From 5c5e752ab71e2525e92864d8ee243800a62fff86 Mon Sep 17 00:00:00 2001
From: Sebastian Hahta <joseha@utu.fi>
Date: Thu, 29 Aug 2019 17:18:22 +0300
Subject: [PATCH] small adjustments and documentation
---
.../include/ftl/rgbd/detail/source.hpp | 4 ++
.../rgbd-sources/include/ftl/rgbd/frame.hpp | 71 +++++++++++++------
2 files changed, 53 insertions(+), 22 deletions(-)
diff --git a/components/rgbd-sources/include/ftl/rgbd/detail/source.hpp b/components/rgbd-sources/include/ftl/rgbd/detail/source.hpp
index 25e19e396..a75fb1879 100644
--- a/components/rgbd-sources/include/ftl/rgbd/detail/source.hpp
+++ b/components/rgbd-sources/include/ftl/rgbd/detail/source.hpp
@@ -10,6 +10,10 @@ namespace rgbd {
class Source;
+// TODO: frame.hpp has to know the exact amount of channels
+// (remove hardcoded value by providing exact value elsewhere).
+// Possibly move channels to frame.hpp?
+
typedef unsigned int channel_t;
static const channel_t kChanNone = 0;
diff --git a/components/rgbd-sources/include/ftl/rgbd/frame.hpp b/components/rgbd-sources/include/ftl/rgbd/frame.hpp
index 41eb75095..a97a1f17b 100644
--- a/components/rgbd-sources/include/ftl/rgbd/frame.hpp
+++ b/components/rgbd-sources/include/ftl/rgbd/frame.hpp
@@ -4,24 +4,6 @@
#include <ftl/configuration.hpp>
#include <opencv2/core.hpp>
-// https://stackoverflow.com/a/31718095/
-static uint32_t msbDeBruijn32(uint32_t v)
-{
- static const int MultiplyDeBruijnBitPosition[32] =
- {
- 0, 9, 1, 10, 13, 21, 2, 29, 11, 14, 16, 18, 22, 25, 3, 30,
- 8, 12, 20, 28, 15, 17, 24, 7, 19, 27, 23, 6, 26, 5, 4, 31
- };
-
- v |= v >> 1; // first round down to one less than a power of 2
- v |= v >> 2;
- v |= v >> 4;
- v |= v >> 8;
- v |= v >> 16;
-
- return MultiplyDeBruijnBitPosition[(uint32_t)(v * 0x07C4ACDDU) >> 27];
-}
-
namespace ftl {
namespace rgbd {
@@ -38,21 +20,66 @@ public:
std::fill(available_.begin(), available_.end(), false);
}
- /* @brief Is there valid data in channel
+ /* @brief Is there valid data in channel. Must be checked if user
+ * is not providing the data and it is uncertain that valid data is
+ * available.
*/
bool hasChannel(const ftl::rgbd::channel_t& channel)
{
- return available_[msbDeBruijn32(channel)];
+ return available_[_channelIdx(channel)];
}
- /* @brief Get reference to the channel GpuMat
+ /* @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.
*/
cv::cuda::GpuMat& getChannel(const ftl::rgbd::channel_t& channel)
{
- return channels_[msbDeBruijn32(channel)];
+ auto idx = _channelIdx(channel);
+ available_[idx] = true;
+ return channels_[idx];
}
private:
+
+ static size_t _channelIdx(const ftl::rgbd::channel_t& channel)
+ {
+ switch(channel)
+ {
+ case kChanNone: return 0;
+ case kChanLeft: return 1;
+ case kChanDepth: return 2;
+ case kChanRight: return 3;
+ case kChanDisparity: return 4;
+ case kChanDeviation: return 5;
+ case kChanNormals: return 6;
+ case kChanConfidence: return 7;
+ case kChanFlow: return 8;
+ case kChanEnergy: return 9;
+ default: return 0; // should not happen
+ }
+ }
+
+ // https://stackoverflow.com/a/31718095/
+ // Indices for channels, requirs channels to have bitmask format
+ // (values are power of 2 and no missing values/gaps).
+ static uint32_t _msbDeBruijn32(uint32_t v)
+ {
+ static const int MultiplyDeBruijnBitPosition[32] =
+ {
+ 0, 9, 1, 10, 13, 21, 2, 29, 11, 14, 16, 18, 22, 25, 3, 30,
+ 8, 12, 20, 28, 15, 17, 24, 7, 19, 27, 23, 6, 26, 5, 4, 31
+ };
+
+ v |= v >> 1; // first round down to one less than a power of 2
+ v |= v >> 2;
+ v |= v >> 4;
+ v |= v >> 8;
+ v |= v >> 16;
+
+ return MultiplyDeBruijnBitPosition[(uint32_t)(v * 0x07C4ACDDU) >> 27];
+ }
+
std::vector<cv::cuda::GpuMat> channels_;
std::vector<bool> available_;
};
--
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