From 364e6ea9212a1b20a11bdd94bf895035c3ed60a3 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Wed, 4 Dec 2019 20:45:26 +0200
Subject: [PATCH] Add new reconstruction class
---
applications/reconstruct/src/main.cpp | 5 +++-
.../reconstruct/src/reconstruction.hpp | 27 +++++++++++++++++++
2 files changed, 31 insertions(+), 1 deletion(-)
create mode 100644 applications/reconstruct/src/reconstruction.hpp
diff --git a/applications/reconstruct/src/main.cpp b/applications/reconstruct/src/main.cpp
index ddb17e42c..26d2e6e42 100644
--- a/applications/reconstruct/src/main.cpp
+++ b/applications/reconstruct/src/main.cpp
@@ -314,6 +314,7 @@ static void run(ftl::Configurable *root) {
fileout.open(std::string(timestamp) + ".ftl");
writer.begin();
+ // TODO: Add to all grounds / reconstructions
groups[0]->addRawCallback(std::function(recorder));
// TODO: Write pose+calibration+config packets
@@ -324,6 +325,7 @@ static void run(ftl::Configurable *root) {
sources[i]->inject(sources[i]->getPose());
}
} else {
+ // FIXME: Remove doesn't work, so multiple records fail.
groups[0]->removeRawCallback(recorder);
writer.end();
fileout.close();
@@ -365,6 +367,7 @@ static void run(ftl::Configurable *root) {
//if (slave.isPaused()) return true;
if (controls->value("paused", false)) return true;
+ // TODO: busy needs to be an array now.
if (busy) {
LOG(INFO) << "Group frameset dropped: " << fs.timestamp;
return true;
@@ -382,7 +385,7 @@ static void run(ftl::Configurable *root) {
UNIQUE_LOCK(scene_A[i].mtx, lk);
pipeline1->apply(scene_A[i], scene_A[i], 0);
- align->process(scene_A[i]);
+ //align->process(scene_A[i]);
// TODO: To use second GPU, could do a download, swap, device change,
diff --git a/applications/reconstruct/src/reconstruction.hpp b/applications/reconstruct/src/reconstruction.hpp
new file mode 100644
index 000000000..bde040007
--- /dev/null
+++ b/applications/reconstruct/src/reconstruction.hpp
@@ -0,0 +1,27 @@
+#ifndef _FTL_RECONSTRUCTION_HPP_
+#define _FTL_RECONSTRUCTION_HPP_
+
+namespace ftl {
+
+class Reconstruction : public ftl::Configurable {
+ public:
+ Reconstruction();
+ ~Reconstruction();
+
+ void addSource(ftl::rgbd::Source *);
+
+ /**
+ * Do the render for a specified virtual camera.
+ */
+ void render(ftl::rgbd::VirtualSource *vs, ftl::rgbd::Frame &out);
+
+ private:
+ ftl::rgbd::Group *group_;
+ ftl::rgbd::FrameSet fs_;
+ ftl::operators::Graph *pipeline_;
+ ftl::render::Triangular *renderer_;
+};
+
+}
+
+#endif // _FTL_RECONSTRUCTION_HPP_
--
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