Working up to first render steps

applications/reconstruct/src/main.cpp

@@ -145,6 +145,7 @@ static void run(ftl::Configurable *root) {
 			// TODO: To use second GPU, could do a download, swap, device change,
 			// then upload to other device. Or some direct device-2-device copy.
 			scene_A.swapTo(scene_B);
+			LOG(INFO) << "Align complete... " << scene_A.timestamp;
 			busy = false;
 		});
 		return true;

components/renderers/cpp/src/splat_render.cpp

@@ -7,6 +7,7 @@
 
 using ftl::render::Splatter;
 using ftl::rgbd::Channel;
+using ftl::rgbd::Channels;
 using ftl::rgbd::Format;
 using cv::cuda::GpuMat;
 
@@ -21,6 +22,8 @@ Splatter::~Splatter() {
 bool Splatter::render(ftl::rgbd::VirtualSource *src, ftl::rgbd::Frame &out, cudaStream_t stream) {
 	if (!src->isReady()) return false;
 
+	LOG(INFO) << "Render ready2";
+
 	const auto &camera = src->parameters();
 
 	//cudaSafeCall(cudaSetDevice(scene_->getCUDADevice()));
@@ -38,6 +41,8 @@ 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);
@@ -77,13 +82,27 @@ bool Splatter::render(ftl::rgbd::VirtualSource *src, ftl::rgbd::Frame &out, cuda
 	out.get<GpuMat>(Channel::Depth).setTo(cv::Scalar(1000.0f), cvstream);
 	out.get<GpuMat>(Channel::Colour).setTo(cv::Scalar(0,0,0), cvstream);
 
+	LOG(INFO) << "Render ready";
+
 	// Render each camera into virtual view
-	for (auto &f : scene_->frames) {
+	for (size_t i=0; i<scene_->frames.size(); ++i) {
+		auto &f = scene_->frames[i];
+		auto *s = scene_->sources[i];
+
+		if (!f.hasChannel(Channel::Depth) || f.isCPU(Channel::Depth)) {
+			LOG(ERROR) << "Missing required Depth channel";
+			return false;
+		}
+
 		// Needs to create points channel first?
 		if (!f.hasChannel(Channel::Points)) {
+			LOG(INFO) << "Creating points...";
+			
 			auto &t = f.createTexture<float4>(Channel::Points, Format<float4>(f.get<GpuMat>(Channel::Colour).size()));
-			auto pose = MatrixConversion::toCUDA(f.source()->getPose().cast<float>().inverse());
-			ftl::cuda::point_cloud(t, f.createTexture<float>(Channel::Depth), f.source()->parameters(), pose, stream);
+			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";
 		}
 
 		ftl::cuda::dibr_merge(
@@ -91,6 +110,8 @@ bool Splatter::render(ftl::rgbd::VirtualSource *src, ftl::rgbd::Frame &out, cuda
 			temp_.createTexture<int>(Channel::Depth),
 			params, stream
 		);
+
+		LOG(INFO) << "DIBR DONE";
 	}
 
 		//ftl::cuda::dibr(depth1_, colour1_, normal1_, depth2_, colour_tmp_, depth3_, scene_->cameraCount(), params, stream);

components/rgbd-sources/src/virtual.cpp

@@ -2,9 +2,57 @@
 
 using ftl::rgbd::VirtualSource;
 using ftl::rgbd::Source;
+using ftl::rgbd::Channel;
 
-VirtualSource::VirtualSource(ftl::config::json_t &cfg) : Source(cfg) {
+class VirtualImpl : public ftl::rgbd::detail::Source {
+	public:
+	explicit VirtualImpl(ftl::rgbd::Source *host) : ftl::rgbd::detail::Source(host) {
+
+	}
+
+	~VirtualImpl() {
+
+	}
+
+	bool capture(int64_t ts) override {
+		return true;
+	}
+
+	bool retrieve() override {
+		return true;
+	}
+
+	bool compute(int n, int b) override {
+		if (callback) {
+			frame.reset();
+
+			try {
+				callback(frame);
+			} catch (std::exception &e) {
+				LOG(ERROR) << "Exception in render callback: " << e.what();
+			} catch (...) {
+				LOG(ERROR) << "Unknown exception in render callback";
+			}
+
+			if (frame.hasChannel(Channel::Colour) && frame.hasChannel(Channel::Depth)) {
+				frame.download(Channel::Colour + Channel::Depth);
+				cv::swap(frame.get<cv::Mat>(Channel::Colour), rgb_);
+				cv::swap(frame.get<cv::Mat>(Channel::Depth), depth_);
+			} else {
+				LOG(ERROR) << "Missing colour or depth frame in rendering";
+			}
+		}
+		return true;
+	}
 
+	bool isReady() override { return true; }
+
+	std::function<void(ftl::rgbd::Frame &)> callback;
+	ftl::rgbd::Frame frame;
+};
+
+VirtualSource::VirtualSource(ftl::config::json_t &cfg) : Source(cfg) {
+	impl_ = new VirtualImpl(this);
 }
 
 VirtualSource::~VirtualSource() {
@@ -12,7 +60,7 @@ VirtualSource::~VirtualSource() {
 }
 
 void VirtualSource::onRender(const std::function<void(ftl::rgbd::Frame &)> &f) {
-
+	dynamic_cast<VirtualImpl*>(impl_)->callback = f;
 }
 
 /*