From 5c85edf4c61a1f0d4a33fbc1f3955f16f05990e5 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Thu, 19 Sep 2019 11:48:23 +0300
Subject: [PATCH] Fix for not swapping texture objects in frames
---
applications/reconstruct/src/ilw.cpp | 30 +++++++++++++++++++-----
applications/reconstruct/src/ilw.hpp | 4 ++--
applications/reconstruct/src/main.cpp | 1 +
components/rgbd-sources/src/frame.cpp | 4 ++++
components/rgbd-sources/src/frameset.cpp | 4 ++--
5 files changed, 33 insertions(+), 10 deletions(-)
diff --git a/applications/reconstruct/src/ilw.cpp b/applications/reconstruct/src/ilw.cpp
index 12d1b32f1..e74c535fb 100644
--- a/applications/reconstruct/src/ilw.cpp
+++ b/applications/reconstruct/src/ilw.cpp
@@ -1,7 +1,14 @@
#include "ilw.hpp"
+#include <ftl/utility/matrix_conversion.hpp>
+#include <ftl/rgbd/source.hpp>
+#include <ftl/cuda/points.hpp>
using ftl::ILW;
using ftl::detail::ILWData;
+using ftl::rgbd::Channel;
+using ftl::rgbd::Channels;
+using ftl::rgbd::Format;
+using cv::cuda::GpuMat;
ILW::ILW(nlohmann::json &config) : ftl::Configurable(config) {
@@ -11,10 +18,8 @@ ILW::~ILW() {
}
-bool ILW::process(ftl::rgbd::FrameSet &fs) {
- return true;
-
- _phase0(fs);
+bool ILW::process(ftl::rgbd::FrameSet &fs, cudaStream_t stream) {
+ _phase0(fs, stream);
for (int i=0; i<2; ++i) {
_phase1(fs);
@@ -28,8 +33,21 @@ bool ILW::process(ftl::rgbd::FrameSet &fs) {
return true;
}
-bool ILW::_phase0(ftl::rgbd::FrameSet &fs) {
- // Clear points channel...
+bool ILW::_phase0(ftl::rgbd::FrameSet &fs, cudaStream_t stream) {
+ // Make points channel...
+ for (size_t i=0; i<fs.frames.size(); ++i) {
+ auto &f = fs.frames[i];
+ auto *s = fs.sources[i];
+
+ if (f.empty(Channel::Depth + Channel::Colour)) {
+ LOG(ERROR) << "Missing required channel";
+ continue;
+ }
+
+ auto &t = f.createTexture<float4>(Channel::Points, Format<float4>(f.get<GpuMat>(Channel::Colour).size()));
+ auto pose = MatrixConversion::toCUDA(s->getPose().cast<float>()); //.inverse());
+ ftl::cuda::point_cloud(t, f.createTexture<float>(Channel::Depth), s->parameters(), pose, stream);
+ }
// Upload camera data?
return true;
diff --git a/applications/reconstruct/src/ilw.hpp b/applications/reconstruct/src/ilw.hpp
index 1d269b83a..5bab33873 100644
--- a/applications/reconstruct/src/ilw.hpp
+++ b/applications/reconstruct/src/ilw.hpp
@@ -40,13 +40,13 @@ class ILW : public ftl::Configurable {
/**
* Take a frameset and perform the iterative lattice warping.
*/
- bool process(ftl::rgbd::FrameSet &fs);
+ bool process(ftl::rgbd::FrameSet &fs, cudaStream_t stream=0);
private:
/*
* Initialise data.
*/
- bool _phase0(ftl::rgbd::FrameSet &fs);
+ bool _phase0(ftl::rgbd::FrameSet &fs, cudaStream_t stream);
/*
* Find possible correspondences and a confidence value.
diff --git a/applications/reconstruct/src/main.cpp b/applications/reconstruct/src/main.cpp
index 328a9427a..2b5da6d01 100644
--- a/applications/reconstruct/src/main.cpp
+++ b/applications/reconstruct/src/main.cpp
@@ -121,6 +121,7 @@ static void run(ftl::Configurable *root) {
bool busy = false;
+ group.setLatency(4);
group.setName("ReconGroup");
group.sync([splat,virt,&busy,&slave,&scene_A,&scene_B,&align](ftl::rgbd::FrameSet &fs) -> bool {
//cudaSetDevice(scene->getCUDADevice());
diff --git a/components/rgbd-sources/src/frame.cpp b/components/rgbd-sources/src/frame.cpp
index aaa55c756..a56a19355 100644
--- a/components/rgbd-sources/src/frame.cpp
+++ b/components/rgbd-sources/src/frame.cpp
@@ -66,6 +66,10 @@ void Frame::swapTo(ftl::rgbd::Channels channels, Frame &f) {
cv::swap(m1.host, m2.host);
cv::cuda::swap(m1.gpu, m2.gpu);
+
+ auto temptex = std::move(m2.tex);
+ m2.tex = std::move(m1.tex);
+ m1.tex = std::move(temptex);
}
}
}
diff --git a/components/rgbd-sources/src/frameset.cpp b/components/rgbd-sources/src/frameset.cpp
index 72cb5cb50..9b9a807d8 100644
--- a/components/rgbd-sources/src/frameset.cpp
+++ b/components/rgbd-sources/src/frameset.cpp
@@ -19,12 +19,12 @@ void FrameSet::download(ftl::rgbd::Channels c, cudaStream_t stream) {
void FrameSet::swapTo(ftl::rgbd::FrameSet &fs) {
UNIQUE_LOCK(fs.mtx, lk);
- if (fs.frames.size() != frames.size()) {
+ //if (fs.frames.size() != frames.size()) {
// Assume "this" is correct and "fs" is not.
fs.sources.clear();
for (auto s : sources) fs.sources.push_back(s);
fs.frames.resize(frames.size());
- }
+ //}
fs.timestamp = timestamp;
fs.count = static_cast<int>(count);
--
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