From 5a9e3632fcf0a3772a0b78faa90f2962767775c2 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Mon, 16 Sep 2019 15:21:19 +0300
Subject: [PATCH] WIP refactor reconstruct main
---
applications/reconstruct/src/main.cpp | 37 ++++++++++++++++-----------
1 file changed, 22 insertions(+), 15 deletions(-)
diff --git a/applications/reconstruct/src/main.cpp b/applications/reconstruct/src/main.cpp
index f381d9de5..9f366eea8 100644
--- a/applications/reconstruct/src/main.cpp
+++ b/applications/reconstruct/src/main.cpp
@@ -9,13 +9,13 @@
#include <ftl/config.h>
#include <ftl/configuration.hpp>
#include <ftl/depth_camera.hpp>
-#include <ftl/voxel_scene.hpp>
#include <ftl/rgbd.hpp>
#include <ftl/virtual_source.hpp>
#include <ftl/rgbd/streamer.hpp>
#include <ftl/slave.hpp>
#include <ftl/rgbd/group.hpp>
+#include "ilw.hpp"
#include "splat_render.hpp"
#include <string>
@@ -92,11 +92,12 @@ static void run(ftl::Configurable *root) {
}
}
- ftl::voxhash::SceneRep *scene = ftl::create<ftl::voxhash::SceneRep>(root, "voxelhash");
+ //ftl::voxhash::SceneRep *scene = ftl::create<ftl::voxhash::SceneRep>(root, "voxelhash");
ftl::rgbd::Streamer *stream = ftl::create<ftl::rgbd::Streamer>(root, "stream", net);
ftl::rgbd::Source *virt = ftl::create<ftl::rgbd::Source>(root, "virtual", net);
- ftl::render::Splatter *splat = new ftl::render::Splatter(scene);
+ ftl::render::Splatter *splat = new ftl::render::Splatter();
ftl::rgbd::Group group;
+ ftl::ILW align;
//auto virtimpl = new ftl::rgbd::VirtualSource(virt);
//virt->customImplementation(virtimpl);
@@ -107,7 +108,7 @@ static void run(ftl::Configurable *root) {
Source *in = sources[i];
in->setChannel(Channel::Depth);
//stream->add(in);
- scene->addSource(in);
+ //scene->addSource(in);
group.addSource(in);
}
@@ -116,34 +117,40 @@ static void run(ftl::Configurable *root) {
bool busy = false;
group.setName("ReconGroup");
- group.sync([scene,splat,virt,&busy,&slave](ftl::rgbd::FrameSet &fs) -> bool {
- cudaSetDevice(scene->getCUDADevice());
+ group.sync([splat,virt,&busy,&slave](ftl::rgbd::FrameSet &fs) -> bool {
+ //cudaSetDevice(scene->getCUDADevice());
if (busy) {
LOG(INFO) << "Group frameset dropped: " << fs.timestamp;
return true;
}
busy = true;
- scene->nextFrame();
+ //scene->nextFrame();
// Send all frames to GPU, block until done?
// TODO: Allow non-block and keep frameset locked until later
- if (!slave.isPaused()) scene->upload(fs);
+ if (!slave.isPaused()) {
+ //scene->upload(fs);
+ for (auto &f : fs.frames) {
+ f.upload(Channel::Colour + Channel::Depth); // TODO: (Nick) Add scene stream
+ }
+ }
- int64_t ts = fs.timestamp;
+ //int64_t ts = fs.timestamp;
- ftl::pool.push([scene,splat,virt,&busy,ts,&slave](int id) {
- cudaSetDevice(scene->getCUDADevice());
+ ftl::pool.push([splat,virt,&busy,&fs,&slave](int id) {
+ //cudaSetDevice(scene->getCUDADevice());
// TODO: Release frameset here...
- cudaSafeCall(cudaStreamSynchronize(scene->getIntegrationStream()));
+ //cudaSafeCall(cudaStreamSynchronize(scene->getIntegrationStream()));
if (!slave.isPaused()) {
- scene->integrate();
- scene->garbage();
+ //scene->integrate();
+ //scene->garbage();
+ align.process(fs);
}
// Don't render here... but update timestamp.
- splat->render(ts, virt, scene->getIntegrationStream());
+ splat->render(fs, virt); //, scene->getIntegrationStream());
busy = false;
});
return true;
--
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