move fs

applications/gui2/src/modules/calibration/stereo.cpp

@@ -52,6 +52,8 @@ StereoCalibration::~StereoCalibration() {
 	if(future_.valid()) {
 		future_.wait();
 	}
+	fs_current_.reset();
+	fs_update_.reset();
 }
 
 void StereoCalibration::reset() {
@@ -89,12 +91,12 @@ void StereoCalibration::start(ftl::data::FrameID id) {
 	view->onClose([filter, this](){
 		// if state_->calib caches images, also reset() here!
 		filter->remove();
-		if (state_->fs_current) {
-			setCalibrationMode(state_->fs_current->frames[state_->id.source()], true);
+		if (fs_current_) {
+			setCalibrationMode(fs_current_->frames[state_->id.source()], true);
 		}
 		reset();
-		state_->fs_current.reset();
-		state_->fs_updated.reset();
+		fs_current_.reset();
+		fs_update_.reset();
 	});
 
 	screen->setView(view);
@@ -127,7 +129,7 @@ void StereoCalibration::start(ftl::data::FrameID id) {
 
 bool StereoCalibration::onFrame_(const ftl::data::FrameSetPtr& fs) {
 
-	std::atomic_store(&state_->fs_updated, fs);
+	std::atomic_store(&fs_update_, fs);
 	screen->redraw();
 
 	auto& frame = fs->frames[state_->id.source()];
@@ -211,10 +213,10 @@ void StereoCalibration::run() {
 			auto K2 = calib_l.intrinsic.matrix();
 			auto distCoeffs2 = calib_r.intrinsic.distCoeffs.Mat();
 			cv::Mat R, T, E, F;
-			int flags = 0;
-			cv::stereoCalibrate(state_->points_object, state_->points_l,
+			state_->reprojection_error = cv::stereoCalibrate(
+				state_->points_object, state_->points_l,
 				state_->points_r, K1, distCoeffs1, K2, distCoeffs2,
-				state_->imsize, R, T, E, F, flags);
+				state_->imsize, R, T, E, F, state_->flags);
 			
 			state_->calib.get(Channel::Left).intrinsic =
 				CalibrationData::Intrinsic(K1, distCoeffs1, state_->imsize);
@@ -222,7 +224,7 @@ void StereoCalibration::run() {
 				CalibrationData::Intrinsic(K2, distCoeffs2, state_->imsize);
 			state_->calib.get(Channel::Right).extrinsic = CalibrationData::Extrinsic(R, T);
 
-			auto fs = std::atomic_load(&(state_->fs_current));
+			auto fs = std::atomic_load(&(fs_current_));
 			setCalibration((*fs)[state_->id.source()], state_->calib);
 		}
 		catch (std::exception &e) {
@@ -238,8 +240,8 @@ void StereoCalibration::run() {
 bool StereoCalibration::hasFrame() {
 	auto cleft = state_->highres ? Channel::LeftHighRes : Channel::Left;
 	auto cright = state_->highres ? Channel::RightHighRes : Channel::Right;
-	return (std::atomic_load(&state_->fs_updated).get() != nullptr)
-		&& state_->fs_updated->frames[state_->id.source()].hasAll({cleft, cright});
+	return (std::atomic_load(&fs_update_).get() != nullptr)
+		&& fs_update_->frames[state_->id.source()].hasAll({cleft, cright});
 };
 
 Channel StereoCalibration::channelLeft_() {
@@ -251,20 +253,20 @@ Channel StereoCalibration::channelRight_() {
 }
 
 cv::cuda::GpuMat StereoCalibration::getLeft() {
-	if (std::atomic_load(&state_->fs_updated)) {
-		state_->fs_current = state_->fs_updated;
-		std::atomic_store(&state_->fs_updated, {});
+	if (std::atomic_load(&fs_update_)) {
+		fs_current_ = fs_update_;
+		std::atomic_store(&fs_update_, {});
 	}
-	auto& frame = (*state_->fs_current)[state_->id.source()].cast<ftl::rgbd::Frame>();
+	auto& frame = (*fs_current_)[state_->id.source()].cast<ftl::rgbd::Frame>();
 	return getGpuMat(frame ,channelLeft_());
 }
 
 cv::cuda::GpuMat StereoCalibration::getRight() {
-	if (std::atomic_load(&state_->fs_updated)) {
-		state_->fs_current = state_->fs_updated;
-		std::atomic_store(&state_->fs_updated, {});
+	if (std::atomic_load(&fs_update_)) {
+		fs_current_ = fs_update_;
+		std::atomic_store(&fs_update_, {});
 	}
-	auto& frame = (*state_->fs_current)[state_->id.source()].cast<ftl::rgbd::Frame>();
+	auto& frame = (*fs_current_)[state_->id.source()].cast<ftl::rgbd::Frame>();
 	return getGpuMat(frame ,channelRight_());
 }
 
@@ -276,8 +278,8 @@ cv::cuda::GpuMat StereoCalibration::getRightRectify() {
 }
 
 bool StereoCalibration::hasChannel(Channel c) {
-	if (state_->fs_current) {
-		return (*state_->fs_current)[state_->id.source()].hasChannel(c);
+	if (fs_current_) {
+		return (*fs_current_)[state_->id.source()].hasChannel(c);
 	}
 	return false;
 }