabled, instance returns
* original camera intrinsic parameters (getCameraMatrixLeft() and
diff --git a/components/rgbd-sources/src/sources/stereovideo/stereovideo.cpp b/components/rgbd-sources/src/sources/stereovideo/stereovideo.cpp
index 2fee0144accb731821af45b02345d5463b61074a..14d442761b8d3c70e414d84987703b44f16207da 100644
--- a/components/rgbd-sources/src/sources/stereovideo/stereovideo.cpp
+++ b/components/rgbd-sources/src/sources/stereovideo/stereovideo.cpp
@@ -1,5 +1,8 @@
#include <loguru.hpp>
+#include <Eigen/Eigen>
+#include <opencv2/core/eigen.hpp>
+
#include "stereovideo.hpp"
#include "ftl/configuration.hpp"
@@ -76,25 +79,6 @@ void StereoVideoSource::init(const string &file) {
pipeline_input_->append<ftl::operators::NVOpticalFlow>("optflow");
#endif
- //depth_size_ = cv::Size( host_->value("depth_width", 1280),
- // host_->value("depth_height", 720));
-
- /*pipeline_depth_ = ftl::config::create<ftl::operators::Graph>(host_, "disparity");
- depth_size_ = cv::Size( pipeline_depth_->value("width", color_size_.width),
- pipeline_depth_->value("height", color_size_.height));
-
- pipeline_depth_->append<ftl::operators::FixstarsSGM>("algorithm");
- #ifdef HAVE_OPTFLOW
- pipeline_depth_->append<ftl::operators::OpticalFlowTemporalSmoothing>("optflow_filter");
- #endif
- pipeline_depth_->append<ftl::operators::DisparityBilateralFilter>("bilateral_filter");
- pipeline_depth_->append<ftl::operators::DisparityToDepth>("calculate_depth");
- pipeline_depth_->append<ftl::operators::ColourChannels>("colour"); // Convert BGR to BGRA
- pipeline_depth_->append<ftl::operators::Normals>("normals"); // Estimate surface normals
- pipeline_depth_->append<ftl::operators::CrossSupport>("cross");
- pipeline_depth_->append<ftl::operators::DiscontinuityMask>("discontinuity_mask");
- pipeline_depth_->append<ftl::operators::AggreMLS>("mls"); // Perform MLS (using smoothing channel)*/
-
calib_ = ftl::create<Calibrate>(host_, "calibration", cv::Size(lsrc_->fullWidth(), lsrc_->fullHeight()), stream_);
// Generate camera parameters from camera matrix
@@ -123,7 +107,7 @@ void StereoVideoSource::init(const string &file) {
// TODO: remove (not used, fx/fy/baseline/.. do not change)
// in case they are modified, update using Calibrate
// (requires new method)
-
+ /*
host_->on("baseline", [this](const ftl::config::Event &e) {
params_.baseline = host_->value("baseline", params_.baseline);
UNIQUE_LOCK(host_->mutex(), lk);
@@ -136,12 +120,11 @@ void StereoVideoSource::init(const string &file) {
UNIQUE_LOCK(host_->mutex(), lk);
calib_->updateCalibration(params_);
});
- //
host_->on("doffs", [this](const ftl::config::Event &e) {
params_.doffs = host_->value("doffs", params_.doffs);
});
-
+ //
// left and right masks (areas outside rectified images)
// TODO: remove mask
@@ -152,7 +135,10 @@ void StereoVideoSource::init(const string &file) {
cv::Mat mask_l;
mask_l_gpu.download(mask_l);
mask_l_ = (mask_l == 0);
-
+ */
+ Eigen::Matrix4d pose;
+ cv::cv2eigen(calib_->getPose(), pose);
+ setPose(pose);
LOG(INFO) << "StereoVideo source ready...";
ready_ = true;
@@ -233,43 +219,6 @@ bool StereoVideoSource::compute(int n, int b) {
//stream_.waitForCompletion();
host_->notify(timestamp_, frame);
- /*if (chan == Channel::Depth) {
- // stereo algorithms assume input same size as output
- bool resize = (depth_size_ != color_size_);
-
- cv::cuda::GpuMat& left = frame.get<cv::cuda::GpuMat>(Channel::Left);
- cv::cuda::GpuMat& right = frame.get<cv::cuda::GpuMat>(Channel::Right);
-
- if (left.empty() || right.empty()) {
- return false;
- }
-
- if (resize) {
- cv::cuda::swap(fullres_left_, left);
- cv::cuda::swap(fullres_right_, right);
- cv::cuda::resize(fullres_left_, left, depth_size_, 0, 0, cv::INTER_CUBIC, stream_);
- cv::cuda::resize(fullres_right_, right, depth_size_, 0, 0, cv::INTER_CUBIC, stream_);
- }
-
- pipeline_depth_->apply(frame, frame, host_, cv::cuda::StreamAccessor::getStream(stream_));
- stream_.waitForCompletion();
-
- if (resize) {
- cv::cuda::swap(fullres_left_, left);
- cv::cuda::swap(fullres_right_, right);
- }
-
- host_->notify(timestamp_, frame);
-
- } else if (chan == Channel::Right) {
- stream_.waitForCompletion();
- host_->notify(timestamp_, frame);
-
- } else {
- stream_.waitForCompletion();
- host_->notify(timestamp_, frame);
- }*/
-
return true;
}
diff --git a/components/streams/src/filestream.cpp b/components/streams/src/filestream.cpp
index 033a9b2823737635a780fa8876b1105884738c0d..29141f31dc22f87ca073359510868edbda36e804 100644
--- a/components/streams/src/filestream.cpp
+++ b/components/streams/src/filestream.cpp
@@ -1,3 +1,4 @@
+#include <fstream>
#include <ftl/streams/filestream.hpp>
using ftl::stream::File;