From 4ab114b7ffdbcb67fb6287296c3eda21a89013ad Mon Sep 17 00:00:00 2001
From: Sebastian Hahta <joseha@utu.fi>
Date: Thu, 16 Jul 2020 20:51:44 +0300
Subject: [PATCH] move fs
---
.../gui2/src/modules/calibration/stereo.cpp | 46 ++++++++++---------
1 file changed, 24 insertions(+), 22 deletions(-)
diff --git a/applications/gui2/src/modules/calibration/stereo.cpp b/applications/gui2/src/modules/calibration/stereo.cpp
index 6d3b117ad..29fd3a9ea 100644
--- a/applications/gui2/src/modules/calibration/stereo.cpp
+++ b/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()];
@@ -211,18 +213,18 @@ 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);
state_->calib.get(Channel::Right).intrinsic =
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;
}
--
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