From 3d6409d86b7b80346e6c344dc92c0003a12215a3 Mon Sep 17 00:00:00 2001
From: Sebastian Hahta <joseha@utu.fi>
Date: Wed, 4 Sep 2019 11:35:57 +0300
Subject: [PATCH] documentation on the interface
---
components/rgbd-sources/include/ftl/rgbd/frame.hpp | 11 ++++++++---
.../rgbd-sources/src/algorithms/fixstars_sgm.cpp | 1 +
2 files changed, 9 insertions(+), 3 deletions(-)
diff --git a/components/rgbd-sources/include/ftl/rgbd/frame.hpp b/components/rgbd-sources/include/ftl/rgbd/frame.hpp
index 993b49aa5..a2ec21789 100644
--- a/components/rgbd-sources/include/ftl/rgbd/frame.hpp
+++ b/components/rgbd-sources/include/ftl/rgbd/frame.hpp
@@ -71,9 +71,14 @@ public:
* @param Channel type
* @returns Reference to channel data
*
- * Returns non-const reference to channel data. Invalidates other copies of
- * the data (host/gpu) for the specified channel, next time getChannel() is
- * called a memory transfer may occur.
+ * Returns non-const reference to channel memory. Invalidates other copies
+ * of the data (host/gpu) for the specified channel, next time getChannel()
+ * is called a memory transfer may occur.
+ *
+ * NOTE: If user of setChannel<T>() wants to modify contents instead of
+ * replacing them, getChannel<T>() needs to be called first to
+ * ensure there is valid contents in the returned reference!
+ * (TODO: interface could be improved)
*/
template <typename T> T& setChannel(const ftl::rgbd::channel_t& channel);
diff --git a/components/rgbd-sources/src/algorithms/fixstars_sgm.cpp b/components/rgbd-sources/src/algorithms/fixstars_sgm.cpp
index 2fe64b3c5..0d8cfa877 100644
--- a/components/rgbd-sources/src/algorithms/fixstars_sgm.cpp
+++ b/components/rgbd-sources/src/algorithms/fixstars_sgm.cpp
@@ -118,6 +118,7 @@ void FixstarsSGM::compute(ftl::rgbd::Frame &frame, cv::cuda::Stream &stream)
#ifdef HAVE_OPTFLOW
if (use_off_)
{
+ frame.getChannel<Mat>(ftl::rgbd::kChanDisparity);
off_.filter(frame.setChannel<Mat>(ftl::rgbd::kChanDisparity), Mat(lbw_));
}
#endif
--
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