Merge branch 'master' of gitlab.utu.fi:nicolas.pope/ftl

components/rgbd-sources/src/algorithms/fixstars_sgm.cpp

@@ -12,9 +12,8 @@ using cv::cuda::GpuMat;
 
 FixstarsSGM::FixstarsSGM(nlohmann::json &config) : Disparity(config) {
 	ssgm_ = nullptr;
+	uniqueness_ = value("uniqueness", 0.95f);
 	use_filter_ = value("use_filter", false);
-	// note: (max_disp_ << 4) libsgm subpixel accuracy.
-	//       What is the impact in the filter? (possible artifacts)
 	filter_ = cv::cuda::createDisparityBilateralFilter(max_disp_ << 4, value("filter_radius", 25), value("filter_iter", 1));
 }
 
@@ -26,7 +25,7 @@ void FixstarsSGM::compute(const cv::cuda::GpuMat &l, const cv::cuda::GpuMat &r,
 	if (!ssgm_) { // todo: move to constructor
 		dispt_ = GpuMat(l.rows, l.cols, CV_16SC1);
 		ssgm_ = new sgm::StereoSGM(l.cols, l.rows, max_disp_, 8, 16, lbw_.step, dispt_.step / sizeof(short),
-			sgm::EXECUTE_INOUT_CUDA2CUDA, sgm::StereoSGM::Parameters(10,120,0.95f,true));
+			sgm::EXECUTE_INOUT_CUDA2CUDA, sgm::StereoSGM::Parameters(10, 120, uniqueness_, true));
 	}
 
 	//auto start = std::chrono::high_resolution_clock::now();
@@ -62,7 +61,7 @@ void FixstarsSGM::setMask(Mat &mask) {
 	if (!ssgm_) { // todo: move to constructor
 		ssgm_ = new sgm::StereoSGM(mask.cols, mask.rows, max_disp_, 8, 16,
 			sgm::EXECUTE_INOUT_HOST2HOST,
-			sgm::StereoSGM::Parameters(10,120,0.95f,true));
+			sgm::StereoSGM::Parameters(10, 120, uniqueness_, true));
 	}
 	
 	mask_l_ = mask;

components/rgbd-sources/src/algorithms/fixstars_sgm.hpp

@@ -35,6 +35,7 @@ class FixstarsSGM : public ftl::rgbd::detail::Disparity {
 	}
 
 	private:
+	float uniqueness_;
 	bool use_filter_;
 	cv::Ptr<cv::cuda::DisparityBilateralFilter> filter_;
 	sgm::StereoSGM *ssgm_;

components/rgbd-sources/src/streamer.cpp

@@ -282,9 +282,14 @@ void Streamer::_schedule() {
 			auto start = std::chrono::high_resolution_clock::now();
 			try {
 				src->src->grab();
-			} catch (...) {
+			} catch (std::exception &ex) {
 				LOG(ERROR) << "Exception when grabbing frame";
+				LOG(ERROR) << ex.what();
 			}
+			catch (...) {
+				LOG(ERROR) << "Unknown exception when grabbing frame";
+			}
+
 			std::chrono::duration<double> elapsed =
 				std::chrono::high_resolution_clock::now() - start;
 			LOG(INFO) << "Grab in " << elapsed.count() << "s";