From 7da1655bc203bfe746f7f78622a6deab226f6085 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Fri, 28 Jun 2019 19:31:31 +0300
Subject: [PATCH] Code tidy
---
applications/reconstruct/src/main.cpp | 112 +++++---------------------
1 file changed, 22 insertions(+), 90 deletions(-)
diff --git a/applications/reconstruct/src/main.cpp b/applications/reconstruct/src/main.cpp
index cfd8be782..1f0471454 100644
--- a/applications/reconstruct/src/main.cpp
+++ b/applications/reconstruct/src/main.cpp
@@ -15,40 +15,21 @@
#include <ftl/rgbd/streamer.hpp>
#include <ftl/slave.hpp>
-// #include <zlib.h>
-// #include <lz4.h>
-
#include <string>
#include <vector>
#include <thread>
#include <chrono>
-#include <mutex>
#include <opencv2/opencv.hpp>
#include <ftl/net/universe.hpp>
-#include <ftl/rgbd_display.hpp>
-#include <nlohmann/json.hpp>
-
-#include <opencv2/imgproc.hpp>
-#include <opencv2/imgcodecs.hpp>
-#include <opencv2/highgui.hpp>
-#include <opencv2/core/utility.hpp>
-#include <ftl/utility/opencv_to_pcl.hpp>
#include <ftl/registration.hpp>
#ifdef WIN32
#pragma comment(lib, "Rpcrt4.lib")
#endif
-#ifdef HAVE_PCL
-#include <pcl/point_cloud.h>
-#include <pcl/common/transforms.h>
-#include <pcl/filters/uniform_sampling.h>
-#endif
-
using ftl::net::Universe;
-using ftl::rgbd::Display;
using std::string;
using std::vector;
using ftl::rgbd::Source;
@@ -57,22 +38,14 @@ using ftl::config::json_t;
using json = nlohmann::json;
using std::this_thread::sleep_for;
using std::chrono::milliseconds;
-using std::mutex;
-using std::unique_lock;
+//using std::mutex;
+//using std::unique_lock;
-using std::vector;
-
-using cv::Mat;
+//using cv::Mat;
using ftl::registration::loadTransformations;
using ftl::registration::saveTransformations;
-struct Cameras {
- Source *source;
- DepthCameraData gpu;
- DepthCameraParams params;
-};
-
static void run(ftl::Configurable *root) {
Universe *net = ftl::create<Universe>(root, "net");
ftl::ctrl::Slave slave(net, root);
@@ -80,56 +53,24 @@ static void run(ftl::Configurable *root) {
net->start();
net->waitConnections();
- std::vector<Cameras> inputs;
- auto sources = ftl::createArray<Source>(root, "sources", net); //root->get<vector<json_t>>("sources");
+ // Create a vector of all input RGB-Depth sources
+ auto sources = ftl::createArray<Source>(root, "sources", net);
if (sources.size() == 0) {
LOG(ERROR) << "No sources configured!";
return;
}
- // TODO move this block in its own method and add automated tests
- // for error cases
-
- std::optional<json_t> merge = root->get<json_t>("merge");
- if (!merge) {
- LOG(WARNING) << "Input merging not configured, using only first input in configuration";
- sources = { sources[0] };
- sources[0]->setPose(Eigen::Matrix4d::Identity());
- }
-
+ // Must find pose for each source...
if (sources.size() > 1) {
std::map<std::string, Eigen::Matrix4d> transformations;
- /*if ((*merge)["register"]) {
- LOG(INFO) << "Registration requested";
-
- ftl::registration::Registration *reg = ftl::registration::ChessboardRegistration::create(*merge);
- for (auto &input : inputs) {
- while(!input.source->isReady()) { std::this_thread::sleep_for(std::chrono::milliseconds(50)); }
- reg->addSource(input.source);
- }
-
- reg->run();
- if (reg->findTransformations(transformations)) {
- if (!saveTransformations(string(FTL_LOCAL_CONFIG_ROOT) + "/registration.json", transformations)) {
- LOG(ERROR) << "Error saving new registration";
- };
- }
- else {
- LOG(ERROR) << "Registration failed";
- }
-
- free(reg);
+ if (loadTransformations(string(FTL_LOCAL_CONFIG_ROOT) + "/registration.json", transformations)) {
+ LOG(INFO) << "Loaded camera trasformations from file";
+ }
+ else {
+ LOG(ERROR) << "Error loading camera transformations from file";
}
- else {*/
- if (loadTransformations(string(FTL_LOCAL_CONFIG_ROOT) + "/registration.json", transformations)) {
- LOG(INFO) << "Loaded camera trasformations from file";
- }
- else {
- LOG(ERROR) << "Error loading camera transformations from file";
- }
- //}
for (auto &input : sources) {
string uri = input->getURI();
@@ -146,24 +87,15 @@ static void run(ftl::Configurable *root) {
}
}
- // Displays and Inputs configured
-
- //LOG(INFO) << "Using sources:";
- //for (auto &input : inputs) { LOG(INFO) << " " + (string) input.source->getURI(); }
-
- //ftl::rgbd::Display *display = ftl::create<ftl::rgbd::Display>(root, "display");
+ 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);
auto virtimpl = new ftl::rgbd::VirtualSource(virt);
virt->customImplementation(virtimpl);
-
- ftl::voxhash::SceneRep *scene = ftl::create<ftl::voxhash::SceneRep>(root, "voxelhash");
virtimpl->setScene(scene);
- //display->setSource(virt);
-
- ftl::rgbd::Streamer *stream = ftl::create<ftl::rgbd::Streamer>(root, "stream", net);
stream->add(virt);
- // Also proxy all inputs
+
for (int i=0; i<sources.size(); i++) {
Source *in = sources[i];
stream->add(in);
@@ -173,11 +105,6 @@ static void run(ftl::Configurable *root) {
unsigned char frameCount = 0;
bool paused = false;
- // Keyboard camera controls
- //display->onKey([&paused](int key) {
- // if (key == 32) paused = !paused;
- //});
-
int active = sources.size();
while (ftl::running) {
if (active == 0) {
@@ -188,22 +115,27 @@ static void run(ftl::Configurable *root) {
active = 0;
if (!slave.isPaused()) {
- //net.broadcast("grab"); // To sync cameras
+ // Mark voxels as cleared
scene->nextFrame();
+ // Grab, upload frames and allocate voxel blocks
active = scene->upload();
+
+ // Make sure previous virtual camera frame has finished rendering
stream->wait();
+ // Merge new frames into the voxel structure
scene->integrate();
+
+ // Remove any redundant voxels
scene->garbage();
} else {
active = 1;
}
+ // Start virtual camera rendering and previous frame compression
stream->poll();
- //display->update();
- //sleep_for(milliseconds(10));
}
}
--
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