diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index 75d507b218f8a8296ecba7448ef8729ce1cf993b..778d11c15273831ee0d6dd214358ce9378760d0e 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -28,9 +28,9 @@ linux:
script:
- mkdir build
- cd build
- - cmake .. -DCMAKE_CXX_FLAGS="-fdiagnostics-color" -DWITH_OPTFLOW=TRUE -DUSE_CPPCHECK=FALSE -DBUILD_CALIBRATION=TRUE -DWITH_CERES=TRUE -DCMAKE_BUILD_TYPE=Release -DCPACK_GENERATOR=DEB
- - make
- - make package
+ - /snap/bin/cmake .. -GNinja -DCMAKE_CXX_FLAGS="-fdiagnostics-color" -DWITH_OPTFLOW=TRUE -DUSE_CPPCHECK=FALSE -DBUILD_CALIBRATION=TRUE -DWITH_CERES=TRUE -DCMAKE_BUILD_TYPE=Release -DCPACK_GENERATOR=DEB
+ - ninja
+ - ninja package
- ctest --output-on-failure
- cd ../SDK/Python
- python3 -m unittest discover test
diff --git a/CMakeLists.txt b/CMakeLists.txt
index c876eb84205b251f2b945d9e109927e88b0b6ff7..6c956162961c18ef786883bfdb44edc74b0be44d 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required (VERSION 3.1.0)
+cmake_minimum_required (VERSION 3.16.0)
include (CheckIncludeFile)
include (CheckIncludeFileCXX)
include (CheckFunctionExists)
@@ -16,6 +16,7 @@ option(WITH_OPENVR "Build with OpenVR support" OFF)
option(WITH_OPUS "Use Opus audio compression" ON)
option(WITH_FIXSTARS "Use Fixstars libSGM" ON)
option(WITH_CERES "Use Ceres solver" ON)
+option(WITH_SDK "Build the C shared SDK" ON)
option(USE_CPPCHECK "Apply cppcheck during build" ON)
option(BUILD_VISION "Enable the vision component" ON)
option(BUILD_RECONSTRUCT "Enable the reconstruction component" ON)
@@ -163,17 +164,6 @@ add_subdirectory(lib/libstereo)
include_directories(lib/libstereo/include)
set_property(TARGET libstereo PROPERTY FOLDER "dependencies")
-#
-
-if (WITH_FIXSTARS)
- set(HAVE_LIBSGM true)
- add_subdirectory(lib/libsgm)
- include_directories(lib/libsgm/include)
- set_property(TARGET sgm PROPERTY FOLDER "dependencies")
-else()
- add_library(sgm INTERFACE)
-endif()
-
# ==== Ceres ===================================================================
if (WITH_CERES)
@@ -315,6 +305,7 @@ enable_language(CUDA)
if (NOT WIN32)
set(CMAKE_CUDA_FLAGS "-Xcompiler -fPIC")
endif()
+set(CMAKE_CUDA_ARCHITECTURES "61")
set(CMAKE_CUDA_FLAGS_DEBUG "--gpu-architecture=compute_61 -g -DDEBUG -D_DEBUG")
set(CMAKE_CUDA_FLAGS_RELEASE "--gpu-architecture=compute_61")
set(HAVE_CUDA TRUE)
@@ -441,6 +432,15 @@ set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
# add_library(nvpipe INTERFACE)
#endif()
+if (WITH_FIXSTARS)
+ set(HAVE_LIBSGM true)
+ add_subdirectory(lib/libsgm)
+ include_directories(lib/libsgm/include)
+ set_property(TARGET sgm PROPERTY FOLDER "dependencies")
+else()
+ add_library(sgm INTERFACE)
+endif()
+
add_subdirectory(components/common/cpp)
#add_subdirectory(applications/calibration)
@@ -460,8 +460,10 @@ add_subdirectory(components/calibration)
add_subdirectory(applications/tools)
# SDK only compiles on linux currently
-if (NOT WIN32)
- add_subdirectory(SDK/C)
+if (WITH_SDK)
+ if (NOT WIN32)
+ add_subdirectory(SDK/C)
+ endif()
endif()
if (HAVE_AVFORMAT)
diff --git a/applications/gui2/CMakeLists.txt b/applications/gui2/CMakeLists.txt
index 60032ebebc0f2dddebc58dd8d70949007bbaf407..7dce75891115c42d423e3d674dc0626f37592ed5 100644
--- a/applications/gui2/CMakeLists.txt
+++ b/applications/gui2/CMakeLists.txt
@@ -73,3 +73,4 @@ target_include_directories(ftl-gui2 PUBLIC
#target_include_directories(cv-node PUBLIC ${PROJECT_SOURCE_DIR}/include)
target_link_libraries(ftl-gui2 ftlcommon ftldata ftlctrl ftlrgbd ftlstreams ftlrender Threads::Threads ${OpenCV_LIBS} openvr ftlnet nanogui ${NANOGUI_EXTRA_LIBS} ceres)
+target_precompile_headers(ftl-gui2 REUSE_FROM ftldata)
diff --git a/applications/gui2/src/modules/thumbnails.cpp b/applications/gui2/src/modules/thumbnails.cpp
index 52b7b54ef358c6e49c8643060cdc663e0c35020a..14f582233c901269729be23e7923cbbd38cf6b15 100644
--- a/applications/gui2/src/modules/thumbnails.cpp
+++ b/applications/gui2/src/modules/thumbnails.cpp
@@ -27,6 +27,14 @@ ThumbnailsController::~ThumbnailsController() {
}
+void ThumbnailsController::removeFrameset(uint32_t id) {
+ {
+ std::unique_lock<std::mutex> lk(mtx_);
+ framesets_.erase(id);
+ }
+ io->feed()->remove(id);
+}
+
void ThumbnailsController::show_thumbnails() {
auto thumb_view = new ftl::gui2::Thumbnails(screen, this);
diff --git a/applications/gui2/src/modules/thumbnails.hpp b/applications/gui2/src/modules/thumbnails.hpp
index 353a7e98ff40fcc27d1e39bb47bbae0e9bf47cc2..c24f4641de814670a2523f05091c8e75a614fa34 100644
--- a/applications/gui2/src/modules/thumbnails.hpp
+++ b/applications/gui2/src/modules/thumbnails.hpp
@@ -22,6 +22,8 @@ public:
std::vector<ftl::data::FrameSetPtr> getFrameSets();
+ void removeFrameset(uint32_t id);
+
private:
std::mutex mtx_;
std::map<unsigned int, ftl::data::FrameSetPtr> framesets_;
diff --git a/applications/gui2/src/views/thumbnails.cpp b/applications/gui2/src/views/thumbnails.cpp
index c382f8d0b1625bf06a16e7bb4387e4cf65f9aa0c..79c4857d71c4e3d4802ae01cc8341f36d977e8e5 100644
--- a/applications/gui2/src/views/thumbnails.cpp
+++ b/applications/gui2/src/views/thumbnails.cpp
@@ -20,6 +20,9 @@
#include <nanogui/tabwidget.h>
#include <nanogui/vscrollpanel.h>
#include <nanogui/layout.h>
+#include <nanogui/popup.h>
+
+#include <loguru.hpp>
using ftl::gui2::ThumbView;
using ftl::gui2::Thumbnails;
@@ -58,8 +61,10 @@ ThumbView::ThumbView(nanogui::Widget *parent, ThumbnailsController *control, ftl
}
bool ThumbView::mouseButtonEvent(const nanogui::Vector2i &p, int button, bool down, int modifiers) {
- if (!down) {
- ctrl_->show_camera(id_);
+ if (button == 0) {
+ if (!down) {
+ ctrl_->show_camera(id_);
+ }
}
return true;
}
@@ -101,11 +106,45 @@ Thumbnails::Thumbnails(ftl::gui2::Screen *parent, ftl::gui2::ThumbnailsControlle
tabwidget_ = new nanogui::TabWidget(this);
tabwidget_->setFixedSize(size());
+
+ context_menu_ = new nanogui::Window(parent, "");
+ context_menu_->setVisible(false);
+ context_menu_->setLayout(new nanogui::BoxLayout(nanogui::Orientation::Vertical));
+
+ auto *button = new nanogui::Button(context_menu_, "Remove");
+ button->setCallback([this]() {
+ int ix = tabwidget_->activeTab();
+ LOG(INFO) << "REMOVE FSID " << ix;
+
+ tabwidget_->removeTab(ix);
+ thumbnails_.erase(ix);
+ context_menu_->setVisible(false);
+ ctrl_->removeFrameset(ix);
+ //screen()->performLayout();
+ });
}
Thumbnails::~Thumbnails() {
+ if (context_menu_->parent()->getRefCount() > 0) {
+ context_menu_->setVisible(false);
+ context_menu_->dispose();
+ }
+}
+bool Thumbnails::mouseButtonEvent(const nanogui::Vector2i &p, int button, bool down, int modifiers) {
+ bool r = View::mouseButtonEvent(p, button, down, modifiers);
+
+ if (button == 1) {
+ if (!down) {
+ context_menu_->setPosition(p - mPos);
+ context_menu_->setVisible(true);
+ return true;
+ }
+ } else {
+ context_menu_->setVisible(false);
+ }
+ return r;
}
void Thumbnails::updateThumbnails() {
diff --git a/applications/gui2/src/views/thumbnails.hpp b/applications/gui2/src/views/thumbnails.hpp
index 4aab2dc139cea1ce9af7642426dad20829a82309..c9440967de7cd297ee6fef9fa888e7904262f499 100644
--- a/applications/gui2/src/views/thumbnails.hpp
+++ b/applications/gui2/src/views/thumbnails.hpp
@@ -20,6 +20,8 @@ public:
virtual void draw(NVGcontext *ctx) override;
+ bool mouseButtonEvent(const nanogui::Vector2i &p, int button, bool down, int modifiers) override;
+
private:
void updateThumbnails();
void addTab(unsigned int fsid);
@@ -38,6 +40,8 @@ private:
nanogui::Vector2i thumbsize_ = nanogui::Vector2i(320,180);
+ nanogui::Window *context_menu_;
+
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
diff --git a/applications/tools/middlebury_gen/CMakeLists.txt b/applications/tools/middlebury_gen/CMakeLists.txt
index 2dffb172d22cfc554088f3971bb90ff2fd60e8e7..13cc2c9e82196e0ff78a8c873f8ce54c0ae30b66 100644
--- a/applications/tools/middlebury_gen/CMakeLists.txt
+++ b/applications/tools/middlebury_gen/CMakeLists.txt
@@ -15,3 +15,4 @@ endif()
#target_include_directories(cv-node PUBLIC ${PROJECT_SOURCE_DIR}/include)
target_link_libraries(middlebury-gen ftlcommon ftlrgbd Threads::Threads ${OpenCV_LIBS} ftlrender ftloperators ftlstreams)
+set_property(TARGET middlebury-gen PROPERTY CUDA_ARCHITECTURES OFF)
diff --git a/applications/vision/CMakeLists.txt b/applications/vision/CMakeLists.txt
index 4c2674d8da075a997792027591260e5bd09bd5b1..9341fab23e4f388295fae14f5a4f946c9753eff6 100644
--- a/applications/vision/CMakeLists.txt
+++ b/applications/vision/CMakeLists.txt
@@ -22,6 +22,6 @@ set_property(TARGET ftl-vision PROPERTY CUDA_SEPARABLE_COMPILATION OFF)
endif()
#target_include_directories(cv-node PUBLIC ${PROJECT_SOURCE_DIR}/include)
-target_link_libraries(ftl-vision ftlrgbd ftlcommon ftlstreams ftlctrl ${OpenCV_LIBS} ${LIBSGM_LIBRARIES} ${CUDA_LIBRARIES} ftlnet ftlaudio)
-
+target_link_libraries(ftl-vision ftlrgbd ftlcommon ftlstreams ftlctrl ${OpenCV_LIBS} ${CUDA_LIBRARIES} ftlnet ftlaudio)
+target_precompile_headers(ftl-vision REUSE_FROM ftldata)
diff --git a/components/codecs/CMakeLists.txt b/components/codecs/CMakeLists.txt
index 6e7b42f3cd5295d0e9c4acfa8a85385a13bb0302..821a11ed93a11f2075bdd1517468a84e0a9ef9a3 100644
--- a/components/codecs/CMakeLists.txt
+++ b/components/codecs/CMakeLists.txt
@@ -14,6 +14,7 @@ target_include_directories(BaseCodec PUBLIC
${CMAKE_CURRENT_SOURCE_DIR}/src/Video_Codec_SDK_9.1.23/Samples/NvCodec
$<TARGET_PROPERTY:ftlcommon,INTERFACE_INCLUDE_DIRECTORIES>
)
+set_property(TARGET BaseCodec PROPERTY CUDA_ARCHITECTURES OFF)
add_library(OpenCVCodec OBJECT
src/opencv_encoder.cpp
@@ -24,6 +25,8 @@ target_include_directories(OpenCVCodec PUBLIC
$<TARGET_PROPERTY:ftlcommon,INTERFACE_INCLUDE_DIRECTORIES>
)
+set_property(TARGET OpenCVCodec PROPERTY CUDA_ARCHITECTURES OFF)
+
set(CODECSRC
$<TARGET_OBJECTS:BaseCodec>
$<TARGET_OBJECTS:OpenCVCodec>
@@ -44,6 +47,8 @@ target_include_directories(NvidiaCodec PUBLIC
)
list(APPEND CODECSRC $<TARGET_OBJECTS:NvidiaCodec>)
+set_property(TARGET NvidiaCodec PROPERTY CUDA_ARCHITECTURES OFF)
+
add_library(ftlcodecs ${CODECSRC})
if (WIN32)
@@ -62,6 +67,10 @@ target_include_directories(ftlcodecs PUBLIC
#target_include_directories(cv-node PUBLIC ${PROJECT_SOURCE_DIR}/include)
target_link_libraries(ftlcodecs ftlcommon ${OpenCV_LIBS} ${CUDA_LIBRARIES} Eigen3::Eigen nvcuvid cuda)
+target_precompile_headers(ftlcodecs REUSE_FROM ftlcommon)
+
+set_property(TARGET ftlcodecs PROPERTY CUDA_ARCHITECTURES OFF)
+
if (BUILD_TESTS)
add_subdirectory(test)
endif()
diff --git a/components/codecs/test/CMakeLists.txt b/components/codecs/test/CMakeLists.txt
index 89550a4c146b38de0eed6fcf328441815cec40b4..34753db970a0acab275621de7aa4ceca6020b59c 100644
--- a/components/codecs/test/CMakeLists.txt
+++ b/components/codecs/test/CMakeLists.txt
@@ -39,6 +39,8 @@ ${CMAKE_CURRENT_SOURCE_DIR}/../src/Video_Codec_SDK_9.1.23/Samples/NvCodec)
target_link_libraries(nvidia_codec_unit
Threads::Threads ${OS_LIBS} ${OpenCV_LIBS} ${CUDA_LIBRARIES} ftlcommon nvcuvid cuda)
+set_property(TARGET nvidia_codec_unit PROPERTY CUDA_ARCHITECTURES OFF)
+
add_test(NvidiaCodecUnitTest nvidia_codec_unit)
diff --git a/components/common/cpp/CMakeLists.txt b/components/common/cpp/CMakeLists.txt
index 9b06a7831a065561a250b460a0f7e22e248a9cb2..7bf8a74398f94ed53a5b657b05d7781cfff16a7f 100644
--- a/components/common/cpp/CMakeLists.txt
+++ b/components/common/cpp/CMakeLists.txt
@@ -29,6 +29,14 @@ target_include_directories(ftlcommon PUBLIC
PRIVATE src)
target_link_libraries(ftlcommon Threads::Threads Eigen3::Eigen ${OS_LIBS} ${OpenCV_LIBS} ${URIPARSER_LIBRARIES} ${CUDA_LIBRARIES})
+target_precompile_headers(ftlcommon
+ PRIVATE include/ftl/utility/msgpack.hpp
+ PRIVATE include/ftl/utility/msgpack_optional.hpp
+ PRIVATE include/ftl/cuda_common.hpp
+)
+
+set_property(TARGET ftlcommon PROPERTY CUDA_ARCHITECTURES OFF)
+
if (BUILD_TESTS)
add_subdirectory(test)
endif()
diff --git a/components/common/cpp/src/timer.cpp b/components/common/cpp/src/timer.cpp
index 890f7dc839a17e848f5392146072d180f2067afd..2ef4432415615057691bc68de063b5fdfcd2feab 100644
--- a/components/common/cpp/src/timer.cpp
+++ b/components/common/cpp/src/timer.cpp
@@ -220,10 +220,13 @@ static void trigger_jobs() {
// If last job in list then do in this thread
if (active_jobs == jobs[kTimerMain].size()+1) {
+ lk.unlock();
bool doremove = !pj->job.trigger(ts);
pj->active = false;
active_jobs--;
if (doremove) removeJob(pj->id);
+ lk.lock();
+ break;
} else {
ftl::pool.push([pj,ts](int id) {
bool doremove = !pj->job.trigger(ts);
diff --git a/components/net/cpp/CMakeLists.txt b/components/net/cpp/CMakeLists.txt
index c765fa53877c3e29b2bcde904cccda75487f35ea..04e89bdfeabef32a938299a2e720e23b76655ac1 100644
--- a/components/net/cpp/CMakeLists.txt
+++ b/components/net/cpp/CMakeLists.txt
@@ -18,6 +18,8 @@ target_include_directories(ftlnet PUBLIC
PRIVATE src)
target_link_libraries(ftlnet ftlctrl ftlcommon Threads::Threads glog::glog ${UUID_LIBRARIES})
+target_precompile_headers(ftlnet REUSE_FROM ftlcommon)
+
install(TARGETS ftlnet EXPORT ftlnet-config
ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
diff --git a/components/operators/CMakeLists.txt b/components/operators/CMakeLists.txt
index bc4edb1ea6ac6c10a0f3d14dfaa768e1a7732206..5eb5cb71c41692fb95bbc6c9300396f36766d588 100644
--- a/components/operators/CMakeLists.txt
+++ b/components/operators/CMakeLists.txt
@@ -57,6 +57,10 @@ target_include_directories(ftloperators PUBLIC
target_link_libraries(ftloperators ftlrender ftlrgbd ftlcommon sgm libstereo Eigen3::Eigen Threads::Threads ${OpenCV_LIBS})
+target_precompile_headers(ftloperators REUSE_FROM ftldata)
+
+set_property(TARGET ftloperators PROPERTY CUDA_ARCHITECTURES OFF)
+
if (BUILD_TESTS)
add_subdirectory(test)
endif()
diff --git a/components/renderers/cpp/CMakeLists.txt b/components/renderers/cpp/CMakeLists.txt
index bae316acd12308b40d043a69f2805ee5054a69b4..5b720cf7765ad488172e26aaa88ee1ddf601e1ac 100644
--- a/components/renderers/cpp/CMakeLists.txt
+++ b/components/renderers/cpp/CMakeLists.txt
@@ -29,4 +29,8 @@ target_include_directories(ftlrender PUBLIC
PRIVATE src)
target_link_libraries(ftlrender ftlrgbd ftlcommon Eigen3::Eigen Threads::Threads nanogui ${NANOGUI_EXTRA_LIBS} ${OpenCV_LIBS})
+target_precompile_headers(ftlrender REUSE_FROM ftldata)
+
+set_property(TARGET ftlrender PROPERTY CUDA_ARCHITECTURES OFF)
+
#ADD_SUBDIRECTORY(test)
diff --git a/components/rgbd-sources/CMakeLists.txt b/components/rgbd-sources/CMakeLists.txt
index 6c428a23c80b6e7cd9a3ea5e979281cb026a5d0b..726e9960a5d5080a77b68cc5343f33530026ca7b 100644
--- a/components/rgbd-sources/CMakeLists.txt
+++ b/components/rgbd-sources/CMakeLists.txt
@@ -36,7 +36,9 @@ if (CUDA_FOUND)
set_property(TARGET ftlrgbd PROPERTY CUDA_SEPARABLE_COMPILATION OFF)
endif()
-target_link_libraries(ftlrgbd ftlcalibration ftlcommon ${OpenCV_LIBS} ${LIBSGM_LIBRARIES} ${CUDA_LIBRARIES} Eigen3::Eigen realsense ftlnet ${LibArchive_LIBRARIES} ftlcodecs ftloperators ftldata ${X11_X11_LIB} ${X11_Xext_LIB} ${X11_Xtst_LIB} ${X11_XTest_LIB} Pylon)
+target_link_libraries(ftlrgbd ftlcalibration ftlcommon ${OpenCV_LIBS} ${CUDA_LIBRARIES} Eigen3::Eigen realsense ftlnet ${LibArchive_LIBRARIES} ftlcodecs ftloperators ftldata ${X11_X11_LIB} ${X11_Xext_LIB} ${X11_Xtst_LIB} ${X11_XTest_LIB} Pylon)
+
+target_precompile_headers(ftlrgbd REUSE_FROM ftldata)
if (BUILD_TESTS)
add_subdirectory(test)
diff --git a/components/streams/CMakeLists.txt b/components/streams/CMakeLists.txt
index 7bb5dc6ac6dda4b07fa9bfa13eed1a3fb56e0379..cdbf7be84e68a78690ac5f5d794066e836f6dcbf 100644
--- a/components/streams/CMakeLists.txt
+++ b/components/streams/CMakeLists.txt
@@ -34,6 +34,8 @@ target_include_directories(ftlstreams PUBLIC
#target_include_directories(cv-node PUBLIC ${PROJECT_SOURCE_DIR}/include)
target_link_libraries(ftlstreams ftlrgbd ftlrender ftlcommon ${OpenCV_LIBS} Eigen3::Eigen ftlnet ftlcodecs ftlaudio openvr)
+target_precompile_headers(ftlstreams REUSE_FROM ftldata)
+
if (BUILD_TESTS)
add_subdirectory(test)
endif()
diff --git a/components/streams/include/ftl/streams/receiver.hpp b/components/streams/include/ftl/streams/receiver.hpp
index bb78bb3dbbcde50c25c689c8cda5ab3b51124ace..710f256603410687993b196fee0fe262f6918174 100644
--- a/components/streams/include/ftl/streams/receiver.hpp
+++ b/components/streams/include/ftl/streams/receiver.hpp
@@ -43,12 +43,14 @@ class Receiver : public ftl::Configurable, public ftl::data::Generator {
void processPackets(const ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet &pkt);
+ void removeBuilder(uint32_t id);
+
private:
ftl::stream::Stream *stream_;
ftl::data::Pool *pool_;
ftl::SingletonHandler<const ftl::data::FrameSetPtr&> callback_;
std::unordered_map<uint32_t, std::shared_ptr<ftl::streams::BaseBuilder>> builders_;
- std::list<ftl::Handle> handles_;
+ std::unordered_map<uint32_t, ftl::Handle> handles_;
ftl::codecs::Channel second_channel_;
int64_t timestamp_;
SHARED_MUTEX mutex_;
diff --git a/components/streams/src/feed.cpp b/components/streams/src/feed.cpp
index e2566317a79b6aabeb34a5729261686d9545cfb2..c8dff9d32caa900bee9e47fbce7d9d860ef44227 100644
--- a/components/streams/src/feed.cpp
+++ b/components/streams/src/feed.cpp
@@ -366,9 +366,31 @@ void Feed::remove(uint32_t id) {
// TODO: Actual delete of source
// If stream source, remove from muxer
+ if (streams_.count(id)) {
+ auto &streams = streams_[id];
+ for (auto *s : streams) {
+ stream_->remove(s);
+ delete s;
+ }
+
+ streams_.erase(id);
+ } else if (devices_.count(id)) {
+ receiver_->removeBuilder(id);
+ delete devices_[id];
+ devices_.erase(id);
+ } else if (renderers_.count(id)) {
+
+ }
- // If device or render source, remove builder from receiver
+ if (latest_.count(id)) latest_.erase(id);
+ for (auto i = fsid_lookup_.begin(); i != fsid_lookup_.end();) {
+ if (i->second == id) {
+ i = fsid_lookup_.erase(i);
+ } else {
+ ++i;
+ }
+ }
}
ftl::operators::Graph* Feed::addPipeline(uint32_t fsid) {
diff --git a/components/streams/src/filestream.cpp b/components/streams/src/filestream.cpp
index b887e028a0a1895d351ebb7052c979f1dfd7f131..501c815cbdea840716afebb659a238e65aebb35d 100644
--- a/components/streams/src/filestream.cpp
+++ b/components/streams/src/filestream.cpp
@@ -387,11 +387,13 @@ bool File::begin(bool dorun) {
}
bool File::end() {
- UNIQUE_LOCK(mutex_, lk);
if (!active_) return false;
active_ = false;
+
timer_.cancel();
+ UNIQUE_LOCK(mutex_, lk);
+
if (mode_ == Mode::Read) {
if (istream_) {
istream_->close();
diff --git a/components/streams/src/receiver.cpp b/components/streams/src/receiver.cpp
index 5b6f6b5756bd821c93f37e1c4c034cc73004810d..50f94771ecf1a1c2791d2823a8b29d93052c6884 100644
--- a/components/streams/src/receiver.cpp
+++ b/components/streams/src/receiver.cpp
@@ -73,24 +73,33 @@ ftl::streams::BaseBuilder &Receiver::builder(uint32_t id) {
b->setID(id);
b->setPool(pool_);
fb->setBufferSize(value("frameset_buffer_size", 3));
- handles_.push_back(std::move(fb->onFrameSet([this](const ftl::data::FrameSetPtr& fs) {
+ handles_[id] = std::move(fb->onFrameSet([this](const ftl::data::FrameSetPtr& fs) {
callback_.trigger(fs);
return true;
- })));
+ }));
return *b;
} else {
return *(i->second);
}
}
+void Receiver::removeBuilder(uint32_t id) {
+ UNIQUE_LOCK(mutex_, lk);
+ auto i = builders_.find(id);
+ if (i != builders_.end()) {
+ handles_.erase(id);
+ builders_.erase(i);
+ }
+}
+
void Receiver::registerBuilder(const std::shared_ptr<ftl::streams::BaseBuilder> &b) {
auto i = builders_.find(b->id());
if (i != builders_.end()) throw FTL_Error("Builder already exists");
builders_[b->id()] = b;
- handles_.push_back(std::move(b->onFrameSet([this](const ftl::data::FrameSetPtr& fs) {
+ handles_[b->id()] = std::move(b->onFrameSet([this](const ftl::data::FrameSetPtr& fs) {
callback_.trigger(fs);
return true;
- })));
+ }));
}
//void Receiver::onAudio(const ftl::audio::FrameSet::Callback &cb) {
diff --git a/components/streams/test/CMakeLists.txt b/components/streams/test/CMakeLists.txt
index 2e229179e3a65baa6c75d8e680b21f8ac16ddadb..272a87a24c301ba893f755f726f1802388a9d228 100644
--- a/components/streams/test/CMakeLists.txt
+++ b/components/streams/test/CMakeLists.txt
@@ -8,6 +8,8 @@ target_include_directories(stream_unit PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/../in
target_link_libraries(stream_unit
ftlcommon ftlcodecs ftlrgbd)
+target_precompile_headers(stream_unit REUSE_FROM ftldata)
+
add_test(StreamUnitTest stream_unit)
### File Stream Unit ###########################################################
@@ -21,6 +23,8 @@ target_include_directories(filestream_unit PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/.
target_link_libraries(filestream_unit
ftlcommon ftlcodecs ftlrgbd)
+target_precompile_headers(filestream_unit REUSE_FROM ftldata)
+
add_test(FileStreamUnitTest filestream_unit)
### Net Stream Unit ###########################################################
@@ -48,6 +52,8 @@ target_include_directories(sender_unit PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/../in
target_link_libraries(sender_unit
ftlcommon ftlcodecs ftlrgbd ftlaudio)
+target_precompile_headers(sender_unit REUSE_FROM ftldata)
+
add_test(SenderUnitTest sender_unit)
### Receiver Unit ##############################################################
@@ -64,6 +70,8 @@ target_include_directories(receiver_unit PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/../
target_link_libraries(receiver_unit
ftlcommon ftlcodecs ftlrgbd ftlaudio)
+target_precompile_headers(receiver_unit REUSE_FROM ftldata)
+
add_test(ReceiverUnitTest receiver_unit)
### Receiver Sender Unit #######################################################
@@ -79,6 +87,8 @@ target_include_directories(recsend_unit PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/../i
target_link_libraries(recsend_unit
ftlcommon ftlcodecs ftlrgbd ftlaudio)
+target_precompile_headers(recsend_unit REUSE_FROM ftldata)
+
add_test(RecSendUnitTest recsend_unit)
### Builder Unit ###############################################################
@@ -91,6 +101,8 @@ target_include_directories(builder_unit PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/../i
target_link_libraries(builder_unit
ftlcommon ftldata)
+target_precompile_headers(builder_unit REUSE_FROM ftldata)
+
add_test(BuilderUnitTest builder_unit)
@@ -104,4 +116,6 @@ target_include_directories(feed_unit PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/../incl
target_link_libraries(feed_unit
ftlrgbd ftlstreams ftloperators ftlcommon ftldata)
+target_precompile_headers(feed_unit REUSE_FROM ftldata)
+
add_test(FeedUnitTest feed_unit)
diff --git a/components/structures/CMakeLists.txt b/components/structures/CMakeLists.txt
index 4b1a631d1c1d383a1ace922825a7ea3d33026a24..a7db04f27a208e4600828c38c56a0cf820275f6d 100644
--- a/components/structures/CMakeLists.txt
+++ b/components/structures/CMakeLists.txt
@@ -6,6 +6,16 @@ target_include_directories(ftldata PUBLIC
target_link_libraries(ftldata ftlcommon Eigen3::Eigen ftlcodecs)
+target_precompile_headers(ftldata
+ PRIVATE ../common/cpp/include/ftl/utility/msgpack.hpp
+ PRIVATE ../common/cpp/include/ftl/utility/msgpack_optional.hpp
+ PRIVATE ../common/cpp/include/ftl/cuda_common.hpp
+ PRIVATE include/ftl/data/new_frame.hpp
+ PRIVATE include/ftl/data/new_frameset.hpp
+)
+
+set_property(TARGET ftldata PROPERTY CUDA_ARCHITECTURES OFF)
+
if (BUILD_TESTS)
add_subdirectory(test)
endif()
diff --git a/components/structures/test/CMakeLists.txt b/components/structures/test/CMakeLists.txt
index 4a4154d403520eba304125bb12dc28f016aff613..fb67e4e589a6b2dafb51bc3fb957ded5dff01e00 100644
--- a/components/structures/test/CMakeLists.txt
+++ b/components/structures/test/CMakeLists.txt
@@ -7,6 +7,8 @@ target_include_directories(nframe_unit PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/../in
target_link_libraries(nframe_unit
ftlcommon ftlcodecs)
+ target_precompile_headers(nframe_unit REUSE_FROM ftlcommon)
+
add_test(NFrameUnitTest nframe_unit)
### Frame Example 1 ############################################################
diff --git a/lib/libsgm/CMakeLists.txt b/lib/libsgm/CMakeLists.txt
index 497411f85b8f667e0bbb3516fa3e61782f3a34ec..6fe014026f1f77fe122bb204ed63cb4e4d6acc03 100644
--- a/lib/libsgm/CMakeLists.txt
+++ b/lib/libsgm/CMakeLists.txt
@@ -1,9 +1,9 @@
-cmake_minimum_required(VERSION 3.1)
+#cmake_minimum_required(VERSION 3.1)
-set(CMAKE_CXX_STANDARD 11)
-set(CMAKE_CXX_EXTENSIONS OFF)
+#set(CMAKE_CXX_STANDARD 11)
+#set(CMAKE_CXX_EXTENSIONS OFF)
-set(CUDA_ARCH "-arch=sm_50" CACHE STRING "Value of the NVCC -arch option.")
+#set(CUDA_ARCH "-arch=sm_50" CACHE STRING "Value of the NVCC -arch option.")
option(ENABLE_ZED_DEMO "Build a Demo using ZED Camera" OFF)
option(ENABLE_SAMPLES "Build samples" OFF)
@@ -19,10 +19,10 @@ else()
set(ZED_SDK_INCLUDE_DIR "/usr/local/zed/include" CACHE STRING "ZED SDK include path.")
endif()
-project(libSGM VERSION 2.4.0)
+#project(libSGM VERSION 2.4.0)
if(BUILD_OPENCV_WRAPPER)
- find_package(OpenCV REQUIRED core)
+ #find_package(OpenCV REQUIRED core)
include_directories(${OpenCV_INCLUDE_DIRS})
endif()
@@ -32,20 +32,3 @@ configure_file(${CMAKE_CURRENT_SOURCE_DIR}/include/libsgm_config.h.in
add_subdirectory(src)
-if(ENABLE_SAMPLES)
- add_subdirectory(sample/image)
- add_subdirectory(sample/movie)
-# add_subdirectory(sample/reprojection)
- add_subdirectory(sample/benchmark)
- if(BUILD_OPENCV_WRAPPER)
- add_subdirectory(sample/image_cv_gpumat)
- endif()
-endif()
-
-if(ENABLE_TESTS)
- add_subdirectory(test)
-endif()
-
-if(ENABLE_ZED_DEMO)
- add_subdirectory(sample/zed)
-endif()
diff --git a/lib/libsgm/include/libsgm_config.h b/lib/libsgm/include/libsgm_config.h
index 67444c41f80c77412b25b2109bb764d2e8f57497..eeba490fd6d0a8506007abae9b28c4badd3c9934 100644
--- a/lib/libsgm/include/libsgm_config.h
+++ b/lib/libsgm/include/libsgm_config.h
@@ -3,10 +3,10 @@
/* #undef LIBSGM_SHARED */
-#define LIBSGM_VERSION 2.4.0
-#define LIBSGM_VERSION_MAJOR 2
-#define LIBSGM_VERSION_MINOR 4
-#define LIBSGM_VERSION_PATCH 0
+#define LIBSGM_VERSION
+#define LIBSGM_VERSION_MAJOR
+#define LIBSGM_VERSION_MINOR
+#define LIBSGM_VERSION_PATCH
/* #undef BUILD_OPENCV_WRAPPER */
diff --git a/lib/libsgm/src/CMakeLists.txt b/lib/libsgm/src/CMakeLists.txt
index d1bc459e4e7c0547757c883c6c4fc73ba4ca0f8d..6db316464f3f9555459d816c8f8dadbf2ad479c8 100644
--- a/lib/libsgm/src/CMakeLists.txt
+++ b/lib/libsgm/src/CMakeLists.txt
@@ -1,44 +1,47 @@
-cmake_minimum_required(VERSION 3.1)
+#cmake_minimum_required(VERSION 3.1)
-find_package(CUDA REQUIRED)
+#find_package(CUDA REQUIRED)
include_directories(../include)
-if (CMAKE_COMPILER_IS_GNUCXX)
- set(CMAKE_CUDA_HOST_COMPILER gcc-7)
- set(CUDA_HOST_COMPILER gcc-7)
- set(CMAKE_CXX_FLAGS "-O3 -Wall -fPIC")
- set(CUDA_NVCC_FLAGS "${CUDA_NVCC_FLAGS} -std=c++11")
-endif()
+#if (CMAKE_COMPILER_IS_GNUCXX)
+# set(CMAKE_CUDA_HOST_COMPILER gcc-7)
+# set(CUDA_HOST_COMPILER gcc-7)
+# set(CMAKE_CXX_FLAGS "-O3 -Wall -fPIC")
+# set(CUDA_NVCC_FLAGS "${CUDA_NVCC_FLAGS} -std=c++11")
+#endif()
-SET(CUDA_NVCC_FLAGS "${CUDA_NVCC_FLAGS} ${CUDA_ARCH}")
+#SET(CUDA_NVCC_FLAGS "${CUDA_NVCC_FLAGS} ${CUDA_ARCH}")
file(GLOB STEREOSRCS "*.cu" "*.cpp")
-if(LIBSGM_SHARED)
- CUDA_ADD_LIBRARY(sgm stereo_sgm.cpp ${STEREOSRCS} SHARED)
- target_link_libraries(sgm ${CUDA_LIBRARIES})
- if(BUILD_OPENCV_WRAPPER)
- target_link_libraries(sgm ${OpenCV_LIBS})
- endif()
-else()
- CUDA_ADD_LIBRARY(sgm stereo_sgm.cpp ${STEREOSRCS} STATIC)
-endif()
-
-install(
- TARGETS sgm
- ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
- LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
- RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
-)
-
-install(
- DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/../include
- DESTINATION ${CMAKE_INSTALL_PREFIX}
- FILES_MATCHING PATTERN "*.h" PATTERN "*.hpp"
-)
-
-install(
- FILES ${CMAKE_CURRENT_SOURCE_DIR}/../FindLibSGM.cmake
- DESTINATION ${CMAKE_INSTALL_PREFIX}
-)
+#if(LIBSGM_SHARED)
+# CUDA_ADD_LIBRARY(sgm stereo_sgm.cpp ${STEREOSRCS} SHARED)
+# target_link_libraries(sgm ${CUDA_LIBRARIES})
+# if(BUILD_OPENCV_WRAPPER)
+# target_link_libraries(sgm ${OpenCV_LIBS})
+# endif()
+#else()
+ #CUDA_ADD_LIBRARY(sgm stereo_sgm.cpp ${STEREOSRCS} STATIC)
+ add_library(sgm stereo_sgm.cpp ${STEREOSRCS})
+#endif()
+
+set_property(TARGET sgm PROPERTY CUDA_ARCHITECTURES "61")
+
+#install(
+# TARGETS sgm
+# ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
+# LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
+# RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
+#)
+
+#install(
+# DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/../include
+# DESTINATION ${CMAKE_INSTALL_PREFIX}
+# FILES_MATCHING PATTERN "*.h" PATTERN "*.hpp"
+#)
+
+#install(
+# FILES ${CMAKE_CURRENT_SOURCE_DIR}/../FindLibSGM.cmake
+# DESTINATION ${CMAKE_INSTALL_PREFIX}
+#)
diff --git a/lib/libstereo/CMakeLists.txt b/lib/libstereo/CMakeLists.txt
index 7095e16799d648ec41eb46c9906922d2c90f6fa3..f60cc79a1b7f55d237c911fc97833b8db465da4c 100644
--- a/lib/libstereo/CMakeLists.txt
+++ b/lib/libstereo/CMakeLists.txt
@@ -119,6 +119,7 @@ endif()
target_include_directories(libstereo PRIVATE src/ include/)
target_include_directories(libstereo PUBLIC ${OpenCV_INCLUDE_DIRS})
target_link_libraries(libstereo Threads::Threads ${OpenCV_LIBS} ${CUDA_LIBRARIES})
+set_property(TARGET libstereo PROPERTY CUDA_ARCHITECTURES OFF)
if (BUILD_MIDDLEBURY)
add_subdirectory(middlebury/)
diff --git a/lib/libstereo/test/CMakeLists.txt b/lib/libstereo/test/CMakeLists.txt
index ee222cd762895cbbd4c6154ad848f1f914dfd370..d5e6f318dcdcc5337516c84540137f32ef75da87 100644
--- a/lib/libstereo/test/CMakeLists.txt
+++ b/lib/libstereo/test/CMakeLists.txt
@@ -7,6 +7,7 @@ $<TARGET_OBJECTS:CatchTest>
target_include_directories(dsi_cpu_unit PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/../include")
target_include_directories(dsi_cpu_unit PUBLIC ${OpenCV_INCLUDE_DIRS})
target_link_libraries(dsi_cpu_unit Threads::Threads ${OpenCV_LIBS})
+#set_property(TARGET dsi_cpu_unit PROPERTY CUDA_ARCHITECTURES OFF)
add_test(DSICPUUnitTest dsi_cpu_unit)
@@ -18,6 +19,7 @@ target_include_directories(dsi_gpu_unit PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/../i
target_include_directories(dsi_gpu_unit PUBLIC ${OpenCV_INCLUDE_DIRS})
target_compile_definitions(dsi_gpu_unit PUBLIC USE_GPU)
target_link_libraries(dsi_gpu_unit Threads::Threads ${OpenCV_LIBS})
+set_property(TARGET dsi_gpu_unit PROPERTY CUDA_ARCHITECTURES OFF)
add_test(DSIGPUUnitTest dsi_gpu_unit)
@@ -28,6 +30,7 @@ $<TARGET_OBJECTS:CatchTest>
target_include_directories(array2d_unit PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/../include")
target_include_directories(array2d_unit PUBLIC ${OpenCV_INCLUDE_DIRS})
target_link_libraries(array2d_unit Threads::Threads ${OpenCV_LIBS})
+set_property(TARGET array2d_unit PROPERTY CUDA_ARCHITECTURES OFF)
add_test(Array2DUnitTest array2d_unit)
@@ -41,6 +44,7 @@ $<TARGET_OBJECTS:CatchTest>
target_include_directories(matching_cost_unit PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/../include" "${CMAKE_CURRENT_SOURCE_DIR}/../src")
target_include_directories(matching_cost_unit PUBLIC ${OpenCV_INCLUDE_DIRS})
target_link_libraries(matching_cost_unit Threads::Threads ${OpenCV_LIBS})
+set_property(TARGET matching_cost_unit PROPERTY CUDA_ARCHITECTURES OFF)
add_test(MatchingCostUnitTest matching_cost_unit)
@@ -51,6 +55,7 @@ $<TARGET_OBJECTS:CatchTest>
target_include_directories(aggregation_unit PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/../include")
target_include_directories(aggregation_unit PUBLIC ${OpenCV_INCLUDE_DIRS})
target_link_libraries(aggregation_unit Threads::Threads ${OpenCV_LIBS})
+set_property(TARGET aggregation_unit PROPERTY CUDA_ARCHITECTURES OFF)
add_test(AggregationUnitTest aggregation_unit)
@@ -61,5 +66,6 @@ $<TARGET_OBJECTS:CatchTest>
target_include_directories(wta_unit PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/../include")
target_include_directories(wta_unit PUBLIC ${OpenCV_INCLUDE_DIRS})
target_link_libraries(wta_unit Threads::Threads ${OpenCV_LIBS})
+set_property(TARGET wta_unit PROPERTY CUDA_ARCHITECTURES OFF)
add_test(WTAUnitTest wta_unit)