From 42cbf4bab1077a131e8e6af1cbb05f7c57f4eff6 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nicolas.pope@utu.fi>
Date: Mon, 20 Jan 2020 10:48:27 +0200
Subject: [PATCH] Allow constructor parameters to operators
---
.../include/ftl/operators/operator.hpp | 25 +++++++++++++++++++
.../include/ftl/operators/opticalflow.hpp | 5 ++--
components/operators/src/nvopticalflow.cpp | 7 +++++-
.../src/sources/stereovideo/stereovideo.cpp | 2 +-
4 files changed, 35 insertions(+), 4 deletions(-)
diff --git a/components/operators/include/ftl/operators/operator.hpp b/components/operators/include/ftl/operators/operator.hpp
index 71d2e939a..79cd008fd 100644
--- a/components/operators/include/ftl/operators/operator.hpp
+++ b/components/operators/include/ftl/operators/operator.hpp
@@ -72,6 +72,20 @@ struct ConstructionHelper : public ConstructionHelperBase {
}
};
+template <typename T, typename... ARGS>
+struct ConstructionHelper2 : public ConstructionHelperBase {
+ explicit ConstructionHelper2(ftl::Configurable *cfg, ARGS... args) : ConstructionHelperBase(cfg) {
+ arguments_ = std::make_tuple(args...);
+ }
+ ~ConstructionHelper2() {}
+ ftl::operators::Operator *make() override {
+ return new T(config, arguments_);
+ }
+
+ private:
+ std::tuple<ARGS...> arguments_;
+};
+
struct OperatorNode {
ConstructionHelperBase *maker;
std::vector<ftl::operators::Operator*> instances;
@@ -92,6 +106,9 @@ class Graph : public ftl::Configurable {
template <typename T>
ftl::Configurable *append(const std::string &name);
+ template <typename T, typename... ARGS>
+ ftl::Configurable *append(const std::string &name, ARGS...);
+
bool apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, cudaStream_t stream=0);
bool apply(ftl::rgbd::FrameSet &in, ftl::rgbd::FrameSet &out, cudaStream_t stream=0);
bool apply(ftl::rgbd::FrameSet &in, ftl::rgbd::Frame &out, cudaStream_t stream=0);
@@ -115,4 +132,12 @@ ftl::Configurable *ftl::operators::Graph::append(const std::string &name) {
return _append(new ftl::operators::detail::ConstructionHelper<T>(configs_[name]));
}
+template <typename T, typename... ARGS>
+ftl::Configurable *ftl::operators::Graph::append(const std::string &name, ARGS... args) {
+ if (configs_.find(name) == configs_.end()) {
+ configs_[name] = ftl::create<ftl::Configurable>(this, name);
+ }
+ return _append(new ftl::operators::detail::ConstructionHelper2<T, ARGS...>(configs_[name], args...));
+}
+
#endif // _FTL_OPERATORS_OPERATOR_HPP_
diff --git a/components/operators/include/ftl/operators/opticalflow.hpp b/components/operators/include/ftl/operators/opticalflow.hpp
index e80160631..43edf6b84 100644
--- a/components/operators/include/ftl/operators/opticalflow.hpp
+++ b/components/operators/include/ftl/operators/opticalflow.hpp
@@ -13,6 +13,7 @@ namespace operators {
class NVOpticalFlow : public ftl::operators::Operator {
public:
explicit NVOpticalFlow(ftl::Configurable*);
+ NVOpticalFlow(ftl::Configurable*, const std::tuple<ftl::codecs::Channel,ftl::codecs::Channel> &channels);
~NVOpticalFlow();
inline Operator::Type type() const override { return Operator::Type::OneToOne; }
@@ -26,8 +27,8 @@ class NVOpticalFlow : public ftl::operators::Operator {
cv::Size size_;
// TODO: Colour to Flow always assumed, could also calculate something else?
- const ftl::codecs::Channel channel_in_ = ftl::codecs::Channel::Colour;
- const ftl::codecs::Channel channel_out_ = ftl::codecs::Channel::Flow;
+ ftl::codecs::Channel channel_in_;
+ ftl::codecs::Channel channel_out_;
cv::Ptr<cv::cuda::NvidiaOpticalFlow_1_0> nvof_;
cv::cuda::GpuMat left_gray_;
diff --git a/components/operators/src/nvopticalflow.cpp b/components/operators/src/nvopticalflow.cpp
index 6ce98d757..08da949e0 100644
--- a/components/operators/src/nvopticalflow.cpp
+++ b/components/operators/src/nvopticalflow.cpp
@@ -10,10 +10,15 @@ using cv::Size;
using cv::cuda::GpuMat;
NVOpticalFlow::NVOpticalFlow(ftl::Configurable* cfg) :
- ftl::operators::Operator(cfg) {
+ ftl::operators::Operator(cfg), channel_in_(ftl::codecs::Channel::Colour), channel_out_(ftl::codecs::Channel::Flow) {
size_ = Size(0, 0);
}
+NVOpticalFlow::NVOpticalFlow(ftl::Configurable*cfg, const std::tuple<ftl::codecs::Channel,ftl::codecs::Channel> &channels) : ftl::operators::Operator(cfg) {
+ channel_in_ = std::get<0>(channels);
+ channel_out_ = std::get<1>(channels);
+}
+
NVOpticalFlow::~NVOpticalFlow() {
}
diff --git a/components/rgbd-sources/src/sources/stereovideo/stereovideo.cpp b/components/rgbd-sources/src/sources/stereovideo/stereovideo.cpp
index 3a0587ebb..584796770 100644
--- a/components/rgbd-sources/src/sources/stereovideo/stereovideo.cpp
+++ b/components/rgbd-sources/src/sources/stereovideo/stereovideo.cpp
@@ -76,7 +76,7 @@ void StereoVideoSource::init(const string &file) {
pipeline_input_ = ftl::config::create<ftl::operators::Graph>(host_, "input");
#ifdef HAVE_OPTFLOW
- pipeline_input_->append<ftl::operators::NVOpticalFlow>("optflow");
+ pipeline_input_->append<ftl::operators::NVOpticalFlow>("optflow", Channel::Colour, Channel::Flow);
#endif
calib_ = ftl::create<Calibrate>(host_, "calibration", cv::Size(lsrc_->fullWidth(), lsrc_->fullHeight()), stream_);
--
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