From 44c55a8a99f7f0728e3b60dc4218538ad5d07ed9 Mon Sep 17 00:00:00 2001
From: Sebastian Hahta <joseha@utu.fi>
Date: Fri, 8 Nov 2019 11:58:48 +0200
Subject: [PATCH] operator: bilateral filter
---
.../include/ftl/operators/disparity.hpp | 2 ++
.../src/disparity/bilateral_filter.cpp | 20 +++++++++++++++++++
.../src/disparity/disparity_to_depth.cpp | 2 +-
.../operators/src/disparity/fixstars_sgm.cpp | 2 +-
.../src/sources/stereovideo/stereovideo.cpp | 1 +
5 files changed, 25 insertions(+), 2 deletions(-)
diff --git a/components/operators/include/ftl/operators/disparity.hpp b/components/operators/include/ftl/operators/disparity.hpp
index 5a9533a57..efa3a5128 100644
--- a/components/operators/include/ftl/operators/disparity.hpp
+++ b/components/operators/include/ftl/operators/disparity.hpp
@@ -49,6 +49,8 @@ class DisparityBilateralFilter : public::ftl::operators::Operator {
private:
cv::Ptr<cv::cuda::DisparityBilateralFilter> filter_;
cv::cuda::GpuMat disp_int_;
+ cv::cuda::GpuMat disp_int_result_;
+ double scale_;
int radius_;
int iter_;
int max_disp_;
diff --git a/components/operators/src/disparity/bilateral_filter.cpp b/components/operators/src/disparity/bilateral_filter.cpp
index 73ded1af8..8489e6a4b 100644
--- a/components/operators/src/disparity/bilateral_filter.cpp
+++ b/components/operators/src/disparity/bilateral_filter.cpp
@@ -5,12 +5,32 @@
using cv::cuda::GpuMat;
using cv::Size;
+using ftl::codecs::Channel;
using ftl::operators::DisparityBilateralFilter;
DisparityBilateralFilter::DisparityBilateralFilter(ftl::Configurable* cfg) :
ftl::operators::Operator(cfg) {
+ scale_ = 16.0;
radius_ = cfg->value("radius", 7);
iter_ = cfg->value("iter", 13);
filter_ = cv::cuda::createDisparityBilateralFilter(max_disp_ << 4, radius_, iter_);
+}
+
+bool DisparityBilateralFilter::apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out,
+ ftl::rgbd::Source *src, cudaStream_t stream) {
+
+ if (!in.hasChannel(Channel::Disparity) || !in.hasChannel(Channel::Colour)) {
+ return false;
+ }
+ auto cvstream = cv::cuda::StreamAccessor::wrapStream(stream);
+ const GpuMat &rgb = in.get<GpuMat>(Channel::Colour);
+ GpuMat &disp_in = in.get<GpuMat>(Channel::Disparity);
+ GpuMat &disp_out = out.create<GpuMat>(Channel::Disparity);
+ disp_out.create(disp_in.size(), disp_in.type());
+
+ disp_in.convertTo(disp_int_, CV_16SC1, scale_, cvstream);
+ filter_->apply(disp_int_, rgb, disp_int_result_, cvstream);
+ disp_int_result_.convertTo(disp_out, 1.0/scale_, cvstream);
+ return true;
}
\ No newline at end of file
diff --git a/components/operators/src/disparity/disparity_to_depth.cpp b/components/operators/src/disparity/disparity_to_depth.cpp
index 9f793c234..5951802f0 100644
--- a/components/operators/src/disparity/disparity_to_depth.cpp
+++ b/components/operators/src/disparity/disparity_to_depth.cpp
@@ -14,7 +14,7 @@ bool DisparityToDepth::apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out,
const auto params = src->parameters();
const GpuMat &disp = in.get<GpuMat>(Channel::Disparity);
- GpuMat depth = out.create<GpuMat>(Channel::Depth);
+ GpuMat &depth = out.create<GpuMat>(Channel::Depth);
depth.create(disp.size(), CV_32FC1);
ftl::cuda::disparity_to_depth(disp, depth, params, stream);
diff --git a/components/operators/src/disparity/fixstars_sgm.cpp b/components/operators/src/disparity/fixstars_sgm.cpp
index 80d8761ba..831ee7a21 100644
--- a/components/operators/src/disparity/fixstars_sgm.cpp
+++ b/components/operators/src/disparity/fixstars_sgm.cpp
@@ -32,7 +32,7 @@ FixstarsSGM::FixstarsSGM(ftl::Configurable* cfg) :
LOG(WARNING) << "Invalid value for P1, using default (10)";
}
- if (P2_ > P1_) {
+ if (P2_ < P1_) {
P2_ = P1_;
LOG(WARNING) << "Invalid value for P2, using value of P1 (" << P1_ << ")";
}
diff --git a/components/rgbd-sources/src/sources/stereovideo/stereovideo.cpp b/components/rgbd-sources/src/sources/stereovideo/stereovideo.cpp
index 58e374dcb..aaff4ec7b 100644
--- a/components/rgbd-sources/src/sources/stereovideo/stereovideo.cpp
+++ b/components/rgbd-sources/src/sources/stereovideo/stereovideo.cpp
@@ -126,6 +126,7 @@ void StereoVideoSource::init(const string &file) {
pipeline_depth_ = ftl::config::create<ftl::operators::Graph>(host_, "pipeline_disparity");
pipeline_depth_->append<ftl::operators::FixstarsSGM>("algorithm");
+ pipeline_depth_->append<ftl::operators::DisparityBilateralFilter>("bilateral_filter");
pipeline_depth_->append<ftl::operators::DisparitySmoothingOF>("optflow_filter");
pipeline_depth_->append<ftl::operators::DisparityToDepth>("calculate_depth");
--
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