From 4be759b653e73d4430d150ab1e834484f0840c0a Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Sat, 6 Jun 2020 20:18:46 +0300
Subject: [PATCH] Abstract local source
---
.../src/sources/stereovideo/device.hpp | 55 +++++++++++++++++++
.../src/sources/stereovideo/local.cpp | 21 ++++---
.../src/sources/stereovideo/local.hpp | 44 +++++----------
.../src/sources/stereovideo/stereovideo.cpp | 16 ++++--
.../src/sources/stereovideo/stereovideo.hpp | 4 +-
5 files changed, 93 insertions(+), 47 deletions(-)
create mode 100644 components/rgbd-sources/src/sources/stereovideo/device.hpp
diff --git a/components/rgbd-sources/src/sources/stereovideo/device.hpp b/components/rgbd-sources/src/sources/stereovideo/device.hpp
new file mode 100644
index 000000000..7a7fcb45b
--- /dev/null
+++ b/components/rgbd-sources/src/sources/stereovideo/device.hpp
@@ -0,0 +1,55 @@
+#ifndef _FTL_RGBD_STEREOVIDEO_DEVICE_HPP_
+#define _FTL_RGBD_STEREOVIDEO_DEVICE_HPP_
+
+#include <ftl/configurable.hpp>
+#include <ftl/cuda_common.hpp>
+#include <string>
+
+namespace ftl {
+namespace rgbd {
+namespace detail {
+
+class Calibrate;
+
+struct DeviceDetails {
+ std::string name;
+ int id;
+ size_t maxwidth;
+ size_t maxheight;
+};
+
+/**
+ * Abstract base class for camera or stereo camera sources. Just wraps the
+ * basic grab and retrieve functionality with rectification.
+ *
+ * @see OpenCVDevice
+ * @see PylonDevice
+ */
+class Device : public Configurable {
+ public:
+ explicit Device(nlohmann::json &config);
+ virtual ~Device();
+
+ //virtual const std::vector<DeviceDetails> &listDevices()=0;
+
+ virtual bool grab()=0;
+ virtual bool get(cv::cuda::GpuMat &l, cv::cuda::GpuMat &r, cv::cuda::GpuMat &h_l, cv::Mat &h_r, Calibrate *c, cv::cuda::Stream &stream)=0;
+
+ virtual unsigned int width() const =0;
+ virtual unsigned int height() const =0;
+
+ virtual unsigned int fullWidth() const =0;
+ virtual unsigned int fullHeight() const =0;
+
+ inline bool hasHigherRes() const { return fullWidth() != width(); }
+
+ virtual double getTimestamp() const =0;
+
+ virtual bool isStereo() const =0;
+};
+
+}
+}
+}
+
+#endif
\ No newline at end of file
diff --git a/components/rgbd-sources/src/sources/stereovideo/local.cpp b/components/rgbd-sources/src/sources/stereovideo/local.cpp
index a6f401748..7b01d33f2 100644
--- a/components/rgbd-sources/src/sources/stereovideo/local.cpp
+++ b/components/rgbd-sources/src/sources/stereovideo/local.cpp
@@ -30,7 +30,7 @@
#pragma comment(lib, "mfuuid.lib")
#endif
-using ftl::rgbd::detail::LocalSource;
+using ftl::rgbd::detail::OpenCVDevice;
using ftl::rgbd::detail::Calibrate;
using cv::Mat;
using cv::VideoCapture;
@@ -42,8 +42,8 @@ using std::chrono::high_resolution_clock;
using std::chrono::milliseconds;
using std::this_thread::sleep_for;
-LocalSource::LocalSource(nlohmann::json &config)
- : Configurable(config), timestamp_(0.0) {
+OpenCVDevice::OpenCVDevice(nlohmann::json &config)
+ : ftl::rgbd::detail::Device(config), timestamp_(0.0) {
std::vector<ftl::rgbd::detail::DeviceDetails> devices = _selectDevices();
@@ -142,12 +142,11 @@ LocalSource::LocalSource(nlohmann::json &config)
hres_hm_ = cv::cuda::HostMem(height_, width_, CV_8UC4);
}
-LocalSource::LocalSource(nlohmann::json &config, const string &vid)
- : Configurable(config), timestamp_(0.0) {
- LOG(FATAL) << "Stereo video file sources no longer supported";
+OpenCVDevice::~OpenCVDevice() {
+
}
-std::vector<ftl::rgbd::detail::DeviceDetails> LocalSource::_selectDevices() {
+std::vector<ftl::rgbd::detail::DeviceDetails> OpenCVDevice::_selectDevices() {
std::vector<ftl::rgbd::detail::DeviceDetails> devices;
#ifdef WIN32
@@ -295,7 +294,7 @@ std::vector<ftl::rgbd::detail::DeviceDetails> LocalSource::_selectDevices() {
}
-bool LocalSource::grab() {
+bool OpenCVDevice::grab() {
if (!camera_a_) return false;
if (camera_b_) {
@@ -312,7 +311,7 @@ bool LocalSource::grab() {
return true;
}
-bool LocalSource::get(cv::cuda::GpuMat &l_out, cv::cuda::GpuMat &r_out,
+bool OpenCVDevice::get(cv::cuda::GpuMat &l_out, cv::cuda::GpuMat &r_out,
cv::cuda::GpuMat &l_hres_out, cv::Mat &r_hres_out, Calibrate *c, cv::cuda::Stream &stream) {
Mat l, r ,hres;
@@ -410,11 +409,11 @@ bool LocalSource::get(cv::cuda::GpuMat &l_out, cv::cuda::GpuMat &r_out,
return true;
}
-double LocalSource::getTimestamp() const {
+double OpenCVDevice::getTimestamp() const {
return timestamp_;
}
-bool LocalSource::isStereo() const {
+bool OpenCVDevice::isStereo() const {
return stereo_ && !nostereo_;
}
diff --git a/components/rgbd-sources/src/sources/stereovideo/local.hpp b/components/rgbd-sources/src/sources/stereovideo/local.hpp
index 243df4c47..1db067b8d 100644
--- a/components/rgbd-sources/src/sources/stereovideo/local.hpp
+++ b/components/rgbd-sources/src/sources/stereovideo/local.hpp
@@ -1,9 +1,7 @@
#ifndef _FTL_LOCAL_HPP_
#define _FTL_LOCAL_HPP_
-#include <ftl/configurable.hpp>
-#include <ftl/cuda_common.hpp>
-#include <string>
+#include "device.hpp"
namespace cv {
class Mat;
@@ -14,39 +12,25 @@ namespace ftl {
namespace rgbd {
namespace detail {
-class Calibrate;
-
-struct DeviceDetails {
- std::string name;
- int id;
- size_t maxwidth;
- size_t maxheight;
-};
-
-class LocalSource : public Configurable {
+class OpenCVDevice : public ftl::rgbd::detail::Device {
public:
- explicit LocalSource(nlohmann::json &config);
- LocalSource(nlohmann::json &config, const std::string &vid);
-
- //bool left(cv::Mat &m);
- //bool right(cv::Mat &m);
- bool grab();
- bool get(cv::cuda::GpuMat &l, cv::cuda::GpuMat &r, cv::cuda::GpuMat &h_l, cv::Mat &h_r, Calibrate *c, cv::cuda::Stream &stream);
+ explicit OpenCVDevice(nlohmann::json &config);
+ ~OpenCVDevice();
- unsigned int width() const { return dwidth_; }
- unsigned int height() const { return dheight_; }
+ static std::vector<DeviceDetails> listDevices();
+
+ bool grab() override;
+ bool get(cv::cuda::GpuMat &l, cv::cuda::GpuMat &r, cv::cuda::GpuMat &h_l, cv::Mat &h_r, Calibrate *c, cv::cuda::Stream &stream) override;
- unsigned int fullWidth() const { return width_; }
- unsigned int fullHeight() const { return height_; }
+ unsigned int width() const override { return dwidth_; }
+ unsigned int height() const override { return dheight_; }
- inline bool hasHigherRes() const { return dwidth_ != width_; }
-
- //void setFramerate(float fps);
- //float getFramerate() const;
+ unsigned int fullWidth() const override { return width_; }
+ unsigned int fullHeight() const override { return height_; }
- double getTimestamp() const;
+ double getTimestamp() const override;
- bool isStereo() const;
+ bool isStereo() const override;
private:
double timestamp_;
diff --git a/components/rgbd-sources/src/sources/stereovideo/stereovideo.cpp b/components/rgbd-sources/src/sources/stereovideo/stereovideo.cpp
index dd4e2dc3e..aeff9c431 100644
--- a/components/rgbd-sources/src/sources/stereovideo/stereovideo.cpp
+++ b/components/rgbd-sources/src/sources/stereovideo/stereovideo.cpp
@@ -28,11 +28,19 @@
#include "disparity.hpp"
using ftl::rgbd::detail::Calibrate;
-using ftl::rgbd::detail::LocalSource;
+using ftl::rgbd::detail::OpenCVDevice;
using ftl::rgbd::detail::StereoVideoSource;
using ftl::codecs::Channel;
using std::string;
+ftl::rgbd::detail::Device::Device(nlohmann::json &config) : Configurable(config) {
+
+}
+
+ftl::rgbd::detail::Device::~Device() {
+
+}
+
StereoVideoSource::StereoVideoSource(ftl::rgbd::Source *host)
: ftl::rgbd::detail::Source(host), ready_(false) {
init("");
@@ -55,7 +63,7 @@ void StereoVideoSource::init(const string &file) {
if (ftl::is_video(file)) {
// Load video file
LOG(INFO) << "Using video file...";
- lsrc_ = ftl::create<LocalSource>(host_, "feed", file);
+ //lsrc_ = ftl::create<LocalSource>(host_, "feed", file);
} else if (ftl::is_directory(file)) {
// FIXME: This is not an ideal solution...
ftl::config::addPath(file);
@@ -65,13 +73,13 @@ void StereoVideoSource::init(const string &file) {
LOG(FATAL) << "No video.mp4 file found in provided paths (" << file << ")";
} else {
LOG(INFO) << "Using test directory...";
- lsrc_ = ftl::create<LocalSource>(host_, "feed", *vid);
+ //lsrc_ = ftl::create<LocalSource>(host_, "feed", *vid);
}
}
else {
// Use cameras
LOG(INFO) << "Using cameras...";
- lsrc_ = ftl::create<LocalSource>(host_, "feed");
+ lsrc_ = ftl::create<OpenCVDevice>(host_, "feed");
}
color_size_ = cv::Size(lsrc_->width(), lsrc_->height());
diff --git a/components/rgbd-sources/src/sources/stereovideo/stereovideo.hpp b/components/rgbd-sources/src/sources/stereovideo/stereovideo.hpp
index 52ec6f393..fba038df6 100644
--- a/components/rgbd-sources/src/sources/stereovideo/stereovideo.hpp
+++ b/components/rgbd-sources/src/sources/stereovideo/stereovideo.hpp
@@ -11,7 +11,7 @@ namespace ftl {
namespace rgbd {
namespace detail {
-class LocalSource;
+class Device;
class Calibrate;
class Disparity;
@@ -36,7 +36,7 @@ class StereoVideoSource : public detail::Source {
private:
void updateParameters();
- LocalSource *lsrc_;
+ Device *lsrc_;
Calibrate *calib_;
int64_t capts_;
--
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