From 422f857e219c8a0699eb4ca2cbdcec259c9a272d Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Wed, 18 Sep 2019 18:01:46 +0300
Subject: [PATCH] Fix missing virtual capabilities
---
components/renderers/cpp/src/splat_render.cpp | 14 ++++++++------
components/rgbd-sources/src/streamer.cpp | 1 +
components/rgbd-sources/src/virtual.cpp | 6 ++++++
3 files changed, 15 insertions(+), 6 deletions(-)
diff --git a/components/renderers/cpp/src/splat_render.cpp b/components/renderers/cpp/src/splat_render.cpp
index 9bae08e43..f6e05eeb4 100644
--- a/components/renderers/cpp/src/splat_render.cpp
+++ b/components/renderers/cpp/src/splat_render.cpp
@@ -77,11 +77,13 @@ bool Splatter::render(ftl::rgbd::VirtualSource *src, ftl::rgbd::Frame &out, cuda
params.m_viewMatrixInverse = MatrixConversion::toCUDA(src->getPose().cast<float>());
params.camera = camera;
+ LOG(INFO) << "VPOSE = " << src->getPose();
+
// 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);
out.get<GpuMat>(Channel::Depth).setTo(cv::Scalar(1000.0f), cvstream);
- out.get<GpuMat>(Channel::Colour).setTo(cv::Scalar(0,0,0), cvstream);
+ out.get<GpuMat>(Channel::Colour).setTo(cv::Scalar(76,76,76), cvstream);
LOG(INFO) << "Render ready: " << camera.width << "," << camera.height;
@@ -99,7 +101,7 @@ bool Splatter::render(ftl::rgbd::VirtualSource *src, ftl::rgbd::Frame &out, cuda
// Needs to create points channel first?
if (!f.hasChannel(Channel::Points)) {
- LOG(INFO) << "Creating points...";
+ LOG(INFO) << "Creating points... " << s->parameters().width;
auto &t = f.createTexture<float4>(Channel::Points, Format<float4>(f.get<GpuMat>(Channel::Colour).size()));
auto pose = MatrixConversion::toCUDA(s->getPose().cast<float>().inverse());
@@ -166,16 +168,16 @@ bool Splatter::render(ftl::rgbd::VirtualSource *src, ftl::rgbd::Frame &out, cuda
//src->write(scene_.timestamp, output_, stream);
} else {
LOG(INFO) << "No second rendering";
- if (value("splatting", false)) {
+ //if (value("splatting", false)) {
//ftl::cuda::splat_points(depth1_, colour1_, normal1_, depth2_, colour2_, params, stream);
//src->writeFrames(ts, colour1_, depth2_, stream);
//src->write(scene_.timestamp, out, stream);
- } else {
+ //} else {
//ftl::cuda::int_to_float(depth1_, depth2_, 1.0f / 1000.0f, stream);
- //temp_.get<GpuMat>(Channel::Depth).convertTo(out.get<GpuMat>(Channel::Depth), CV_32F, 1.0f / 1000.0f, cvstream);
+ temp_.get<GpuMat>(Channel::Depth).convertTo(out.get<GpuMat>(Channel::Depth), CV_32F, 1.0f / 1000.0f, cvstream);
//src->writeFrames(ts, colour1_, depth2_, stream);
//src->write(scene_.timestamp, output_, stream);
- }
+ //}
}
//}
diff --git a/components/rgbd-sources/src/streamer.cpp b/components/rgbd-sources/src/streamer.cpp
index a1019cb8e..2b43f97a7 100644
--- a/components/rgbd-sources/src/streamer.cpp
+++ b/components/rgbd-sources/src/streamer.cpp
@@ -74,6 +74,7 @@ Streamer::Streamer(nlohmann::json &config, Universe *net)
if (sources_.find(uri) != sources_.end()) {
Eigen::Matrix4d pose;
memcpy(pose.data(), buf.data(), buf.size());
+ LOG(INFO) << "SET POSE:";
sources_[uri]->src->setPose(pose);
}
});
diff --git a/components/rgbd-sources/src/virtual.cpp b/components/rgbd-sources/src/virtual.cpp
index 54c9754b9..62b404155 100644
--- a/components/rgbd-sources/src/virtual.cpp
+++ b/components/rgbd-sources/src/virtual.cpp
@@ -8,6 +8,7 @@ class VirtualImpl : public ftl::rgbd::detail::Source {
public:
explicit VirtualImpl(ftl::rgbd::Source *host, const ftl::rgbd::Camera ¶ms) : ftl::rgbd::detail::Source(host) {
params_ = params;
+ capabilities_ = ftl::rgbd::kCapMovable | ftl::rgbd::kCapVideo | ftl::rgbd::kCapStereo;
}
~VirtualImpl() {
@@ -15,6 +16,7 @@ class VirtualImpl : public ftl::rgbd::detail::Source {
}
bool capture(int64_t ts) override {
+ timestamp_ = ts;
return true;
}
@@ -38,9 +40,13 @@ class VirtualImpl : public ftl::rgbd::detail::Source {
frame.download(Channel::Colour + Channel::Depth);
cv::swap(frame.get<cv::Mat>(Channel::Colour), rgb_);
cv::swap(frame.get<cv::Mat>(Channel::Depth), depth_);
+ LOG(INFO) << "Written: " << rgb_.cols;
} else {
LOG(ERROR) << "Missing colour or depth frame in rendering";
}
+
+ auto cb = host_->callback();
+ if (cb) cb(timestamp_, rgb_, depth_);
}
return true;
}
--
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