From 37e5695024e8feb2cfe600231ddbb9ecc15acaba Mon Sep 17 00:00:00 2001
From: Sebastian Hahta <joseha@utu.fi>
Date: Thu, 26 Sep 2019 12:01:55 +0300
Subject: [PATCH] fix initialization
---
components/renderers/cpp/src/splat_render.cpp | 28 +++++++++++++------
1 file changed, 20 insertions(+), 8 deletions(-)
diff --git a/components/renderers/cpp/src/splat_render.cpp b/components/renderers/cpp/src/splat_render.cpp
index 10702824c..275cf0a3e 100644
--- a/components/renderers/cpp/src/splat_render.cpp
+++ b/components/renderers/cpp/src/splat_render.cpp
@@ -23,6 +23,12 @@ void Splatter::renderChannel(
SplatParams ¶ms, ftl::rgbd::Frame &out,
const Channel &channel, cudaStream_t stream)
{
+ cv::cuda::Stream cvstream = cv::cuda::StreamAccessor::wrapStream(stream);
+ temp_.get<GpuMat>(Channel::Depth).setTo(cv::Scalar(0x7FFFFFFF), cvstream);
+ temp_.get<GpuMat>(Channel::Depth2).setTo(cv::Scalar(0x7FFFFFFF), cvstream);
+ temp_.get<GpuMat>(Channel::Colour).setTo(cv::Scalar(0.0f,0.0f,0.0f,0.0f), cvstream);
+ temp_.get<GpuMat>(Channel::Contribution).setTo(cv::Scalar(0.0f), cvstream);
+
// Render each camera into virtual view
for (size_t i=0; i < scene_->frames.size(); ++i) {
auto &f = scene_->frames[i];
@@ -144,10 +150,7 @@ bool Splatter::render(ftl::rgbd::VirtualSource *src, ftl::rgbd::Frame &out, cuda
params.camera = camera;
// 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);
- temp_.get<GpuMat>(Channel::Colour).setTo(cv::Scalar(0.0f,0.0f,0.0f,0.0f), cvstream);
- temp_.get<GpuMat>(Channel::Contribution).setTo(cv::Scalar(0.0f), cvstream);
+
out.get<GpuMat>(Channel::Depth).setTo(cv::Scalar(1000.0f), cvstream);
out.get<GpuMat>(Channel::Colour).setTo(cv::Scalar(76,76,76), cvstream);
@@ -156,19 +159,28 @@ bool Splatter::render(ftl::rgbd::VirtualSource *src, ftl::rgbd::Frame &out, cuda
temp_.createTexture<int>(Channel::Depth);
renderChannel(params, out, Channel::Colour, stream);
-
+
Channel chan = src->getChannel();
- if (chan == Channel::Depth) {
+ if (chan == Channel::Depth)
+ {
temp_.get<GpuMat>(Channel::Depth).convertTo(out.get<GpuMat>(Channel::Depth), CV_32F, 1.0f / 1000.0f, cvstream);
- } else if (chan == Channel::Energy) {
+ }
+ else if (chan == Channel::Energy)
+ {
cv::cuda::swap(temp_.get<GpuMat>(Channel::Energy), out.create<GpuMat>(Channel::Energy));
- } else if (chan == Channel::Right) {
+ }
+ else if (chan == Channel::Right)
+ {
Eigen::Affine3f transform(Eigen::Translation3f(camera.baseline,0.0f,0.0f));
Eigen::Matrix4f matrix = src->getPose().cast<float>() * transform.matrix();
params.m_viewMatrix = MatrixConversion::toCUDA(matrix.inverse());
params.m_viewMatrixInverse = MatrixConversion::toCUDA(matrix);
+ out.create<GpuMat>(Channel::Right, Format<uchar4>(camera.width, camera.height));
+ out.get<GpuMat>(Channel::Right).setTo(cv::Scalar(76,76,76), cvstream);
renderChannel(params, out, Channel::Right, stream);
+ cv::imshow("RIGHT", out.get<cv::Mat>(Channel::Right));
+ cv::waitKey(1);
}
return true;
--
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