From 481406f45c00dae3619fc5640000e2fe7d075b6c Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Sun, 3 Nov 2019 13:14:22 +0200
Subject: [PATCH] Multires smooth channel
---
.../include/ftl/operators/smoothing.hpp | 2 ++
components/operators/src/smoothing.cpp | 24 ++++++++++++++++++-
.../rgbd-sources/include/ftl/rgbd/camera.hpp | 2 ++
components/rgbd-sources/src/source.cpp | 5 ++--
4 files changed, 30 insertions(+), 3 deletions(-)
diff --git a/components/operators/include/ftl/operators/smoothing.hpp b/components/operators/include/ftl/operators/smoothing.hpp
index a35053d2a..1f6961d81 100644
--- a/components/operators/include/ftl/operators/smoothing.hpp
+++ b/components/operators/include/ftl/operators/smoothing.hpp
@@ -42,6 +42,8 @@ class SmoothChannel : public ftl::operators::Operator {
bool apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, ftl::rgbd::Source *src, cudaStream_t stream) override;
+ private:
+ ftl::rgbd::Frame temp_[2];
};
/**
diff --git a/components/operators/src/smoothing.cpp b/components/operators/src/smoothing.cpp
index 01f7f7de6..79f372077 100644
--- a/components/operators/src/smoothing.cpp
+++ b/components/operators/src/smoothing.cpp
@@ -74,8 +74,11 @@ bool SmoothChannel::apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, ftl::rgbd
int radius = config()->value("radius", 1);
float threshold = config()->value("threshold", 30.0f);
+ int width = s->parameters().width;
+ int height = s->parameters().height;
+
// Clear to max smoothing
- out.create<GpuMat>(Channel::Smoothing, Format<float>(s->parameters().width, s->parameters().height)).setTo(cv::Scalar(1.0f));
+ out.create<GpuMat>(Channel::Smoothing, Format<float>(width, height)).setTo(cv::Scalar(1.0f));
// Reduce to nearest
ftl::cuda::smooth_channel(
@@ -88,6 +91,25 @@ bool SmoothChannel::apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, ftl::rgbd
stream
);
+ width /= 2;
+ height /= 2;
+
+ ftl::rgbd::Camera scaledCam = s->parameters().scaled(width, height);
+
+ // Downscale images for next pass
+ cv::cuda::resize(in.get<GpuMat>(Channel::Colour), temp_[0].create<GpuMat>(Channel::Colour), cv::Size(width, height), 0.0, 0.0, cv::INTER_LINEAR);
+ cv::cuda::resize(in.get<GpuMat>(Channel::Depth), temp_[0].create<GpuMat>(Channel::Depth), cv::Size(width, height), 0.0, 0.0, cv::INTER_NEAREST);
+
+ ftl::cuda::smooth_channel(
+ temp_[0].createTexture<uchar4>(Channel::Colour),
+ temp_[0].createTexture<float>(Channel::Depth),
+ out.getTexture<float>(Channel::Smoothing),
+ scaledCam,
+ threshold,
+ radius,
+ stream
+ );
+
return true;
}
diff --git a/components/rgbd-sources/include/ftl/rgbd/camera.hpp b/components/rgbd-sources/include/ftl/rgbd/camera.hpp
index 9fd6b98a0..2d36b2f75 100644
--- a/components/rgbd-sources/include/ftl/rgbd/camera.hpp
+++ b/components/rgbd-sources/include/ftl/rgbd/camera.hpp
@@ -29,6 +29,8 @@ struct __align__(16) Camera {
double baseline; // For stereo pair
double doffs; // Disparity offset
+ Camera scaled(int width, int height) const;
+
/**
* Convert camera coordinates into screen coordinates.
*/
diff --git a/components/rgbd-sources/src/source.cpp b/components/rgbd-sources/src/source.cpp
index a7b6b2cb0..24629e139 100644
--- a/components/rgbd-sources/src/source.cpp
+++ b/components/rgbd-sources/src/source.cpp
@@ -280,7 +280,8 @@ void Source::notifyRaw(const ftl::codecs::StreamPacket &spkt, const ftl::codecs:
/*
* Scale camera parameters to match resolution.
*/
-static Camera scaled(Camera &cam, int width, int height) {
+Camera Camera::scaled(int width, int height) const {
+ const auto &cam = *this;
float scaleX = (float)width / (float)cam.width;
float scaleY = (float)height / (float)cam.height;
@@ -304,7 +305,7 @@ void Source::notify(int64_t ts, cv::cuda::GpuMat &c1, cv::cuda::GpuMat &c2) {
// Do we need to scale camera parameters
if (impl_->params_.width < max_width || impl_->params_.height < max_height) {
- impl_->params_ = scaled(impl_->params_, max_width, max_height);
+ impl_->params_ = impl_->params_.scaled(max_width, max_height);
}
// Should channel 1 be scaled?
--
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