diff --git a/CMakeLists.txt b/CMakeLists.txt
index c9df3a80847aac400ebca7725a98c3815a8cc889..6bfe35869e004c7aba00b02817a5f77bf5e0b158 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -13,6 +13,9 @@ enable_testing()
option(WITH_PCL "Use PCL if available" ON)
option(WITH_FIXSTARS "Use Fixstars libSGM if available" ON)
+option(BUILD_VISION "Enable the vision component" ON)
+option(BUILD_RECONSTRUCT "Enable the reconstruction component" ON)
+option(BUILD_RENDERER "Enable the renderer component" ON)
set(THREADS_PREFER_PTHREAD_FLAG ON)
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/")
@@ -109,7 +112,7 @@ check_include_file_cxx("opencv2/cudastereo.hpp" HAVE_OPENCVCUDA)
find_program(CPPCHECK_FOUND cppcheck)
if (CPPCHECK_FOUND)
message(STATUS "Found cppcheck: will perform source checks")
- set(CMAKE_CXX_CPPCHECK "cppcheck" "--enable=style" "--suppress=*:*catch.hpp" "--suppress=*:*json.hpp")
+ set(CMAKE_CXX_CPPCHECK "cppcheck" "--enable=style" "--suppress=*:*catch.hpp" "--suppress=*:*elas*" "--suppress=*:*json.hpp")
endif()
include_directories(${PROJECT_SOURCE_DIR}/common/cpp/include)
@@ -132,10 +135,20 @@ endif()
SET(CMAKE_USE_RELATIVE_PATHS ON)
add_subdirectory(common/cpp)
-add_subdirectory(renderer)
add_subdirectory(net)
-add_subdirectory(vision)
-add_subdirectory(reconstruct)
+
+if (BUILD_RENDERER)
+ add_subdirectory(renderer)
+ set(HAVE_RENDER)
+endif()
+
+if (BUILD_VISION)
+ add_subdirectory(vision)
+endif()
+
+if (BUILD_RECONSTRUCT)
+ add_subdirectory(reconstruct)
+endif()
### Generate Build Configuration Files =========================================
diff --git a/common/cpp/include/ftl/config.h.in b/common/cpp/include/ftl/config.h.in
index 3972664ad516136958862583c446dce7414825ed..ca51cebb894ed858580b823201f859aaa5e1f675 100644
--- a/common/cpp/include/ftl/config.h.in
+++ b/common/cpp/include/ftl/config.h.in
@@ -7,6 +7,7 @@
#cmakedefine HAVE_CUDA
#cmakedefine HAVE_OPENCV
#cmakedefine HAVE_PCL
+#cmakedefine HAVE_RENDER
extern const char *FTL_VERSION_LONG;
extern const char *FTL_VERSION;
diff --git a/common/cpp/src/configuration.cpp b/common/cpp/src/configuration.cpp
index d42d487e9cbb7db6d3351d57a74d42c1342dc4dd..a2674dcb08d101b73a4835dde91d31b97f6865e8 100644
--- a/common/cpp/src/configuration.cpp
+++ b/common/cpp/src/configuration.cpp
@@ -129,20 +129,36 @@ static bool mergeConfig(const string &path) {
*/
static bool findConfiguration(const string &file, const vector<string> &paths,
const std::string &app) {
+ bool f = false;
bool found = false;
- found |= mergeConfig(FTL_GLOBAL_CONFIG_ROOT "/config.json");
- found |= mergeConfig(FTL_LOCAL_CONFIG_ROOT "/config.json");
- found |= mergeConfig("./config.json");
+ f = mergeConfig(FTL_GLOBAL_CONFIG_ROOT "/config.json");
+ found |= f;
+ if (f) LOG(INFO) << "Loaded config: " << FTL_GLOBAL_CONFIG_ROOT "/config.json";
+ f = mergeConfig(FTL_LOCAL_CONFIG_ROOT "/config.json");
+ found |= f;
+ if (f) LOG(INFO) << "Loaded config: " << FTL_LOCAL_CONFIG_ROOT "/config.json";
+ f = mergeConfig("./config.json");
+ found |= f;
+ if (f) LOG(INFO) << "Loaded config: " << "./config.json";
for (auto p : paths) {
if (is_directory(p)) {
- found |= mergeConfig(p+"/config.json");
+ f = mergeConfig(p+"/config.json");
+ found |= f;
+ if (f) LOG(INFO) << "Loaded config: " << p << "/config.json";
}
}
if (file != "") {
- found |= mergeConfig(file);
+ f = mergeConfig(file);
+ found |= f;
+
+ if (!f) {
+ LOG(ERROR) << "Specific config file (" << file << ") was not found";
+ } else {
+ LOG(INFO) << "Loaded config: " << file;
+ }
}
if (found) {
diff --git a/net/cpp/include/ftl/net/peer.hpp b/net/cpp/include/ftl/net/peer.hpp
index da30ee52011406d2ee8c3550aae6999c003ec718..339528ead285188c8448f9a9eeab45288ec039b0 100644
--- a/net/cpp/include/ftl/net/peer.hpp
+++ b/net/cpp/include/ftl/net/peer.hpp
@@ -298,7 +298,7 @@ int Peer::asyncCall(
// Register the CB
callbacks_[rpcid] = std::make_unique<caller<T>>(cb);
-
+
_send();
return rpcid;
}
diff --git a/net/cpp/include/ftl/net/universe.hpp b/net/cpp/include/ftl/net/universe.hpp
index b29dc10ac5f2c39964ba43b54ba8cfa3bbe9e0a4..a92a67bbc84eabbbfd82beb76c747bbbc5b915da 100644
--- a/net/cpp/include/ftl/net/universe.hpp
+++ b/net/cpp/include/ftl/net/universe.hpp
@@ -56,7 +56,7 @@ class Universe {
*
* @param addr URI giving protocol, interface and port
*/
- bool connect(const std::string &addr);
+ Peer *connect(const std::string &addr);
int numberOfPeers() const { return peers_.size(); }
@@ -126,6 +126,8 @@ class Universe {
bool createResource(const std::string &uri);
std::optional<ftl::UUID> findOwner(const std::string &res);
+
+ void setLocalID(const ftl::UUID &u) { this_peer = u; };
private:
void _run();
@@ -138,6 +140,7 @@ class Universe {
private:
bool active_;
+ ftl::UUID this_peer;
nlohmann::json config_;
std::mutex net_mutex_;
fd_set sfderror_;
@@ -199,7 +202,7 @@ std::optional<R> Universe::findOne(const std::string &name, ARGS... args) {
std::map<Peer*, int> record;
for (auto p : peers_) {
- record[p] = p->asyncCall<std::optional<R>>(name, handler, std::forward<ARGS>(args)...);
+ record[p] = p->asyncCall<std::optional<R>>(name, handler, args...);
}
{ // Block thread until async callback notifies us
diff --git a/net/cpp/src/dispatcher.cpp b/net/cpp/src/dispatcher.cpp
index 269db7a6d38de8be0ac8fe25d82b222db63f0c04..a2dfd5ad64ddc9f84b719f633fcd3ef3ab54d5f6 100644
--- a/net/cpp/src/dispatcher.cpp
+++ b/net/cpp/src/dispatcher.cpp
@@ -136,8 +136,8 @@ void ftl::net::Dispatcher::dispatch_notification(Peer &s, msgpack::object const
if (binding) {
try {
auto result = (*binding)(args);
- } catch (int e) {
- throw e;
+ } catch (const int &e) {
+ throw &e;
}
} else {
LOG(ERROR) << "Missing handler for incoming message";
diff --git a/net/cpp/src/peer.cpp b/net/cpp/src/peer.cpp
index 25a1721cb1af4efbb1341e2c43aeb28e61910f30..2032b5acfc07a0dd52da55e238d3953ce59ef29d 100644
--- a/net/cpp/src/peer.cpp
+++ b/net/cpp/src/peer.cpp
@@ -178,7 +178,8 @@ Peer::Peer(const char *pUri, Dispatcher *d) : uri_(pUri) {
scheme_ = uri.getProtocol();
if (uri.getProtocol() == URI::SCHEME_TCP) {
sock_ = tcpConnect(uri);
- status_ = kConnecting;
+ if (sock_ != INVALID_SOCKET) status_ = kConnecting;
+ else status_ = kReconnecting;
} else if (uri.getProtocol() == URI::SCHEME_WS) {
LOG(INFO) << "Websocket connect " << uri.getPath();
sock_ = tcpConnect(uri);
diff --git a/net/cpp/src/universe.cpp b/net/cpp/src/universe.cpp
index f6d7e2acba34e6fde82b07a6db7064555512c303..7a09a9b4da86e2ab3b9b70f2b44581e5b8b6c3e4 100644
--- a/net/cpp/src/universe.cpp
+++ b/net/cpp/src/universe.cpp
@@ -18,12 +18,12 @@ using std::optional;
using std::unique_lock;
using std::mutex;
-Universe::Universe() : active_(true), thread_(Universe::__start, this) {
+Universe::Universe() : active_(true), this_peer(ftl::net::this_peer), thread_(Universe::__start, this) {
_installBindings();
}
Universe::Universe(nlohmann::json &config) :
- active_(true), config_(config), thread_(Universe::__start, this) {
+ active_(true), this_peer(ftl::net::this_peer), config_(config), thread_(Universe::__start, this) {
if (config["listen"].is_array()) {
for (auto &l : config["listen"]) {
listen(l);
@@ -66,9 +66,9 @@ bool Universe::listen(const string &addr) {
return l->isListening();
}
-bool Universe::connect(const string &addr) {
+Peer *Universe::connect(const string &addr) {
auto p = new Peer(addr.c_str(), &disp_);
- if (!p) return false;
+ if (!p) return nullptr;
if (p->status() != Peer::kInvalid) {
unique_lock<mutex> lk(net_mutex_);
@@ -81,7 +81,7 @@ bool Universe::connect(const string &addr) {
peer_ids_[p.id()] = &p;
});
- return p->status() == Peer::kConnecting;
+ return p;
}
int Universe::_setDescriptors() {
@@ -133,7 +133,7 @@ void Universe::_installBindings() {
bind("__owner__", [this](const std::string &res) -> optional<UUID> {
LOG(INFO) << "SOMEONE ASKS FOR " << res;
- if (owned_.count(res) > 0) return ftl::net::this_peer;
+ if (owned_.count(res) > 0) return this_peer;
else return {};
});
}
@@ -179,7 +179,7 @@ bool Universe::_subscribe(const std::string &res) {
optional<UUID> pid = findOwner(res);
if (pid) {
- return call<bool>(*pid, "__subscribe__", ftl::net::this_peer, res);
+ return call<bool>(*pid, "__subscribe__", this_peer, res);
} else {
// No resource found
LOG(WARNING) << "Subscribe to unknown resource: " << res;
@@ -219,7 +219,7 @@ void Universe::_run() {
//Some kind of error occured, it is usually possible to recover from this.
if (selres < 0) {
- std::cout << "SELECT ERROR " << selres << std::endl;
+ std::cout << "SELECT ERROR " << selres << " - " << strerror(errno) << std::endl;
//return false;
continue;
} else if (selres == 0) {
diff --git a/net/cpp/test/net_integration.cpp b/net/cpp/test/net_integration.cpp
index 34f01215a63d2ac371d51854b576a68f875ad454..87a23ee27a3d6cba311efcb39c4c87cb7880fd43 100644
--- a/net/cpp/test/net_integration.cpp
+++ b/net/cpp/test/net_integration.cpp
@@ -17,28 +17,31 @@ TEST_CASE("Universe::connect()", "[net]") {
Universe b;
a.listen("tcp://localhost:7077");
- sleep_for(milliseconds(100));
+ //sleep_for(milliseconds(100));
SECTION("valid tcp connection using ipv4") {
- REQUIRE( b.connect("tcp://127.0.0.1:7077") );
+ auto p = b.connect("tcp://127.0.0.1:7077");
+ REQUIRE( p );
- sleep_for(milliseconds(200));
+ while (!p->isConnected()) sleep_for(milliseconds(20));
REQUIRE( a.numberOfPeers() == 1 );
REQUIRE( b.numberOfPeers() == 1 );
}
SECTION("valid tcp connection using hostname") {
- REQUIRE( b.connect("tcp://localhost:7077") );
+ auto p = b.connect("tcp://localhost:7077");
+ REQUIRE( p );
- sleep_for(milliseconds(200));
+ while (!p->isConnected()) sleep_for(milliseconds(20));
REQUIRE( a.numberOfPeers() == 1 );
REQUIRE( b.numberOfPeers() == 1 );
}
SECTION("invalid protocol") {
- REQUIRE( !b.connect("http://127.0.0.1:7077") );
+ auto p = b.connect("http://127.0.0.1:7077");
+ REQUIRE( !p->isValid() );
sleep_for(milliseconds(100));
@@ -88,6 +91,7 @@ TEST_CASE("Universe::broadcast()", "[net]") {
b.broadcast("done");
sleep_for(milliseconds(100));
+ REQUIRE( !done );
}
SECTION("no arguments to one peer") {
@@ -167,10 +171,23 @@ TEST_CASE("Universe::findOwner()", "") {
SECTION("three peers and one owner") {
Universe c;
c.connect("tcp://localhost:7077");
+ b.setLocalID(ftl::UUID(7));
while (a.numberOfPeers() < 2) sleep_for(milliseconds(20));
b.createResource("ftl://test");
- REQUIRE( *(a.findOwner("ftl://test")) == ftl::net::this_peer );
+ REQUIRE( *(a.findOwner("ftl://test")) == ftl::UUID(7) );
+ }
+
+ SECTION("three peers and one owner (2)") {
+ Universe c;
+ c.connect("tcp://localhost:7077");
+ c.setLocalID(ftl::UUID(7));
+ while (a.numberOfPeers() < 2) sleep_for(milliseconds(20));
+
+ c.createResource("ftl://test");
+ auto r = a.findOwner("ftl://test");
+ REQUIRE( r );
+ REQUIRE( *r == ftl::UUID(7) );
}
}
diff --git a/net/cpp/test/peer_unit.cpp b/net/cpp/test/peer_unit.cpp
index b7bebbcb1cf3b17db40d4dbc5250b792ec2164e2..583f615d4b9c77735342972116bb15a3bac461fb 100644
--- a/net/cpp/test/peer_unit.cpp
+++ b/net/cpp/test/peer_unit.cpp
@@ -185,7 +185,7 @@ TEST_CASE("Peer(int)", "[]") {
sleep_for(milliseconds(50));
- REQUIRE( s.getFTLVersion() == (8 << 16) + (5 << 8) + 2 );
+ REQUIRE( (s.getFTLVersion() == (8 << 16) + (5 << 8) + 2) );
}
SECTION("has correct peer id on full handshake") {
@@ -342,7 +342,7 @@ TEST_CASE("Peer::bind()", "[rpc]") {
sleep_for(milliseconds(50));
REQUIRE( (done == 55) );
- REQUIRE( readRPCReturn<int>(0) == 55 );
+ REQUIRE( (readRPCReturn<int>(0) == 55) );
}
SECTION("vector return value") {
@@ -361,7 +361,7 @@ TEST_CASE("Peer::bind()", "[rpc]") {
REQUIRE( (done == 55) );
auto res = readRPCReturn<vector<int>>(0);
- REQUIRE( res[1] == 45 );
+ REQUIRE( (res[1] == 45) );
}
}
diff --git a/net/cpp/test/uri_unit.cpp b/net/cpp/test/uri_unit.cpp
index e11b320f4c18d599f64ff7361a2e91fcda6c5223..a9fde4e8080ef98732c15149e6bd824dd1b31723 100644
--- a/net/cpp/test/uri_unit.cpp
+++ b/net/cpp/test/uri_unit.cpp
@@ -21,8 +21,8 @@ SCENARIO( "URI() can parse valid URIs", "[utility]" ) {
REQUIRE( uri.isValid() );
REQUIRE( uri.getScheme() == URI::SCHEME_HTTP );
REQUIRE( uri.getHost() == "localhost" );
- REQUIRE( uri.getPort() == 8080 );
- REQUIRE (uri.getPath() == "/test/case.html" );
+ REQUIRE( (uri.getPort() == 8080) );
+ REQUIRE( uri.getPath() == "/test/case.html" );
}
GIVEN( "a valid scheme with path and query" ) {
@@ -85,7 +85,7 @@ SCENARIO( "URI::getAttribute() from query" ) {
GIVEN( "an integer value" ) {
URI uri("http://localhost:1000/hello?x=56");
- REQUIRE( uri.getAttribute<int>("x") == 56 );
+ REQUIRE( (uri.getAttribute<int>("x") == 56) );
}
}
diff --git a/reconstruct/src/main.cpp b/reconstruct/src/main.cpp
index 51c346da25e0f367247cc33234a63bbac957e251..6145a65a3689b1710574d12f39d08498a9126137 100644
--- a/reconstruct/src/main.cpp
+++ b/reconstruct/src/main.cpp
@@ -83,6 +83,8 @@ static void run() {
while (disp.active()) {
Mat idepth;
+
+ net.broadcast("grab");
unique_lock<mutex> lk(m);
if (depth.cols > 0) {
diff --git a/renderer/cpp/include/ftl/display.hpp b/renderer/cpp/include/ftl/display.hpp
index 58272fa6ae4d6bffce133312ddebdbcf9f4ed147..4301fa92254c271a2c11bcaea5def854c079e04b 100644
--- a/renderer/cpp/include/ftl/display.hpp
+++ b/renderer/cpp/include/ftl/display.hpp
@@ -22,6 +22,11 @@ namespace ftl {
* Multiple local display options for disparity or point clouds.
*/
class Display {
+ public:
+ enum style_t {
+ STYLE_NORMAL, STYLE_DISPARITY, STYLE_DEPTH
+ };
+
public:
explicit Display(nlohmann::json &config);
~Display();
@@ -33,6 +38,7 @@ class Display {
#if defined HAVE_PCL
bool render(pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr);
#endif // HAVE_PCL
+ bool render(const cv::Mat &img, style_t s=STYLE_NORMAL);
bool active() const;
diff --git a/renderer/cpp/src/display.cpp b/renderer/cpp/src/display.cpp
index a6cdbf9afaf38588795d8fa8f086a8e9e9d9df56..a908efa29a5618c37b3e0422d9d51db85242e734 100644
--- a/renderer/cpp/src/display.cpp
+++ b/renderer/cpp/src/display.cpp
@@ -157,6 +157,26 @@ bool Display::render(pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr pc) {
return true;
}
#endif // HAVE_PCL
+bool Display::render(const cv::Mat &img, style_t s) {
+ if (s == STYLE_NORMAL) {
+ cv::imshow("Image", img);
+ } else if (s = STYLE_DISPARITY) {
+ Mat idepth;
+
+ if ((bool)config_["flip_vert"]) {
+ cv::flip(img, idepth, 0);
+ } else {
+ idepth = img;
+ }
+
+ idepth.convertTo(idepth, CV_8U, 255.0f / 256.0f);
+
+ applyColorMap(idepth, idepth, cv::COLORMAP_JET);
+ cv::imshow("Disparity", idepth);
+ }
+
+ return true;
+}
void Display::wait(int ms) {
if (config_["points"] && q_.rows != 0) {
diff --git a/vision/include/ftl/calibrate.hpp b/vision/include/ftl/calibrate.hpp
index 79fb310b348db16bbebde7f259e95db17c83b9f8..83a2bd9c139bee3a1920545ff0c9244bae43a2bc 100644
--- a/vision/include/ftl/calibrate.hpp
+++ b/vision/include/ftl/calibrate.hpp
@@ -29,7 +29,12 @@ class Calibrate {
// TODO(nick) replace or remove this class.
class Settings {
public:
- Settings() : goodInput(false) {}
+ Settings() : calibrationPattern(CHESSBOARD), squareSize(50.0f),
+ nrFrames(30), aspectRatio(1.0f), delay(100), writePoints(false), writeExtrinsics(true),
+ writeGrid(false), calibZeroTangentDist(false), calibFixPrincipalPoint(true),
+ flipVertical(false), showUndistorsed(true), useFisheye(false), fixK1(false),
+ fixK2(false), fixK3(false), fixK4(false), fixK5(false), cameraID(0), atImageList(0),
+ inputType(INVALID), goodInput(false), flag(0) {}
enum Pattern { NOT_EXISTING, CHESSBOARD, CIRCLES_GRID, ASYMMETRIC_CIRCLES_GRID };
enum InputType { INVALID, CAMERA, VIDEO_FILE, IMAGE_LIST };
diff --git a/vision/include/ftl/local.hpp b/vision/include/ftl/local.hpp
index 80b527cc74c50122274f9568c1ce8b5b9ad2b653..9a4204e65bab87eb71af8768decb12d116116b20 100644
--- a/vision/include/ftl/local.hpp
+++ b/vision/include/ftl/local.hpp
@@ -12,7 +12,7 @@ namespace cv {
namespace ftl {
class LocalSource {
public:
- LocalSource(nlohmann::json &config);
+ explicit LocalSource(nlohmann::json &config);
LocalSource(const std::string &vid, nlohmann::json &config);
bool left(cv::Mat &m);
diff --git a/vision/lib/elas/triangle.cpp b/vision/lib/elas/triangle.cpp
index 8de1557bc5c7192530d4594c03d0ef9e90eef72c..14d4a2d03c06537a24547bb8c6c44526964ab207 100644
--- a/vision/lib/elas/triangle.cpp
+++ b/vision/lib/elas/triangle.cpp
@@ -1419,27 +1419,27 @@ void printtriangle(struct mesh *m, struct behavior *b, struct otri *t)
struct osub printsh;
vertex printvertex;
- printf("triangle x%lx with orientation %d:\n", (unsigned long long) t->tri,
+ printf("triangle x%lx with orientation %d:\n", (unsigned long) t->tri,
t->orient);
decode(t->tri[0], printtri);
if (printtri.tri == m->dummytri) {
printf(" [0] = Outer space\n");
} else {
- printf(" [0] = x%lx %d\n", (unsigned long long) printtri.tri,
+ printf(" [0] = x%lx %d\n", (unsigned long) printtri.tri,
printtri.orient);
}
decode(t->tri[1], printtri);
if (printtri.tri == m->dummytri) {
printf(" [1] = Outer space\n");
} else {
- printf(" [1] = x%lx %d\n", (unsigned long long) printtri.tri,
+ printf(" [1] = x%lx %d\n", (unsigned long) printtri.tri,
printtri.orient);
}
decode(t->tri[2], printtri);
if (printtri.tri == m->dummytri) {
printf(" [2] = Outer space\n");
} else {
- printf(" [2] = x%lx %d\n", (unsigned long long) printtri.tri,
+ printf(" [2] = x%lx %d\n", (unsigned long) printtri.tri,
printtri.orient);
}
@@ -1448,37 +1448,37 @@ void printtriangle(struct mesh *m, struct behavior *b, struct otri *t)
printf(" Origin[%d] = NULL\n", (t->orient + 1) % 3 + 3);
else
printf(" Origin[%d] = x%lx (%.12g, %.12g)\n",
- (t->orient + 1) % 3 + 3, (unsigned long long) printvertex,
+ (t->orient + 1) % 3 + 3, (unsigned long) printvertex,
printvertex[0], printvertex[1]);
dest(*t, printvertex);
if (printvertex == (vertex) NULL)
printf(" Dest [%d] = NULL\n", (t->orient + 2) % 3 + 3);
else
printf(" Dest [%d] = x%lx (%.12g, %.12g)\n",
- (t->orient + 2) % 3 + 3, (unsigned long long) printvertex,
+ (t->orient + 2) % 3 + 3, (unsigned long) printvertex,
printvertex[0], printvertex[1]);
apex(*t, printvertex);
if (printvertex == (vertex) NULL)
printf(" Apex [%d] = NULL\n", t->orient + 3);
else
printf(" Apex [%d] = x%lx (%.12g, %.12g)\n",
- t->orient + 3, (unsigned long long) printvertex,
+ t->orient + 3, (unsigned long) printvertex,
printvertex[0], printvertex[1]);
if (b->usesegments) {
sdecode(t->tri[6], printsh);
if (printsh.ss != m->dummysub) {
- printf(" [6] = x%lx %d\n", (unsigned long long) printsh.ss,
+ printf(" [6] = x%lx %d\n", (unsigned long) printsh.ss,
printsh.ssorient);
}
sdecode(t->tri[7], printsh);
if (printsh.ss != m->dummysub) {
- printf(" [7] = x%lx %d\n", (unsigned long long) printsh.ss,
+ printf(" [7] = x%lx %d\n", (unsigned long) printsh.ss,
printsh.ssorient);
}
sdecode(t->tri[8], printsh);
if (printsh.ss != m->dummysub) {
- printf(" [8] = x%lx %d\n", (unsigned long long) printsh.ss,
+ printf(" [8] = x%lx %d\n", (unsigned long) printsh.ss,
printsh.ssorient);
}
}
@@ -1506,19 +1506,19 @@ void printsubseg(struct mesh *m, struct behavior *b, struct osub *s)
vertex printvertex;
printf("subsegment x%lx with orientation %d and mark %d:\n",
- (unsigned long long) s->ss, s->ssorient, mark(*s));
+ (unsigned long) s->ss, s->ssorient, mark(*s));
sdecode(s->ss[0], printsh);
if (printsh.ss == m->dummysub) {
printf(" [0] = No subsegment\n");
} else {
- printf(" [0] = x%lx %d\n", (unsigned long long) printsh.ss,
+ printf(" [0] = x%lx %d\n", (unsigned long) printsh.ss,
printsh.ssorient);
}
sdecode(s->ss[1], printsh);
if (printsh.ss == m->dummysub) {
printf(" [1] = No subsegment\n");
} else {
- printf(" [1] = x%lx %d\n", (unsigned long long) printsh.ss,
+ printf(" [1] = x%lx %d\n", (unsigned long) printsh.ss,
printsh.ssorient);
}
@@ -1527,28 +1527,28 @@ void printsubseg(struct mesh *m, struct behavior *b, struct osub *s)
printf(" Origin[%d] = NULL\n", 2 + s->ssorient);
else
printf(" Origin[%d] = x%lx (%.12g, %.12g)\n",
- 2 + s->ssorient, (unsigned long long) printvertex,
+ 2 + s->ssorient, (unsigned long) printvertex,
printvertex[0], printvertex[1]);
sdest(*s, printvertex);
if (printvertex == (vertex) NULL)
printf(" Dest [%d] = NULL\n", 3 - s->ssorient);
else
printf(" Dest [%d] = x%lx (%.12g, %.12g)\n",
- 3 - s->ssorient, (unsigned long long) printvertex,
+ 3 - s->ssorient, (unsigned long) printvertex,
printvertex[0], printvertex[1]);
decode(s->ss[6], printtri);
if (printtri.tri == m->dummytri) {
printf(" [6] = Outer space\n");
} else {
- printf(" [6] = x%lx %d\n", (unsigned long long) printtri.tri,
+ printf(" [6] = x%lx %d\n", (unsigned long) printtri.tri,
printtri.orient);
}
decode(s->ss[7], printtri);
if (printtri.tri == m->dummytri) {
printf(" [7] = Outer space\n");
} else {
- printf(" [7] = x%lx %d\n", (unsigned long long) printtri.tri,
+ printf(" [7] = x%lx %d\n", (unsigned long) printtri.tri,
printtri.orient);
}
@@ -1557,14 +1557,14 @@ void printsubseg(struct mesh *m, struct behavior *b, struct osub *s)
printf(" Segment origin[%d] = NULL\n", 4 + s->ssorient);
else
printf(" Segment origin[%d] = x%lx (%.12g, %.12g)\n",
- 4 + s->ssorient, (unsigned long long) printvertex,
+ 4 + s->ssorient, (unsigned long) printvertex,
printvertex[0], printvertex[1]);
segdest(*s, printvertex);
if (printvertex == (vertex) NULL)
printf(" Segment dest [%d] = NULL\n", 5 - s->ssorient);
else
printf(" Segment dest [%d] = x%lx (%.12g, %.12g)\n",
- 5 - s->ssorient, (unsigned long long) printvertex,
+ 5 - s->ssorient, (unsigned long) printvertex,
printvertex[0], printvertex[1]);
}
diff --git a/vision/src/algorithms/elas.cpp b/vision/src/algorithms/elas.cpp
index ca37357442b2f7ecfcba7996601ae741cd463392..b99c309c96717739327a488efcdfd2e510c9bbe7 100644
--- a/vision/src/algorithms/elas.cpp
+++ b/vision/src/algorithms/elas.cpp
@@ -35,7 +35,7 @@ void ELAS::compute(const cv::Mat &l, const cv::Mat &r, cv::Mat &disp) {
disp = Mat(cv::Size(l.cols, l.rows), CV_32F);
Mat dispr(cv::Size(l.cols, l.rows), CV_32F);
- const int32_t dims[3] = {l.cols,l.rows,lbw.step};
+ const int32_t dims[3] = {l.cols,l.rows,static_cast<int32_t>(lbw.step)};
if (disp.step/sizeof(float) != lbw.step) LOG(WARNING) << "Incorrect disparity step";
diff --git a/vision/src/calibrate.cpp b/vision/src/calibrate.cpp
index 7151a01bb2dfab9fa7b480612c3839f344e666a7..e5025a9d85a0c2470e504e11e7a8ffaa146914e7 100644
--- a/vision/src/calibrate.cpp
+++ b/vision/src/calibrate.cpp
@@ -491,7 +491,7 @@ static double computeReprojectionErrors(
vector<float>& perViewErrors, bool fisheye) {
vector<Point2f> imagePoints2;
size_t totalPoints = 0;
- double totalErr = 0, err;
+ double totalErr = 0;
perViewErrors.resize(objectPoints.size());
for (size_t i = 0; i < objectPoints.size(); ++i) {
@@ -502,7 +502,7 @@ static double computeReprojectionErrors(
projectPoints(objectPoints[i], rvecs[i], tvecs[i], cameraMatrix,
distCoeffs, imagePoints2);
}
- err = norm(imagePoints[i], imagePoints2, NORM_L2);
+ double err = norm(imagePoints[i], imagePoints2, NORM_L2);
size_t n = objectPoints[i].size();
perViewErrors[i] = static_cast<float>(std::sqrt(err*err/n));
@@ -576,10 +576,6 @@ static bool _runCalibration(const Calibrate::Settings& s, Size& imageSize,
tvecs.push_back(_tvecs.row(i));
}
} else {
- int iFixedPoint = -1;
- if (release_object)
- iFixedPoint = s.boardSize.width - 1;
-
rms = calibrateCamera(objectPoints, imagePoints, imageSize,
cameraMatrix, distCoeffs, rvecs, tvecs,
s.flag | CALIB_USE_LU);
diff --git a/vision/src/main.cpp b/vision/src/main.cpp
index 0665b797cdb017c09dbafdfcf5f0dd9011f5ead4..c71940a6c4a42b109a6e1bfdc41017eb593d579b 100644
--- a/vision/src/main.cpp
+++ b/vision/src/main.cpp
@@ -108,11 +108,24 @@ static void run(const string &file) {
return buf;
});
+ Mat l, r, disp;
+ bool grabbed = false;
+ mutex datam;
+ condition_variable datacv;
+
+ // Wait for grab message to sync camera capture
+ net.bind("grab", [&calibrate,&l,&r,&datam,&datacv,&grabbed]() -> void {
+ unique_lock<mutex> datalk(datam);
+ if (grabbed) return;
+ calibrate.rectified(l, r);
+ grabbed = true;
+ datacv.notify_one();
+ });
+
// Choose and configure disparity algorithm
auto disparity = Disparity::create(config["disparity"]);
if (!disparity) LOG(FATAL) << "Unknown disparity algorithm : " << config["disparity"];
- Mat l, r, disp;
Mat pl, pdisp;
vector<unsigned char> rgb_buf;
vector<unsigned char> d_buf;
@@ -130,23 +143,22 @@ static void run(const string &file) {
condition_variable cv;
int jobs = 0;
- // Pipeline for disparity
- pool.push([&](int id) {
- auto start = std::chrono::high_resolution_clock::now();
- // Read calibrated images.
+ // Fake grab if no peers to allow visualisation locally
+ if (net.numberOfPeers() == 0) {
+ grabbed = true;
calibrate.rectified(l, r);
+ }
- // Feed into sync buffer and network forward
- //sync->feed(ftl::LEFT, l, lsrc->getTimestamp());
- //sync->feed(ftl::RIGHT, r, lsrc->getTimestamp());
-
- // Read back from buffer
- //sync->get(ftl::LEFT, l);
- //sync->get(ftl::RIGHT, r);
+ // Pipeline for disparity
+ pool.push([&](int id) {
+ // Wait for image grab
+ unique_lock<mutex> datalk(datam);
+ datacv.wait(datalk, [&grabbed](){ return grabbed; });
+ grabbed = false;
- LOG(INFO) << "PRE DISPARITY";
+ auto start = std::chrono::high_resolution_clock::now();
disparity->compute(l, r, disp);
- LOG(INFO) << "POST DISPARITY";
+ datalk.unlock();
unique_lock<mutex> lk(m);
jobs++;
@@ -158,50 +170,6 @@ static void run(const string &file) {
LOG(INFO) << "Disparity in " << elapsed.count() << "s";
});
- // Pipeline for jpeg compression
- /*pool.push([&](int id) {
- auto start = std::chrono::high_resolution_clock::now();
- if (pl.rows != 0) cv::imencode(".jpg", pl, rgb_buf);
- unique_lock<mutex> lk(m);
- jobs++;
- lk.unlock();
- cv.notify_one();
-
- std::chrono::duration<double> elapsed =
- std::chrono::high_resolution_clock::now() - start;
- LOG(INFO) << "JPG in " << elapsed.count() << "s";
- });*/
-
- // Pipeline for zlib compression
- /*pool.push([&](int id) {
- auto start = std::chrono::high_resolution_clock::now();
- if (pl.rows != 0) {
- d_buf.resize(pdisp.step*pdisp.rows);
- z_stream defstream;
- defstream.zalloc = Z_NULL;
- defstream.zfree = Z_NULL;
- defstream.opaque = Z_NULL;
- defstream.avail_in = pdisp.step*pdisp.rows;
- defstream.next_in = (Bytef *)pdisp.data; // input char array
- defstream.avail_out = (uInt)pdisp.step*pdisp.rows; // size of output
- defstream.next_out = (Bytef *)d_buf.data(); // output char array
-
- deflateInit(&defstream, Z_BEST_COMPRESSION);
- deflate(&defstream, Z_FINISH);
- deflateEnd(&defstream);
-
- d_buf.resize(defstream.total_out);
- }
- unique_lock<mutex> lk(m);
- jobs++;
- lk.unlock();
- cv.notify_one();
-
- std::chrono::duration<double> elapsed =
- std::chrono::high_resolution_clock::now() - start;
- LOG(INFO) << "ZLIB in " << elapsed.count() << "s";
- });*/
-
// Pipeline for stream compression
pool.push([&](int id) {
auto start = std::chrono::high_resolution_clock::now();