From 49b2120619a69d2d9328e01c98f9f0f167e0207c Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Sat, 7 Nov 2020 13:18:30 +0200
Subject: [PATCH] Implement SDK properties
---
SDK/C++/CMakeLists.txt | 1 +
SDK/C++/private/operator_impl.cpp | 3 +-
SDK/C++/private/property_impl.cpp | 135 ++++++++++++++++++
SDK/C++/private/property_impl.hpp | 51 +++++++
SDK/C++/public/include/voltu/types/errors.hpp | 3 +
.../public/samples/fusion_evaluator/main.cpp | 5 +-
SDK/C++/public/voltu_cv.cpp | 3 +-
.../common/cpp/include/ftl/configurable.hpp | 17 +++
components/common/cpp/src/configurable.cpp | 30 ++++
.../include/ftl/operators/antialiasing.hpp | 2 +
.../include/ftl/operators/clipping.hpp | 2 +
.../include/ftl/operators/colours.hpp | 2 +
.../operators/include/ftl/operators/depth.hpp | 2 +
.../include/ftl/operators/detectandtrack.hpp | 4 +
.../include/ftl/operators/disparity.hpp | 12 ++
.../include/ftl/operators/filling.hpp | 4 +
.../include/ftl/operators/fusion.hpp | 2 +
.../include/ftl/operators/gt_analysis.hpp | 2 +
.../operators/include/ftl/operators/mask.hpp | 8 ++
.../operators/include/ftl/operators/mvmls.hpp | 2 +
.../include/ftl/operators/normals.hpp | 6 +
.../include/ftl/operators/operator.hpp | 3 +-
.../include/ftl/operators/opticalflow.hpp | 2 +
.../operators/include/ftl/operators/poser.hpp | 2 +
.../include/ftl/operators/segmentation.hpp | 4 +
.../include/ftl/operators/smoothing.hpp | 12 ++
.../include/ftl/operators/weighting.hpp | 6 +
.../src/analysis/evaluation/gt_analysis.cpp | 7 +-
28 files changed, 327 insertions(+), 5 deletions(-)
create mode 100644 SDK/C++/private/property_impl.cpp
create mode 100644 SDK/C++/private/property_impl.hpp
diff --git a/SDK/C++/CMakeLists.txt b/SDK/C++/CMakeLists.txt
index 079129547..b64eae3d9 100644
--- a/SDK/C++/CMakeLists.txt
+++ b/SDK/C++/CMakeLists.txt
@@ -8,6 +8,7 @@ add_library(voltu SHARED
private/pointcloud_impl.cpp
private/pipeline_impl.cpp
private/operator_impl.cpp
+ private/property_impl.cpp
)
target_include_directories(voltu
diff --git a/SDK/C++/private/operator_impl.cpp b/SDK/C++/private/operator_impl.cpp
index 1acade35e..a3e65a759 100644
--- a/SDK/C++/private/operator_impl.cpp
+++ b/SDK/C++/private/operator_impl.cpp
@@ -1,4 +1,5 @@
#include "operator_impl.hpp"
+#include "property_impl.hpp"
#include <voltu/types/errors.hpp>
using voltu::internal::OperatorImpl;
@@ -16,5 +17,5 @@ OperatorImpl::~OperatorImpl()
voltu::PropertyPtr OperatorImpl::property(const std::string &name)
{
- throw voltu::exceptions::NotImplemented();
+ return std::make_shared<voltu::internal::CfgPropertyImpl>(cfg_, name);
}
diff --git a/SDK/C++/private/property_impl.cpp b/SDK/C++/private/property_impl.cpp
new file mode 100644
index 000000000..bb3cd8dcd
--- /dev/null
+++ b/SDK/C++/private/property_impl.cpp
@@ -0,0 +1,135 @@
+#include "property_impl.hpp"
+#include <voltu/types/errors.hpp>
+
+using voltu::internal::CfgPropertyImpl;
+//using voltu::internal::FloatCfgProperty;
+
+CfgPropertyImpl::CfgPropertyImpl(ftl::Configurable *cfg, const std::string &name)
+ : cfg_(cfg), name_(name)
+{
+
+}
+
+CfgPropertyImpl::~CfgPropertyImpl()
+{
+
+}
+
+void CfgPropertyImpl::setInt(int value)
+{
+ if (cfg_->is<int>(name_))
+ {
+ cfg_->set(name_, value);
+ }
+ else
+ {
+ throw voltu::exceptions::BadPropertyType();
+ }
+}
+
+void CfgPropertyImpl::setFloat(float value)
+{
+ if (cfg_->is<float>(name_))
+ {
+ cfg_->set(name_, value);
+ }
+ else
+ {
+ throw voltu::exceptions::BadPropertyType();
+ }
+}
+
+void CfgPropertyImpl::setString(const std::string &value)
+{
+ if (cfg_->is<std::string>(name_))
+ {
+ cfg_->set(name_, value);
+ }
+ else
+ {
+ throw voltu::exceptions::BadPropertyType();
+ }
+}
+
+void CfgPropertyImpl::setBool(bool value)
+{
+ if (cfg_->is<bool>(name_))
+ {
+ cfg_->set(name_, value);
+ }
+ else
+ {
+ throw voltu::exceptions::BadPropertyType();
+ }
+}
+
+int CfgPropertyImpl::getInt()
+{
+ if (cfg_->is<int>(name_))
+ {
+ return *cfg_->get<int>(name_);
+ }
+ else
+ {
+ throw voltu::exceptions::BadPropertyType();
+ }
+}
+
+float CfgPropertyImpl::getFloat()
+{
+ if (cfg_->is<float>(name_))
+ {
+ return *cfg_->get<float>(name_);
+ }
+ else
+ {
+ throw voltu::exceptions::BadPropertyType();
+ }
+}
+
+std::string CfgPropertyImpl::getString()
+{
+ if (cfg_->is<std::string>(name_))
+ {
+ return *cfg_->get<std::string>(name_);
+ }
+ else
+ {
+ throw voltu::exceptions::BadPropertyType();
+ }
+}
+
+bool CfgPropertyImpl::getBool()
+{
+ if (cfg_->is<bool>(name_))
+ {
+ return *cfg_->get<bool>(name_);
+ }
+ else
+ {
+ throw voltu::exceptions::BadPropertyType();
+ }
+}
+
+// ==== Float ====
+
+/*FloatCfgProperty::FloatCfgProperty(ftl::Configurable *cfg, const std::string &name)
+ : CfgPropertyImpl(cfg, name)
+{
+
+}
+
+FloatCfgProperty::~FloatCfgProperty()
+{
+
+}
+
+void FloatCfgProperty::setFloat(float)
+{
+
+}
+
+float FloatCfgProperty::getFloat()
+{
+
+}*/
diff --git a/SDK/C++/private/property_impl.hpp b/SDK/C++/private/property_impl.hpp
new file mode 100644
index 000000000..2adf96de3
--- /dev/null
+++ b/SDK/C++/private/property_impl.hpp
@@ -0,0 +1,51 @@
+#pragma once
+
+#include <ftl/configurable.hpp>
+#include <voltu/types/property.hpp>
+#include <string>
+
+namespace voltu
+{
+namespace internal
+{
+
+class CfgPropertyImpl : public voltu::Property
+{
+public:
+ CfgPropertyImpl(ftl::Configurable *cfg, const std::string &name);
+ virtual ~CfgPropertyImpl() override;
+
+ virtual void setInt(int) override;
+
+ virtual void setFloat(float) override;
+
+ virtual void setString(const std::string &) override;
+
+ virtual void setBool(bool) override;
+
+ virtual int getInt() override;
+
+ virtual float getFloat() override;
+
+ virtual std::string getString() override;
+
+ virtual bool getBool() override;
+
+private:
+ ftl::Configurable *cfg_;
+ std::string name_;
+};
+
+/*class FloatCfgProperty : public CfgPropertyImpl
+{
+public:
+ FloatCfgProperty(ftl::Configurable *cfg, const std::string &name);
+ ~FloatCfgProperty() override;
+
+ void setFloat(float) override;
+
+ float getFloat() override;
+};*/
+
+}
+}
diff --git a/SDK/C++/public/include/voltu/types/errors.hpp b/SDK/C++/public/include/voltu/types/errors.hpp
index b3d71c4c8..bbb8be620 100644
--- a/SDK/C++/public/include/voltu/types/errors.hpp
+++ b/SDK/C++/public/include/voltu/types/errors.hpp
@@ -32,6 +32,9 @@ VOLTU_EXCEPTION(InvalidFrameObject, Exception, "Invalid Frame object");
VOLTU_EXCEPTION(InternalRenderError, Exception, "Internal renderer error");
VOLTU_EXCEPTION(InvalidProperty, Exception, "Unknown property enum");
VOLTU_EXCEPTION(PropertyUnavailable, Exception, "Property currently not available");
+VOLTU_EXCEPTION(BadPropertyName, Exception, "Not a valid property name");
+VOLTU_EXCEPTION(BadPropertyType, Exception, "Incorrect property data type");
+VOLTU_EXCEPTION(BadPropertyValue, Exception, "Property value out of allowed range");
VOLTU_EXCEPTION(BadParameterValue, Exception, "Method parameter is not valid");
VOLTU_EXCEPTION(NotImplemented, Exception, "Functionality not implemented");
VOLTU_EXCEPTION(ReadOnly, Exception, "Read only, write not allowed");
diff --git a/SDK/C++/public/samples/fusion_evaluator/main.cpp b/SDK/C++/public/samples/fusion_evaluator/main.cpp
index d388851e9..908d0925e 100644
--- a/SDK/C++/public/samples/fusion_evaluator/main.cpp
+++ b/SDK/C++/public/samples/fusion_evaluator/main.cpp
@@ -39,10 +39,13 @@ int main(int argc, char **argv)
auto pipe = vtu->createPipeline();
auto op1 = pipe->appendOperator(voltu::OperatorId::kFusion);
auto op2 = pipe->appendOperator(voltu::OperatorId::kGTEvaluator);
+
+ op2->property("show_colour")->setBool(true);
+
pipe->submit(frame);
pipe->waitCompletion(1000);
- auto imgset = frame->getImageSet(voltu::Channel::kNormals);
+ auto imgset = frame->getImageSet(voltu::Channel::kColour);
for (auto img : imgset)
{
diff --git a/SDK/C++/public/voltu_cv.cpp b/SDK/C++/public/voltu_cv.cpp
index d74ad9313..0fae30711 100644
--- a/SDK/C++/public/voltu_cv.cpp
+++ b/SDK/C++/public/voltu_cv.cpp
@@ -1,4 +1,5 @@
#include <voltu/opencv.hpp>
+#include <voltu/types/errors.hpp>
#include <opencv2/imgproc.hpp>
@@ -26,7 +27,7 @@ void voltu::cv::convert(voltu::ImagePtr img, ::cv::Mat &mat)
void voltu::cv::convert(voltu::ImagePtr img, ::cv::cuda::GpuMat &mat)
{
-
+ throw voltu::exceptions::NotImplemented();
}
void voltu::cv::visualise(voltu::ImagePtr img, ::cv::Mat &mat)
diff --git a/components/common/cpp/include/ftl/configurable.hpp b/components/common/cpp/include/ftl/configurable.hpp
index b2a66943d..dadba17b4 100644
--- a/components/common/cpp/include/ftl/configurable.hpp
+++ b/components/common/cpp/include/ftl/configurable.hpp
@@ -67,6 +67,9 @@ class Configurable {
std::string getID() { return *get<std::string>("$id"); }
+ template <typename T>
+ inline bool is(const std::string &name) { return false; }
+
/**
* Get a configuration property, but return a default if not found.
*/
@@ -191,6 +194,20 @@ extern template void ftl::Configurable::set<std::string>(const std::string &name
extern template void ftl::Configurable::set<std::vector<std::string>>(const std::string &name, std::vector<std::string> value);
extern template void ftl::Configurable::set<nlohmann::json>(const std::string &name, nlohmann::json value);
+template <> bool ftl::Configurable::is<float>(const std::string &name);
+template <> bool ftl::Configurable::is<int>(const std::string &name);
+template <> bool ftl::Configurable::is<unsigned int>(const std::string &name);
+template <> bool ftl::Configurable::is<std::string>(const std::string &name);
+template <> bool ftl::Configurable::is<bool>(const std::string &name);
+template <> bool ftl::Configurable::is<double>(const std::string &name);
+
+extern template bool ftl::Configurable::is<float>(const std::string &name);
+extern template bool ftl::Configurable::is<int>(const std::string &name);
+extern template bool ftl::Configurable::is<unsigned int>(const std::string &name);
+extern template bool ftl::Configurable::is<std::string>(const std::string &name);
+extern template bool ftl::Configurable::is<bool>(const std::string &name);
+extern template bool ftl::Configurable::is<double>(const std::string &name);
+
template <typename T, typename... ARGS>
T *ftl::Configurable::create(const std::string &name, ARGS ...args) {
return ftl::config::create<T>(this, name, args...);
diff --git a/components/common/cpp/src/configurable.cpp b/components/common/cpp/src/configurable.cpp
index 1f377fc51..4f6bff5ba 100644
--- a/components/common/cpp/src/configurable.cpp
+++ b/components/common/cpp/src/configurable.cpp
@@ -121,6 +121,36 @@ template void ftl::Configurable::set<std::string>(const std::string &name, std::
template void ftl::Configurable::set<std::vector<std::string>>(const std::string &name, std::vector<std::string> value);
template void ftl::Configurable::set<nlohmann::json>(const std::string &name, nlohmann::json value);
+template <>
+bool ftl::Configurable::is<float>(const std::string &name) {
+ return getConfig()[name].is_number_float();
+}
+
+template <>
+bool ftl::Configurable::is<int>(const std::string &name) {
+ return getConfig()[name].is_number_integer();
+}
+
+template <>
+bool ftl::Configurable::is<unsigned int>(const std::string &name) {
+ return getConfig()[name].is_number_unsigned();
+}
+
+template <>
+bool ftl::Configurable::is<std::string>(const std::string &name) {
+ return getConfig()[name].is_string();
+}
+
+template <>
+bool ftl::Configurable::is<bool>(const std::string &name) {
+ return getConfig()[name].is_boolean();
+}
+
+template <>
+bool ftl::Configurable::is<double>(const std::string &name) {
+ return getConfig()[name].is_number_float();
+}
+
void Configurable::required(const char *f, const std::vector<std::tuple<std::string, std::string, std::string>> &r) {
bool diderror = false;
for (auto i : r) {
diff --git a/components/operators/include/ftl/operators/antialiasing.hpp b/components/operators/include/ftl/operators/antialiasing.hpp
index 5548c0857..9c249f3d8 100644
--- a/components/operators/include/ftl/operators/antialiasing.hpp
+++ b/components/operators/include/ftl/operators/antialiasing.hpp
@@ -19,6 +19,8 @@ class FXAA : public ftl::operators::Operator {
bool apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, cudaStream_t stream) override;
+ static void configuration(ftl::Configurable*) {}
+
};
}
diff --git a/components/operators/include/ftl/operators/clipping.hpp b/components/operators/include/ftl/operators/clipping.hpp
index 25d8b76ff..a45ba760a 100644
--- a/components/operators/include/ftl/operators/clipping.hpp
+++ b/components/operators/include/ftl/operators/clipping.hpp
@@ -19,6 +19,8 @@ class ClipScene : public ftl::operators::Operator {
bool apply(ftl::rgbd::FrameSet &in, ftl::rgbd::FrameSet &out, cudaStream_t stream) override;
+ static void configuration(ftl::Configurable*) {}
+
};
}
diff --git a/components/operators/include/ftl/operators/colours.hpp b/components/operators/include/ftl/operators/colours.hpp
index a54539a67..d6745d17c 100644
--- a/components/operators/include/ftl/operators/colours.hpp
+++ b/components/operators/include/ftl/operators/colours.hpp
@@ -15,6 +15,8 @@ class ColourChannels : public ftl::operators::Operator {
bool apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, cudaStream_t stream) override;
+ static void configuration(ftl::Configurable*) {}
+
private:
cv::cuda::GpuMat temp_;
cv::cuda::GpuMat rbuf_;
diff --git a/components/operators/include/ftl/operators/depth.hpp b/components/operators/include/ftl/operators/depth.hpp
index 14f46b12d..38596dcc0 100644
--- a/components/operators/include/ftl/operators/depth.hpp
+++ b/components/operators/include/ftl/operators/depth.hpp
@@ -18,6 +18,8 @@ class DepthBilateralFilter : public::ftl::operators::Operator {
inline ftl::operators::Operator::Type type() const override { return ftl::operators::Operator::Type::OneToOne; }
bool apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, cudaStream_t stream) override;
+ static void configuration(ftl::Configurable*) {}
+
private:
cv::cuda::GpuMat disp_int_;
cv::cuda::GpuMat disp_int_result_;
diff --git a/components/operators/include/ftl/operators/detectandtrack.hpp b/components/operators/include/ftl/operators/detectandtrack.hpp
index 0d8b063d3..2341d2d40 100644
--- a/components/operators/include/ftl/operators/detectandtrack.hpp
+++ b/components/operators/include/ftl/operators/detectandtrack.hpp
@@ -48,6 +48,8 @@ class DetectAndTrack : public ftl::operators::Operator {
void wait(cudaStream_t) override;
+ static void configuration(ftl::Configurable*) {}
+
protected:
bool init();
@@ -126,6 +128,8 @@ class ArUco : public ftl::operators::Operator {
ftl::codecs::Channel channel_in_;
ftl::codecs::Channel channel_out_;
+ static void configuration(ftl::Configurable*) {}
+
private:
bool estimate_pose_;
float marker_size_;
diff --git a/components/operators/include/ftl/operators/disparity.hpp b/components/operators/include/ftl/operators/disparity.hpp
index 17993f24c..2e4365d8c 100644
--- a/components/operators/include/ftl/operators/disparity.hpp
+++ b/components/operators/include/ftl/operators/disparity.hpp
@@ -29,6 +29,8 @@ public:
bool isMemoryHeavy() const override { return true; }
+ static void configuration(ftl::Configurable*) {}
+
private:
bool init();
@@ -54,6 +56,8 @@ class FixstarsSGM : public ftl::operators::Operator {
bool isMemoryHeavy() const override { return true; }
+ static void configuration(ftl::Configurable*) {}
+
private:
bool init();
bool updateParameters();
@@ -99,6 +103,8 @@ class DisparityBilateralFilter : public::ftl::operators::Operator {
inline Operator::Type type() const override { return Operator::Type::OneToOne; }
bool apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, cudaStream_t stream) override;
+ static void configuration(ftl::Configurable*) {}
+
private:
cv::Ptr<cv::cuda::DisparityBilateralFilter> filter_;
cv::cuda::GpuMat disp_int_;
@@ -121,6 +127,8 @@ class DisparityToDepth : public ftl::operators::Operator {
~DisparityToDepth() {};
inline Operator::Type type() const override { return Operator::Type::OneToOne; }
bool apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, cudaStream_t stream) override;
+
+ static void configuration(ftl::Configurable*) {}
};
/**
@@ -138,6 +146,8 @@ class DepthChannel : public ftl::operators::Operator {
bool apply(ftl::rgbd::FrameSet &in, ftl::rgbd::FrameSet &out, cudaStream_t stream) override;
bool apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, cudaStream_t stream) override;
+ static void configuration(ftl::Configurable*) {}
+
private:
ftl::operators::Graph *pipe_;
std::vector<cv::cuda::GpuMat> rbuf_;
@@ -160,6 +170,8 @@ class OpticalFlowTemporalSmoothing : public ftl::operators::Operator {
bool apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, cudaStream_t stream) override;
+ static void configuration(ftl::Configurable*) {}
+
private:
void _init(ftl::Configurable* cfg);
bool init();
diff --git a/components/operators/include/ftl/operators/filling.hpp b/components/operators/include/ftl/operators/filling.hpp
index ed2b3f39a..c26b9ef80 100644
--- a/components/operators/include/ftl/operators/filling.hpp
+++ b/components/operators/include/ftl/operators/filling.hpp
@@ -19,6 +19,8 @@ class ScanFieldFill : public ftl::operators::Operator {
bool apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, cudaStream_t stream) override;
+ static void configuration(ftl::Configurable*) {}
+
};
class CrossSupportFill : public ftl::operators::Operator {
@@ -30,6 +32,8 @@ class CrossSupportFill : public ftl::operators::Operator {
bool apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, cudaStream_t stream) override;
+ static void configuration(ftl::Configurable*) {}
+
};
}
diff --git a/components/operators/include/ftl/operators/fusion.hpp b/components/operators/include/ftl/operators/fusion.hpp
index ed0e5f9cd..d1e72ecfe 100644
--- a/components/operators/include/ftl/operators/fusion.hpp
+++ b/components/operators/include/ftl/operators/fusion.hpp
@@ -17,6 +17,8 @@ class Fusion : public ftl::operators::Operator {
bool apply(ftl::rgbd::FrameSet &in, ftl::rgbd::FrameSet &out, cudaStream_t stream) override;
+ static void configuration(ftl::Configurable*) {}
+
private:
ftl::cuda::MLSMultiIntensity mls_;
std::vector<cv::cuda::GpuMat> weights_;
diff --git a/components/operators/include/ftl/operators/gt_analysis.hpp b/components/operators/include/ftl/operators/gt_analysis.hpp
index cea34c9db..efe0b64e6 100644
--- a/components/operators/include/ftl/operators/gt_analysis.hpp
+++ b/components/operators/include/ftl/operators/gt_analysis.hpp
@@ -21,6 +21,8 @@ class GTAnalysis : public ftl::operators::Operator {
bool apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, cudaStream_t stream) override;
+ static void configuration(ftl::Configurable*);
+
private:
ftl::cuda::GTAnalysisData *output_;
};
diff --git a/components/operators/include/ftl/operators/mask.hpp b/components/operators/include/ftl/operators/mask.hpp
index 7d877d657..863e085c2 100644
--- a/components/operators/include/ftl/operators/mask.hpp
+++ b/components/operators/include/ftl/operators/mask.hpp
@@ -21,6 +21,8 @@ class DiscontinuityMask : public ftl::operators::Operator {
bool apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, cudaStream_t stream) override;
+ static void configuration(ftl::Configurable*) {}
+
};
/**
@@ -35,6 +37,8 @@ class BorderMask : public ftl::operators::Operator {
bool apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, cudaStream_t stream) override;
+ static void configuration(ftl::Configurable*) {}
+
};
/**
@@ -49,6 +53,8 @@ class DisplayMask : public ftl::operators::Operator {
bool apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, cudaStream_t stream) override;
+ static void configuration(ftl::Configurable*) {}
+
};
/**
@@ -63,6 +69,8 @@ class CullDiscontinuity : public ftl::operators::Operator {
bool apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, cudaStream_t stream) override;
+ static void configuration(ftl::Configurable*) {}
+
};
}
diff --git a/components/operators/include/ftl/operators/mvmls.hpp b/components/operators/include/ftl/operators/mvmls.hpp
index 0c0d6f4af..56aafac1f 100644
--- a/components/operators/include/ftl/operators/mvmls.hpp
+++ b/components/operators/include/ftl/operators/mvmls.hpp
@@ -15,6 +15,8 @@ class MultiViewMLS : public ftl::operators::Operator {
bool apply(ftl::rgbd::FrameSet &in, ftl::rgbd::FrameSet &out, cudaStream_t stream) override;
+ static void configuration(ftl::Configurable*) {}
+
private:
std::vector<ftl::cuda::TextureObject<float4>*> centroid_horiz_;
std::vector<ftl::cuda::TextureObject<float4>*> centroid_vert_;
diff --git a/components/operators/include/ftl/operators/normals.hpp b/components/operators/include/ftl/operators/normals.hpp
index c4d1a0190..398b006c7 100644
--- a/components/operators/include/ftl/operators/normals.hpp
+++ b/components/operators/include/ftl/operators/normals.hpp
@@ -19,6 +19,8 @@ class Normals : public ftl::operators::Operator {
bool apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, cudaStream_t stream) override;
+ static void configuration(ftl::Configurable*) {}
+
};
/**
@@ -36,6 +38,8 @@ class NormalDot : public ftl::operators::Operator {
bool apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, cudaStream_t stream) override;
+ static void configuration(ftl::Configurable*) {}
+
};
/**
@@ -51,6 +55,8 @@ class SmoothNormals : public ftl::operators::Operator {
bool apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, cudaStream_t stream) override;
+ static void configuration(ftl::Configurable*) {}
+
private:
ftl::cuda::TextureObject<half4> temp_;
diff --git a/components/operators/include/ftl/operators/operator.hpp b/components/operators/include/ftl/operators/operator.hpp
index 3f77b6900..938f5e781 100644
--- a/components/operators/include/ftl/operators/operator.hpp
+++ b/components/operators/include/ftl/operators/operator.hpp
@@ -81,7 +81,7 @@ struct ConstructionHelperBase {
template <typename T>
struct ConstructionHelper : public ConstructionHelperBase {
- explicit ConstructionHelper(ftl::Configurable *cfg) : ConstructionHelperBase(cfg) {}
+ explicit ConstructionHelper(ftl::Configurable *cfg) : ConstructionHelperBase(cfg) { T::configuration(cfg); }
~ConstructionHelper() {}
ftl::operators::Operator *make(Graph *g) override {
return new T(g, config);
@@ -92,6 +92,7 @@ template <typename T, typename... ARGS>
struct ConstructionHelper2 : public ConstructionHelperBase {
explicit ConstructionHelper2(ftl::Configurable *cfg, ARGS... args) : ConstructionHelperBase(cfg) {
arguments_ = std::make_tuple(args...);
+ T::configuration(cfg);
}
~ConstructionHelper2() {}
ftl::operators::Operator *make(Graph *g) override {
diff --git a/components/operators/include/ftl/operators/opticalflow.hpp b/components/operators/include/ftl/operators/opticalflow.hpp
index 21d8bbb20..cea1e7ba4 100644
--- a/components/operators/include/ftl/operators/opticalflow.hpp
+++ b/components/operators/include/ftl/operators/opticalflow.hpp
@@ -20,6 +20,8 @@ class NVOpticalFlow : public ftl::operators::Operator {
bool apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, cudaStream_t stream) override;
+ static void configuration(ftl::Configurable*) {}
+
protected:
bool init();
diff --git a/components/operators/include/ftl/operators/poser.hpp b/components/operators/include/ftl/operators/poser.hpp
index 8d762f8ba..2a6a4d6eb 100644
--- a/components/operators/include/ftl/operators/poser.hpp
+++ b/components/operators/include/ftl/operators/poser.hpp
@@ -24,6 +24,8 @@ class Poser : public ftl::operators::Operator {
bool apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, cudaStream_t stream) override;
+ static void configuration(ftl::Configurable*) {}
+
static bool get(const std::string &name, Eigen::Matrix4d &pose);
static bool get(const std::string &name, ftl::codecs::Shape3D &shape);
static std::list<ftl::codecs::Shape3D*> getAll(int32_t fsid);
diff --git a/components/operators/include/ftl/operators/segmentation.hpp b/components/operators/include/ftl/operators/segmentation.hpp
index ec2f9e9a6..0c3a4fff7 100644
--- a/components/operators/include/ftl/operators/segmentation.hpp
+++ b/components/operators/include/ftl/operators/segmentation.hpp
@@ -18,6 +18,8 @@ class CrossSupport : public ftl::operators::Operator {
bool apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, cudaStream_t stream) override;
+ static void configuration(ftl::Configurable*) {}
+
};
/**
@@ -32,6 +34,8 @@ class VisCrossSupport : public ftl::operators::Operator {
bool apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, cudaStream_t stream) override;
+ static void configuration(ftl::Configurable*) {}
+
};
}
diff --git a/components/operators/include/ftl/operators/smoothing.hpp b/components/operators/include/ftl/operators/smoothing.hpp
index db231cdd7..d035d399a 100644
--- a/components/operators/include/ftl/operators/smoothing.hpp
+++ b/components/operators/include/ftl/operators/smoothing.hpp
@@ -21,6 +21,8 @@ class HFSmoother : public ftl::operators::Operator {
bool apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, cudaStream_t stream) override;
+ static void configuration(ftl::Configurable*) {}
+
private:
cv::cuda::GpuMat temp_;
//ftl::rgbd::Frame frames_[4];
@@ -42,6 +44,8 @@ class SmoothChannel : public ftl::operators::Operator {
bool apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, cudaStream_t stream) override;
+ static void configuration(ftl::Configurable*) {}
+
private:
ftl::cuda::TextureObject<uchar4> temp_[6];
};
@@ -60,6 +64,8 @@ class SimpleMLS : public ftl::operators::Operator {
bool apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, cudaStream_t stream) override;
+ static void configuration(ftl::Configurable*) {}
+
private:
ftl::data::Frame temp_;
};
@@ -77,6 +83,8 @@ class ColourMLS : public ftl::operators::Operator {
bool apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, cudaStream_t stream) override;
+ static void configuration(ftl::Configurable*) {}
+
private:
ftl::data::Frame temp_;
};
@@ -120,6 +128,8 @@ class AggreMLS : public ftl::operators::Operator {
bool apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, cudaStream_t stream) override;
+ static void configuration(ftl::Configurable*) {}
+
private:
ftl::cuda::TextureObject<float4> centroid_horiz_;
ftl::cuda::TextureObject<float4> centroid_vert_;
@@ -144,6 +154,8 @@ class AdaptiveMLS : public ftl::operators::Operator {
bool apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, cudaStream_t stream) override;
+ static void configuration(ftl::Configurable*) {}
+
private:
ftl::data::Frame temp_;
};
diff --git a/components/operators/include/ftl/operators/weighting.hpp b/components/operators/include/ftl/operators/weighting.hpp
index 8256a08cb..d829de145 100644
--- a/components/operators/include/ftl/operators/weighting.hpp
+++ b/components/operators/include/ftl/operators/weighting.hpp
@@ -29,6 +29,8 @@ class PixelWeights : public ftl::operators::Operator {
bool apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, cudaStream_t stream) override;
+ static void configuration(ftl::Configurable*) {}
+
};
class CullWeight : public ftl::operators::Operator {
@@ -40,6 +42,8 @@ class CullWeight : public ftl::operators::Operator {
bool apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, cudaStream_t stream) override;
+ static void configuration(ftl::Configurable*) {}
+
};
class DegradeWeight : public ftl::operators::Operator {
@@ -51,6 +55,8 @@ class DegradeWeight : public ftl::operators::Operator {
bool apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, cudaStream_t stream) override;
+ static void configuration(ftl::Configurable*) {}
+
};
}
diff --git a/components/operators/src/analysis/evaluation/gt_analysis.cpp b/components/operators/src/analysis/evaluation/gt_analysis.cpp
index ee5d527dc..c9559084e 100644
--- a/components/operators/src/analysis/evaluation/gt_analysis.cpp
+++ b/components/operators/src/analysis/evaluation/gt_analysis.cpp
@@ -9,6 +9,11 @@ GTAnalysis::GTAnalysis(ftl::operators::Graph *g, ftl::Configurable *cfg) : ftl::
cudaMalloc(&output_, sizeof(ftl::cuda::GTAnalysisData));
}
+void GTAnalysis::configuration(ftl::Configurable *cfg) {
+ cfg->value("use_disparity", true);
+ cfg->value("show_colour", false);
+}
+
GTAnalysis::~GTAnalysis() {
cudaFree(output_);
}
@@ -68,7 +73,7 @@ bool GTAnalysis::apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, cudaStream_t
ftl::cuda::GTAnalysisData err;
for (const auto &o : (use_disp ? options_disparity : options_depth)) {
- if (config()->value("show_colour", true)) {
+ if (config()->value("show_colour", false)) {
ftl::cuda::gt_analysis(
in.createTexture<uchar4>(Channel::Colour),
in.createTexture<float>(Channel::Depth),
--
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