From 2c9266abd0ead15fb0e17a68cf764d9226b7888f Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Wed, 18 Sep 2019 18:43:15 +0300
Subject: [PATCH] Fix pose inverse bug
---
components/renderers/cpp/src/splat_render.cpp | 24 +++++++------------
.../rgbd-sources/include/ftl/rgbd/frame.hpp | 1 -
components/rgbd-sources/src/frame.cpp | 3 ---
3 files changed, 8 insertions(+), 20 deletions(-)
diff --git a/components/renderers/cpp/src/splat_render.cpp b/components/renderers/cpp/src/splat_render.cpp
index f6e05eeb4..db6fa402d 100644
--- a/components/renderers/cpp/src/splat_render.cpp
+++ b/components/renderers/cpp/src/splat_render.cpp
@@ -23,8 +23,6 @@ bool Splatter::render(ftl::rgbd::VirtualSource *src, ftl::rgbd::Frame &out, cuda
SHARED_LOCK(scene_->mtx, lk);
if (!src->isReady()) return false;
- if (scene_->frames.size() > 0) LOG(INFO) << "Render ready2 " << (unsigned int)scene_->frames[0].getChannels();
-
const auto &camera = src->parameters();
//cudaSafeCall(cudaSetDevice(scene_->getCUDADevice()));
@@ -42,8 +40,6 @@ bool Splatter::render(ftl::rgbd::VirtualSource *src, ftl::rgbd::Frame &out, cuda
cv::cuda::Stream cvstream = cv::cuda::StreamAccessor::wrapStream(stream);
- LOG(INFO) << "Render ready1";
-
// Create buffers if they don't exist
/*if ((unsigned int)depth1_.width() != camera.width || (unsigned int)depth1_.height() != camera.height) {
depth1_ = ftl::cuda::TextureObject<int>(camera.width, camera.height);
@@ -77,15 +73,13 @@ bool Splatter::render(ftl::rgbd::VirtualSource *src, ftl::rgbd::Frame &out, cuda
params.m_viewMatrixInverse = MatrixConversion::toCUDA(src->getPose().cast<float>());
params.camera = camera;
- LOG(INFO) << "VPOSE = " << src->getPose();
-
// Clear all channels to 0 or max depth
temp_.get<GpuMat>(Channel::Depth).setTo(cv::Scalar(0x7FFFFFFF), cvstream);
temp_.get<GpuMat>(Channel::Depth2).setTo(cv::Scalar(0x7FFFFFFF), cvstream);
out.get<GpuMat>(Channel::Depth).setTo(cv::Scalar(1000.0f), cvstream);
out.get<GpuMat>(Channel::Colour).setTo(cv::Scalar(76,76,76), cvstream);
- LOG(INFO) << "Render ready: " << camera.width << "," << camera.height;
+ //LOG(INFO) << "Render ready: " << camera.width << "," << camera.height;
// Render each camera into virtual view
for (size_t i=0; i<scene_->frames.size(); ++i) {
@@ -95,19 +89,17 @@ bool Splatter::render(ftl::rgbd::VirtualSource *src, ftl::rgbd::Frame &out, cuda
if (f.empty(Channel::Depth + Channel::Colour)) {
LOG(ERROR) << "Missing required channel";
continue;
- } else {
- LOG(INFO) << "Channels found";
}
// Needs to create points channel first?
if (!f.hasChannel(Channel::Points)) {
- LOG(INFO) << "Creating points... " << s->parameters().width;
+ //LOG(INFO) << "Creating points... " << s->parameters().width;
auto &t = f.createTexture<float4>(Channel::Points, Format<float4>(f.get<GpuMat>(Channel::Colour).size()));
- auto pose = MatrixConversion::toCUDA(s->getPose().cast<float>().inverse());
+ auto pose = MatrixConversion::toCUDA(s->getPose().cast<float>()); //.inverse());
ftl::cuda::point_cloud(t, f.createTexture<float>(Channel::Depth), s->parameters(), pose, stream);
- LOG(INFO) << "POINTS Added";
+ //LOG(INFO) << "POINTS Added";
}
ftl::cuda::dibr_merge(
@@ -116,7 +108,7 @@ bool Splatter::render(ftl::rgbd::VirtualSource *src, ftl::rgbd::Frame &out, cuda
params, stream
);
- LOG(INFO) << "DIBR DONE";
+ //LOG(INFO) << "DIBR DONE";
}
//ftl::cuda::dibr(depth1_, colour1_, normal1_, depth2_, colour_tmp_, depth3_, scene_->cameraCount(), params, stream);
@@ -128,7 +120,7 @@ bool Splatter::render(ftl::rgbd::VirtualSource *src, ftl::rgbd::Frame &out, cuda
//ftl::cuda::mls_render_depth(depth1_, depth3_, params, scene_->cameraCount(), stream);
if (src->getChannel() == Channel::Depth) {
- LOG(INFO) << "Rendering depth";
+ //LOG(INFO) << "Rendering depth";
//ftl::cuda::int_to_float(depth1_, depth2_, 1.0f / 1000.0f, stream);
if (value("splatting", false)) {
//ftl::cuda::splat_points(depth1_, colour1_, normal1_, depth2_, colour2_, params, stream);
@@ -155,7 +147,7 @@ bool Splatter::render(ftl::rgbd::VirtualSource *src, ftl::rgbd::Frame &out, cuda
// src->writeFrames(colour1_, depth2_, stream);
//}
} else if (src->getChannel() == Channel::Right) {
- LOG(INFO) << "Rendering right";
+ //LOG(INFO) << "Rendering right";
// Adjust pose to right eye position
Eigen::Affine3f transform(Eigen::Translation3f(camera.baseline,0.0f,0.0f));
Eigen::Matrix4f matrix = src->getPose().cast<float>() * transform.matrix();
@@ -167,7 +159,7 @@ bool Splatter::render(ftl::rgbd::VirtualSource *src, ftl::rgbd::Frame &out, cuda
//src->writeFrames(ts, colour1_, colour2_, stream);
//src->write(scene_.timestamp, output_, stream);
} else {
- LOG(INFO) << "No second rendering";
+ //LOG(INFO) << "No second rendering";
//if (value("splatting", false)) {
//ftl::cuda::splat_points(depth1_, colour1_, normal1_, depth2_, colour2_, params, stream);
//src->writeFrames(ts, colour1_, depth2_, stream);
diff --git a/components/rgbd-sources/include/ftl/rgbd/frame.hpp b/components/rgbd-sources/include/ftl/rgbd/frame.hpp
index 26da81422..252ff271d 100644
--- a/components/rgbd-sources/include/ftl/rgbd/frame.hpp
+++ b/components/rgbd-sources/include/ftl/rgbd/frame.hpp
@@ -244,7 +244,6 @@ ftl::cuda::TextureObject<T> &Frame::createTexture(ftl::rgbd::Channel c) {
LOG(INFO) << "Creating texture object";
m.tex = ftl::cuda::TextureObject<T>(m.gpu);
} else if (m.tex.cvType() != ftl::traits::OpenCVType<T>::value || m.tex.width() != m.gpu.cols || m.tex.height() != m.gpu.rows || m.tex.devicePtr() != m.gpu.data) {
- LOG(INFO) << "Recreating texture object";
m.tex.free();
m.tex = ftl::cuda::TextureObject<T>(m.gpu);
}
diff --git a/components/rgbd-sources/src/frame.cpp b/components/rgbd-sources/src/frame.cpp
index 5a10e1ff1..aaa55c756 100644
--- a/components/rgbd-sources/src/frame.cpp
+++ b/components/rgbd-sources/src/frame.cpp
@@ -41,7 +41,6 @@ void Frame::upload(Channels c, cv::cuda::Stream stream) {
bool Frame::empty(ftl::rgbd::Channels channels) {
for (auto c : channels) {
- LOG(INFO) << "Check empty for " << (int)c;
if (empty(c)) return true;
}
return false;
@@ -67,8 +66,6 @@ void Frame::swapTo(ftl::rgbd::Channels channels, Frame &f) {
cv::swap(m1.host, m2.host);
cv::cuda::swap(m1.gpu, m2.gpu);
-
- LOG(INFO) << "Swapping channel: " << static_cast<int>(c);
}
}
}
--
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