From 2858cf622a721dd0e806553a45215d0d5109a9f3 Mon Sep 17 00:00:00 2001
From: Sebastian Hahta <joseha@utu.fi>
Date: Thu, 29 Aug 2019 14:44:25 +0300
Subject: [PATCH] Place all channels to same Frame class.
Simplifies StereoVideoSource::swap() method.
---
components/rgbd-sources/src/stereovideo.cpp | 51 +++++++++------------
components/rgbd-sources/src/stereovideo.hpp | 36 ++++++++++++---
2 files changed, 51 insertions(+), 36 deletions(-)
diff --git a/components/rgbd-sources/src/stereovideo.cpp b/components/rgbd-sources/src/stereovideo.cpp
index 57e57fbbd..6e9d4fe09 100644
--- a/components/rgbd-sources/src/stereovideo.cpp
+++ b/components/rgbd-sources/src/stereovideo.cpp
@@ -31,7 +31,10 @@ StereoVideoSource::~StereoVideoSource() {
delete lsrc_;
}
-void StereoVideoSource::init(const string &file) {
+void StereoVideoSource::init(const string &file)
+{
+ frames_ = std::vector<Frame>(2);
+
capabilities_ = kCapVideo | kCapStereo;
if (ftl::is_video(file)) {
@@ -160,49 +163,39 @@ bool StereoVideoSource::capture(int64_t ts) {
}
bool StereoVideoSource::retrieve() {
- lsrc_->get(cap_left_, cap_right_, calib_, stream2_);
+ auto frame = frames_[0];
+ frame.reset();
+ lsrc_->get(frame.left, frame.right, calib_, stream2_);
stream2_.waitForCompletion();
return true;
}
void StereoVideoSource::swap() {
- cv::cuda::GpuMat tmp;
- tmp = left_;
- left_ = cap_left_;
- cap_left_ = tmp;
- tmp = right_;
- right_ = cap_right_;
- cap_right_ = tmp;
+ auto tmp = frames_[0];
+ frames_[0] = frames_[1];
+ frames_[1] = tmp;
}
-bool StereoVideoSource::compute(int n, int b) {
+bool StereoVideoSource::compute(int n, int b) {
+ auto &frame = frames_[1];
const ftl::rgbd::channel_t chan = host_->getChannel();
-
- if (left_.empty() || right_.empty()) return false;
+ if (frame.left.empty() || frame.right.empty()) return false;
if (chan == ftl::rgbd::kChanDepth) {
- //lsrc_->get(left_, right_, stream_);
- if (depth_tmp_.empty()) depth_tmp_ = cv::cuda::GpuMat(left_.size(), CV_32FC1);
- if (disp_tmp_.empty()) disp_tmp_ = cv::cuda::GpuMat(left_.size(), CV_32FC1);
- //calib_->rectifyStereo(left_, right_, stream_);
- disp_->compute(left_, right_, disp_tmp_, stream_);
- ftl::cuda::disparity_to_depth(disp_tmp_, depth_tmp_, params_, stream_);
- left_.download(rgb_, stream_);
- //rgb_ = lsrc_->cachedLeft();
- depth_tmp_.download(depth_, stream_);
+ if (frame.depth.empty()) frame.depth = cv::cuda::GpuMat(frame.left.size(), CV_32FC1);
+ if (frame.disp.empty()) frame.disp = cv::cuda::GpuMat(frame.left.size(), CV_32FC1);
+ disp_->compute(frame.left, frame.right, frame.disp, stream_);
+ ftl::cuda::disparity_to_depth(frame.disp, frame.depth, params_, stream_);
+ frame.left.download(rgb_, stream_);
+ frame.depth.download(depth_, stream_);
stream_.waitForCompletion(); // TODO:(Nick) Move to getFrames
} else if (chan == ftl::rgbd::kChanRight) {
- //lsrc_->get(left_, right_, stream_);
- //calib_->rectifyStereo(left_, right_, stream_);
- left_.download(rgb_, stream_);
- right_.download(depth_, stream_);
+ frame.left.download(rgb_, stream_);
+ frame.right.download(depth_, stream_);
stream_.waitForCompletion(); // TODO:(Nick) Move to getFrames
} else {
- //lsrc_->get(left_, right_, stream_);
- //calib_->rectifyStereo(left_, right_, stream_);
- //rgb_ = lsrc_->cachedLeft();
- left_.download(rgb_, stream_);
+ frame.left.download(rgb_, stream_);
stream_.waitForCompletion(); // TODO:(Nick) Move to getFrames
}
diff --git a/components/rgbd-sources/src/stereovideo.hpp b/components/rgbd-sources/src/stereovideo.hpp
index 88b71a068..bd470a743 100644
--- a/components/rgbd-sources/src/stereovideo.hpp
+++ b/components/rgbd-sources/src/stereovideo.hpp
@@ -45,13 +45,35 @@ class StereoVideoSource : public detail::Source {
cv::cuda::Stream stream_;
cv::cuda::Stream stream2_;
- cv::cuda::GpuMat left_;
- cv::cuda::GpuMat right_;
- cv::cuda::GpuMat cap_left_;
- cv::cuda::GpuMat cap_right_;
- cv::cuda::GpuMat disp_tmp_;
- cv::cuda::GpuMat depth_tmp_;
-
+ // possibly should be made available for other users as well
+ // (should be called StereoVideoFrame)
+ class Frame {
+ public:
+ bool left_gray_ready;
+ bool right_gray_ready;
+ bool optflow_ready;
+
+ cv::cuda::GpuMat left;
+ cv::cuda::GpuMat right;
+ cv::cuda::GpuMat left_gray;
+ cv::cuda::GpuMat right_gray;
+ cv::cuda::GpuMat disp;
+ cv::cuda::GpuMat depth;
+ cv::cuda::GpuMat optflow;
+ cv::cuda::GpuMat optflow_; // original lower res optical flow
+
+ Frame() { reset(); }
+
+ void reset()
+ {
+ left_gray_ready = false;
+ right_gray_ready = false;
+ optflow_ready = false;
+ }
+ };
+
+ std::vector<Frame> frames_;
+
cv::Mat mask_l_;
void init(const std::string &);
--
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