From 5483663864f04c829af41e29d9af37180f96c82b Mon Sep 17 00:00:00 2001
From: Sebastian Hahta <joseha@utu.fi>
Date: Fri, 30 Aug 2019 11:14:39 +0300
Subject: [PATCH] Support both Mat and GpuMat with automatic uploads/downloads
---
.../rgbd-sources/include/ftl/rgbd/frame.hpp | 65 +++++++++++++++----
components/rgbd-sources/src/stereovideo.cpp | 15 +++--
2 files changed, 63 insertions(+), 17 deletions(-)
diff --git a/components/rgbd-sources/include/ftl/rgbd/frame.hpp b/components/rgbd-sources/include/ftl/rgbd/frame.hpp
index 5b004a3ad..15428e665 100644
--- a/components/rgbd-sources/include/ftl/rgbd/frame.hpp
+++ b/components/rgbd-sources/include/ftl/rgbd/frame.hpp
@@ -11,13 +11,13 @@ class Frame {
public:
/* @todo REMOVE HARDCODED CHANNEL COUNT!
*/
- Frame() : channels_(11), available_(11, false) {}
+ Frame() : channels_host_(11), channels_gpu_(11), available_(11, 0) {}
/* @brief Reset all channels without releasing memory
*/
void reset()
{
- std::fill(available_.begin(), available_.end(), false);
+ std::fill(available_.begin(), available_.end(), 0);
}
/* @brief Is there valid data in channel. Must be checked if user
@@ -29,15 +29,52 @@ public:
return available_[_channelIdx(channel)];
}
- /* @brief Get reference to the channel GpuMat and marks it valid.
- * If hasChannel() was false, user of this method must set
- * valid data to the returned reference.
+ /* @brief Get reference to the channel.
+ * @param Channel type
+ * @param Output parameter
+ * @param User of the method sets data. NOTE: Only works on unused
+ * channels or if reset() was called previously (TODO).
+ * @returns True, if output parameter contains valid data
*/
- cv::cuda::GpuMat& getChannel(const ftl::rgbd::channel_t& channel)
+
+ bool getChannel(const ftl::rgbd::channel_t& channel, cv::Mat& out, bool set=false)
+ {
+ auto idx = _channelIdx(channel);
+ bool retval = available_[idx] & mask_host;
+ if (!retval)
+ {
+ if (available_[idx] & mask_gpu)
+ {
+ channels_gpu_[idx].download(channels_host_[idx]);
+ retval = true;
+ set = true;
+ }
+ }
+
+ if (set) { available_[idx] |= mask_host; }
+
+ out = channels_host_[idx];
+ return retval;
+ }
+
+ bool getChannel(const ftl::rgbd::channel_t& channel, cv::cuda::GpuMat& out, bool set=false)
{
auto idx = _channelIdx(channel);
- available_[idx] = true;
- return channels_[idx];
+ bool retval = available_[idx] & mask_gpu;
+ if (!retval)
+ {
+ if (available_[idx] & mask_host)
+ {
+ channels_gpu_[idx].upload(channels_host_[idx]);
+ retval = true;
+ set = true;
+ }
+ }
+
+ if (set) { available_[idx] |= mask_host; }
+
+ out = channels_gpu_[idx];
+ return retval;
}
private:
@@ -56,12 +93,18 @@ private:
case kChanConfidence: return 7;
case kChanFlow: return 8;
case kChanEnergy: return 9;
- default: return 0; // should not happen
+ default: return 0; // should not happen (error)
}
}
- std::vector<cv::cuda::GpuMat> channels_;
- std::vector<bool> available_;
+ std::vector<cv::Mat> channels_host_;
+ std::vector<cv::cuda::GpuMat> channels_gpu_;
+
+ // bitmasks for each channel stored in available_
+ static const uint mask_host = 1;
+ static const uint mask_gpu = 2;
+
+ std::vector<uint> available_;
};
}
diff --git a/components/rgbd-sources/src/stereovideo.cpp b/components/rgbd-sources/src/stereovideo.cpp
index 58a513a08..a4c19767c 100644
--- a/components/rgbd-sources/src/stereovideo.cpp
+++ b/components/rgbd-sources/src/stereovideo.cpp
@@ -173,8 +173,9 @@ bool StereoVideoSource::capture(int64_t ts) {
bool StereoVideoSource::retrieve() {
auto &frame = frames_[0];
frame.reset();
- cv::cuda::GpuMat& left = frame.getChannel(ftl::rgbd::kChanLeft);
- cv::cuda::GpuMat& right = frame.getChannel(ftl::rgbd::kChanRight);
+ cv::cuda::GpuMat left, right;
+ frame.getChannel(ftl::rgbd::kChanLeft, left, true);
+ frame.getChannel(ftl::rgbd::kChanRight, right, true);
lsrc_->get(left, right, calib_, stream2_);
#ifdef HAVE_OPTFLOW
@@ -208,10 +209,9 @@ void StereoVideoSource::swap() {
bool StereoVideoSource::compute(int n, int b) {
auto &frame = frames_[1];
- cv::cuda::GpuMat& left = frame.getChannel(ftl::rgbd::kChanLeft);
- cv::cuda::GpuMat& right = frame.getChannel(ftl::rgbd::kChanRight);
- cv::cuda::GpuMat& depth = frame.getChannel(ftl::rgbd::kChanDepth);
- cv::cuda::GpuMat& disp = frame.getChannel(ftl::rgbd::kChanDisparity);
+ cv::cuda::GpuMat left, right, disp, depth;
+ frame.getChannel(ftl::rgbd::kChanLeft, left);
+ frame.getChannel(ftl::rgbd::kChanRight, right);
const ftl::rgbd::channel_t chan = host_->getChannel();
if (left.empty() || right.empty()) return false;
@@ -219,6 +219,9 @@ bool StereoVideoSource::compute(int n, int b) {
if (chan == ftl::rgbd::kChanDepth) {
+ frame.getChannel(ftl::rgbd::kChanDepth, depth, true);
+ frame.getChannel(ftl::rgbd::kChanDisparity, disp, true);
+
if (depth.empty()) depth = cv::cuda::GpuMat(left.size(), CV_32FC1);
if (disp.empty()) disp = cv::cuda::GpuMat(left.size(), CV_32FC1);
disp_->compute(left, right, disp, stream_);
--
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