From 6f3f5d99bdbd81e888b288f0790d28e19e03ed46 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Sat, 2 Nov 2019 12:04:25 +0200
Subject: [PATCH] Add colour channels filter
---
applications/reconstruct/src/main.cpp | 53 +++----------------
components/filters/CMakeLists.txt | 1 +
.../filters/include/ftl/filters/colours.hpp | 23 ++++++++
.../filters/include/ftl/filters/filter.hpp | 1 +
components/filters/src/colours.cpp | 24 +++++++++
components/filters/src/smoothing.cu | 1 +
6 files changed, 58 insertions(+), 45 deletions(-)
create mode 100644 components/filters/include/ftl/filters/colours.hpp
create mode 100644 components/filters/src/colours.cpp
diff --git a/applications/reconstruct/src/main.cpp b/applications/reconstruct/src/main.cpp
index 4ca06248a..68c1cb03b 100644
--- a/applications/reconstruct/src/main.cpp
+++ b/applications/reconstruct/src/main.cpp
@@ -31,6 +31,7 @@
#include <ftl/net/universe.hpp>
#include <ftl/filters/smoothing.hpp>
+#include <ftl/filters/colours.hpp>
#include <ftl/cuda/normals.hpp>
#include <ftl/registration.hpp>
@@ -248,6 +249,7 @@ static void run(ftl::Configurable *root) {
// Create the source depth map filters
auto *filters = ftl::config::create<ftl::Filters>(root, "filters");
+ filters->create<ftl::filters::ColourChannels>("colour");
filters->create<ftl::filters::DepthSmoother>("hfnoise");
filters->create<ftl::filters::MLSSmoother>("mls");
@@ -275,51 +277,12 @@ static void run(ftl::Configurable *root) {
UNIQUE_LOCK(scene_A.mtx, lk);
- cv::cuda::GpuMat tmp;
- /*float factor = filter->value("smooth_factor", 0.4f);
- float colour_limit = filter->value("colour_limit", 30.0f);
- bool do_smooth = filter->value("pre_smooth", false);
- int iters = filter->value("iterations", 3);
- int radius = filter->value("radius", 5);
- float var_thesh = filter->value("variance_threshold", 0.02f);*/
-
- //if (do_smooth) {
- // Presmooth...
- for (int i=0; i<scene_A.frames.size(); ++i) {
- auto &f = scene_A.frames[i];
- auto s = scene_A.sources[i];
-
- // Convert colour from BGR to BGRA if needed
- if (f.get<cv::cuda::GpuMat>(Channel::Colour).type() == CV_8UC3) {
- //cv::cuda::Stream cvstream = cv::cuda::StreamAccessor::wrapStream(stream);
- // Convert to 4 channel colour
- auto &col = f.get<cv::cuda::GpuMat>(Channel::Colour);
- tmp.create(col.size(), CV_8UC4);
- cv::cuda::swap(col, tmp);
- cv::cuda::cvtColor(tmp,col, cv::COLOR_BGR2BGRA, 0);
- }
-
- filters->filter(f, s, 0);
-
- /*ftl::cuda::smoothing_factor(
- f.createTexture<float>(Channel::Depth),
- f.createTexture<float>(Channel::Depth2, ftl::rgbd::Format<float>(f.get<cv::cuda::GpuMat>(Channel::Depth).size())),
- f.createTexture<float>(Channel::Energy, ftl::rgbd::Format<float>(f.get<cv::cuda::GpuMat>(Channel::Depth).size())),
- //f.createTexture<uchar4>(Channel::Colour),
- f.createTexture<float>(Channel::Smoothing, ftl::rgbd::Format<float>(f.get<cv::cuda::GpuMat>(Channel::Depth).size())),
- var_thesh,
- s->parameters(), 0
- );*/
-
- /*ftl::cuda::depth_smooth(
- f.createTexture<float>(Channel::Depth),
- f.createTexture<uchar4>(Channel::Colour),
- f.createTexture<float>(Channel::Depth2, ftl::rgbd::Format<float>(f.get<cv::cuda::GpuMat>(Channel::Depth).size())),
- s->parameters(),
- radius, factor, colour_limit, iters, 0
- );*/
- }
- //}
+ // Apply pre-filters to all frames
+ for (int i=0; i<scene_A.frames.size(); ++i) {
+ auto &f = scene_A.frames[i];
+ auto s = scene_A.sources[i];
+ filters->filter(f, s, 0);
+ }
// Send all frames to GPU, block until done?
//scene_A.upload(Channel::Colour + Channel::Depth); // TODO: (Nick) Add scene stream.
diff --git a/components/filters/CMakeLists.txt b/components/filters/CMakeLists.txt
index 31fc04413..b631b00ae 100644
--- a/components/filters/CMakeLists.txt
+++ b/components/filters/CMakeLists.txt
@@ -2,6 +2,7 @@ add_library(ftlfilter
src/smoothing.cpp
src/smoothing.cu
src/filter.cpp
+ src/colours.cpp
)
# These cause errors in CI build and are being removed from PCL in newer versions
diff --git a/components/filters/include/ftl/filters/colours.hpp b/components/filters/include/ftl/filters/colours.hpp
new file mode 100644
index 000000000..4f611903a
--- /dev/null
+++ b/components/filters/include/ftl/filters/colours.hpp
@@ -0,0 +1,23 @@
+#ifndef _FTL_FILTERS_COLOURS_HPP_
+#define _FTL_FILTERS_COLOURS_HPP_
+
+#include <ftl/filters/filter.hpp>
+
+namespace ftl {
+namespace filters {
+
+class ColourChannels : public ftl::Filter {
+ public:
+ explicit ColourChannels(nlohmann::json &config);
+ ~ColourChannels();
+
+ void filter(ftl::rgbd::Frame &frame, ftl::rgbd::Source *src, cudaStream_t stream) override;
+
+ private:
+ cv::cuda::GpuMat temp_;
+};
+
+}
+}
+
+#endif // _FTL_FILTERS_COLOURS_HPP_
diff --git a/components/filters/include/ftl/filters/filter.hpp b/components/filters/include/ftl/filters/filter.hpp
index d11ba08e4..f302aaa2f 100644
--- a/components/filters/include/ftl/filters/filter.hpp
+++ b/components/filters/include/ftl/filters/filter.hpp
@@ -1,4 +1,5 @@
#ifndef _FTL_FILTERS_FILTER_HPP_
+#define _FTL_FILTERS_FILTER_HPP_
#include <list>
#include <ftl/configurable.hpp>
diff --git a/components/filters/src/colours.cpp b/components/filters/src/colours.cpp
new file mode 100644
index 000000000..8427ac6f7
--- /dev/null
+++ b/components/filters/src/colours.cpp
@@ -0,0 +1,24 @@
+#include <ftl/filters/colours.hpp>
+
+using ftl::filters::ColourChannels;
+using ftl::codecs::Channel;
+
+ColourChannels::ColourChannels(nlohmann::json &config) : ftl::Filter(config) {
+
+}
+
+ColourChannels::~ColourChannels() {
+
+}
+
+void ColourChannels::filter(ftl::rgbd::Frame &f, ftl::rgbd::Source *s, cudaStream_t stream) {
+ // Convert colour from BGR to BGRA if needed
+ if (f.get<cv::cuda::GpuMat>(Channel::Colour).type() == CV_8UC3) {
+ //cv::cuda::Stream cvstream = cv::cuda::StreamAccessor::wrapStream(stream);
+ // Convert to 4 channel colour
+ auto &col = f.get<cv::cuda::GpuMat>(Channel::Colour);
+ temp_.create(col.size(), CV_8UC4);
+ cv::cuda::swap(col, temp_);
+ cv::cuda::cvtColor(temp_,col, cv::COLOR_BGR2BGRA, 0);
+ }
+}
diff --git a/components/filters/src/smoothing.cu b/components/filters/src/smoothing.cu
index d7d2a8a3f..7eff77d96 100644
--- a/components/filters/src/smoothing.cu
+++ b/components/filters/src/smoothing.cu
@@ -29,6 +29,7 @@ using ftl::cuda::TextureObject;
float contrib = 0.0f;
float d0 = depth_in.tex2D(x, y);
+ depth_out(x,y) = d0;
if (d0 < camera.minDepth || d0 > camera.maxDepth) return;
float3 X = camera.screenToCam((int)(x),(int)(y),d0);
--
GitLab