From 51570f4732fee9ec701ce25764cf00a9d06fc742 Mon Sep 17 00:00:00 2001
From: Sebastian Hahta <joseha@utu.fi>
Date: Fri, 29 Nov 2019 11:15:07 +0200
Subject: [PATCH] calculate depth at different resoltuion
---
.../src/sources/stereovideo/stereovideo.cpp | 30 ++++++++++++++++---
.../src/sources/stereovideo/stereovideo.hpp | 6 ++++
2 files changed, 32 insertions(+), 4 deletions(-)
diff --git a/components/rgbd-sources/src/sources/stereovideo/stereovideo.cpp b/components/rgbd-sources/src/sources/stereovideo/stereovideo.cpp
index 84d1e574b..b467099f5 100644
--- a/components/rgbd-sources/src/sources/stereovideo/stereovideo.cpp
+++ b/components/rgbd-sources/src/sources/stereovideo/stereovideo.cpp
@@ -8,7 +8,6 @@
#include "ftl/operators/opticalflow.hpp"
#endif
-
#include "ftl/operators/smoothing.hpp"
#include "ftl/operators/colours.hpp"
#include "ftl/operators/normals.hpp"
@@ -69,10 +68,10 @@ void StereoVideoSource::init(const string &file) {
lsrc_ = ftl::create<LocalSource>(host_, "feed");
}
- cv::Size size = cv::Size(lsrc_->width(), lsrc_->height());
+ color_size_ = cv::Size(lsrc_->width(), lsrc_->height());
frames_ = std::vector<Frame>(2);
- calib_ = ftl::create<Calibrate>(host_, "calibration", size, stream_);
+ calib_ = ftl::create<Calibrate>(host_, "calibration", color_size_, stream_);
if (!calib_->isCalibrated()) LOG(WARNING) << "Cameras are not calibrated!";
// Generate camera parameters from camera matrix
@@ -131,6 +130,9 @@ void StereoVideoSource::init(const string &file) {
pipeline_input_->append<ftl::operators::NVOpticalFlow>("optflow");
#endif
+ depth_size_ = cv::Size( host_->value("width", color_size_.width),
+ host_->value("height", color_size_.height));
+
pipeline_depth_ = ftl::config::create<ftl::operators::Graph>(host_, "disparity");
pipeline_depth_->append<ftl::operators::FixstarsSGM>("algorithm");
@@ -205,8 +207,28 @@ bool StereoVideoSource::compute(int n, int b) {
}
if (chan == Channel::Depth) {
- pipeline_depth_->apply(frame, frame, host_, cv::cuda::StreamAccessor::getStream(stream_));
+ // stereo algorithms assume input same size as output, resize if
+ // necessary
+ bool resize = (depth_size_ != color_size_);
+ if (resize) {
+ cv::cuda::GpuMat &left = frame.get<cv::cuda::GpuMat>(Channel::Left);
+ cv::cuda::GpuMat &right = frame.get<cv::cuda::GpuMat>(Channel::Right);
+ std::swap(fullres_left_, left);
+ std::swap(fullres_right_, right);
+ cv::cuda::resize(fullres_left_, left, depth_size_, 0.0, 0.0, cv::INTER_CUBIC, stream_);
+ cv::cuda::resize(fullres_right_, right, depth_size_, 0.0, 0.0, cv::INTER_CUBIC, stream_);
+ }
+
+ pipeline_depth_->apply(frame, frame, host_, cv::cuda::StreamAccessor::getStream(stream_));
stream_.waitForCompletion();
+
+ if (resize) {
+ cv::cuda::GpuMat &left = frame.get<cv::cuda::GpuMat>(Channel::Left);
+ cv::cuda::GpuMat &right = frame.get<cv::cuda::GpuMat>(Channel::Right);
+ std::swap(fullres_left_, left);
+ std::swap(fullres_right_, right);
+ }
+
host_->notify(timestamp_,
frame.get<cv::cuda::GpuMat>(Channel::Left),
frame.get<cv::cuda::GpuMat>(Channel::Depth));
diff --git a/components/rgbd-sources/src/sources/stereovideo/stereovideo.hpp b/components/rgbd-sources/src/sources/stereovideo/stereovideo.hpp
index 78fcdbcf8..6cd5a09b6 100644
--- a/components/rgbd-sources/src/sources/stereovideo/stereovideo.hpp
+++ b/components/rgbd-sources/src/sources/stereovideo/stereovideo.hpp
@@ -38,9 +38,15 @@ class StereoVideoSource : public detail::Source {
LocalSource *lsrc_;
Calibrate *calib_;
+ cv::Size color_size_;
+ cv::Size depth_size_;
+
ftl::operators::Graph *pipeline_input_;
ftl::operators::Graph *pipeline_depth_;
+ cv::cuda::GpuMat fullres_left_;
+ cv::cuda::GpuMat fullres_right_;
+
bool ready_;
cv::cuda::Stream stream_;
--
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