From 2385a206dc1a6d254b12bdb4aafe34ea3ca7f7e9 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Mon, 6 Jul 2020 09:24:18 +0300
Subject: [PATCH] Some fixes for pylon and vision
---
applications/vision/src/main.cpp | 7 ++++++-
.../rgbd-sources/src/sources/stereovideo/pylon.cpp | 4 ++--
.../rgbd-sources/src/sources/stereovideo/stereovideo.cpp | 9 +++++++--
components/streams/src/sender.cpp | 7 ++++++-
components/structures/src/new_frame.cpp | 8 ++++++++
5 files changed, 29 insertions(+), 6 deletions(-)
diff --git a/applications/vision/src/main.cpp b/applications/vision/src/main.cpp
index 82da61dcf..d6c8e3eb0 100644
--- a/applications/vision/src/main.cpp
+++ b/applications/vision/src/main.cpp
@@ -163,7 +163,12 @@ static void run(ftl::Configurable *root) {
// Send channels on flush
auto flushhandle = pool.onFlushSet([sender](ftl::data::FrameSet &fs, ftl::codecs::Channel c) {
// TODO: Check the channel to see if it should be sent or not
- sender->post(fs, c);
+ switch (c) {
+ case Channel::Colour :
+ case Channel::Colour2 :
+ case Channel::Depth : sender->post(fs, c); break;
+ default: break;
+ }
return true;
});
diff --git a/components/rgbd-sources/src/sources/stereovideo/pylon.cpp b/components/rgbd-sources/src/sources/stereovideo/pylon.cpp
index b8155489e..7bec885a7 100644
--- a/components/rgbd-sources/src/sources/stereovideo/pylon.cpp
+++ b/components/rgbd-sources/src/sources/stereovideo/pylon.cpp
@@ -182,7 +182,7 @@ bool PylonDevice::get(cv::cuda::GpuMat &l_out, cv::cuda::GpuMat &r_out, cv::cuda
CV_8UC1,
(uint8_t*)result_right->GetBuffer());
- cv::cvtColor(wrap_right, rfull, cv::COLOR_BayerBG2BGRA);
+ cv::cvtColor(wrap_right, rfull, cv::COLOR_BayerRG2BGRA);
if (isStereo()) {
c->rectifyRight(rfull);
@@ -218,7 +218,7 @@ bool PylonDevice::get(cv::cuda::GpuMat &l_out, cv::cuda::GpuMat &r_out, cv::cuda
CV_8UC1,
(uint8_t*)result_left->GetBuffer());
- cv::cvtColor(wrap_left, lfull, cv::COLOR_BayerBG2BGRA);
+ cv::cvtColor(wrap_left, lfull, cv::COLOR_BayerRG2BGRA);
if (isStereo()) {
c->rectifyLeft(lfull);
diff --git a/components/rgbd-sources/src/sources/stereovideo/stereovideo.cpp b/components/rgbd-sources/src/sources/stereovideo/stereovideo.cpp
index 1fcd53110..191c5ed83 100644
--- a/components/rgbd-sources/src/sources/stereovideo/stereovideo.cpp
+++ b/components/rgbd-sources/src/sources/stereovideo/stereovideo.cpp
@@ -329,12 +329,17 @@ bool StereoVideoSource::retrieve(ftl::rgbd::Frame &frame) {
if (lsrc_->isStereo()) {
cv::cuda::GpuMat &left = frame.create<cv::cuda::GpuMat>(Channel::Left);
cv::cuda::GpuMat &right = frame.create<cv::cuda::GpuMat>(Channel::Right);
- lsrc_->get(left, right, hres, hres_r, calib_, stream2_);
+ if (!lsrc_->get(left, right, hres, hres_r, calib_, stream2_)) {
+ frame.remove(Channel::Left);
+ frame.remove(Channel::Right);
+ }
}
else {
cv::cuda::GpuMat &left = frame.create<cv::cuda::GpuMat>(Channel::Left);
cv::cuda::GpuMat right;
- lsrc_->get(left, right, hres, hres_r, calib_, stream2_);
+ if (!lsrc_->get(left, right, hres, hres_r, calib_, stream2_)) {
+ frame.remove(Channel::Left);
+ }
}
//LOG(INFO) << "Channel size: " << hres.size();
diff --git a/components/streams/src/sender.cpp b/components/streams/src/sender.cpp
index 4a294c697..6bf1a4fd3 100644
--- a/components/streams/src/sender.cpp
+++ b/components/streams/src/sender.cpp
@@ -397,6 +397,11 @@ void Sender::_encodeVideoChannel(ftl::data::FrameSet &fs, Channel c, bool reset)
// fs.frames[offset].upload(cc);
//}
+ if (!fs.frames[offset].hasChannel(cc)) {
+ offset++;
+ continue;
+ }
+
StreamPacket spkt;
spkt.version = 4;
spkt.timestamp = fs.timestamp();
@@ -464,7 +469,7 @@ void Sender::_encodeVideoChannel(ftl::data::FrameSet &fs, Channel c, bool reset)
cv::imshow("Test", tmp);
cv::waitKey(1);*/
} else {
- LOG(ERROR) << "Encoding failed";
+ LOG(ERROR) << "Encoding failed for channel " << (int)cc;
}
} catch (std::exception &e) {
LOG(ERROR) << "Exception in encoder: " << e.what();
diff --git a/components/structures/src/new_frame.cpp b/components/structures/src/new_frame.cpp
index 3ce0238b1..3181e31ee 100644
--- a/components/structures/src/new_frame.cpp
+++ b/components/structures/src/new_frame.cpp
@@ -89,6 +89,14 @@ bool ftl::data::Frame::has(ftl::codecs::Channel c) const {
}
}
+void ftl::data::Frame::remove(ftl::codecs::Channel c) {
+ const auto &i = data_.find(c);
+ if (i != data_.end()) {
+ i->second.status = ftl::data::ChannelStatus::INVALID;
+ changed_.erase(c);
+ }
+}
+
Frame::ChannelData &Frame::_getData(ftl::codecs::Channel c) {
if (status_ == FrameStatus::RELEASED) throw FTL_Error("Reading a released frame");
const auto &i = data_.find(c);
--
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