paramter updates

components/operators/include/ftl/operators/disparity.hpp

@@ -24,6 +24,7 @@ class FixstarsSGM : public ftl::operators::Operator {
 	
 	private:
 	bool init();
+	bool updateParameters();
 	
 	sgm::StereoSGM *ssgm_;
 	cv::Size size_;
@@ -72,10 +73,10 @@ class DisparityToDepth : public ftl::operators::Operator {
 /*
  * Optical flow smoothing for depth
  */
-class DisparitySmoothingOF : public ftl::operators::Operator {
+class OpticalFlowTemporalSmoothing : public ftl::operators::Operator {
 	public:
-	explicit DisparitySmoothingOF(ftl::Configurable*);
-	~DisparitySmoothingOF();
+	explicit OpticalFlowTemporalSmoothing(ftl::Configurable*);
+	~OpticalFlowTemporalSmoothing();
 
 	inline Operator::Type type() const override { return Operator::Type::OneToOne; }
 
@@ -84,7 +85,7 @@ class DisparitySmoothingOF : public ftl::operators::Operator {
 	private:
 	bool init();
 
-	const ftl::codecs::Channel channel_ = ftl::codecs::Channel::Depth;
+	const ftl::codecs::Channel channel_ = ftl::codecs::Channel::Disparity;
 	cv::cuda::GpuMat history_;
 	cv::Size size_;
 	int n_max_;

components/operators/src/disparity/fixstars_sgm.cpp

@@ -41,6 +41,39 @@ FixstarsSGM::FixstarsSGM(ftl::Configurable* cfg) :
 		max_disp_ = 256;
 		LOG(WARNING) << "Invalid value for max_disp, using default value (256)";
 	}
+
+	cfg->on("P1", [this, cfg](const ftl::config::Event&) {
+		int P1 = cfg->value("P1", 0);
+		if (P1 <= 0) {
+			LOG(WARNING) << "Invalid value for P1 (" << P1 << ")";
+		}
+		else {
+			P1_ = P1;
+			updateParameters();
+		}
+	});
+
+	cfg->on("P2", [this, cfg](const ftl::config::Event&) {
+		int P2 = cfg->value("P2", 0);
+		if (P2 < P1_) {
+			LOG(WARNING) << "Invalid value for P2 (" << P2 << ")";
+		}
+		else {
+			P2_ = P2;
+			updateParameters();
+		}
+	});
+
+	cfg->on("uniqueness", [this, cfg](const ftl::config::Event&) {
+		double uniqueness = cfg->value("uniqueness", 0.0);
+		if (uniqueness < 0.0 || uniqueness > 1.0) {
+			LOG(WARNING) << "Invalid value for uniqueness (" << uniqueness << ")";
+		}
+		else {
+			uniqueness_ = uniqueness;
+			updateParameters();
+		}
+	});
 }
 
 FixstarsSGM::~FixstarsSGM() {
@@ -65,6 +98,12 @@ bool FixstarsSGM::init() {
 	return true;
 }
 
+bool FixstarsSGM::updateParameters() {
+	if (ssgm_ == nullptr) { return false; }
+	return this->ssgm_->updateParameters(
+		sgm::StereoSGM::Parameters(P1_, P2_, uniqueness_, true));
+}
+
 bool FixstarsSGM::apply(Frame &in, Frame &out, Source *src, cudaStream_t stream) {
 	if (!in.hasChannel(Channel::Left) || !in.hasChannel(Channel::Right)) {
 		return false;

components/operators/src/disparity/optflow_smoothing.cpp

@@ -6,7 +6,7 @@
 
 #ifdef HAVE_OPTFLOW
 
-using ftl::operators::DisparitySmoothingOF;
+using ftl::operators::OpticalFlowTemporalSmoothing;
 
 using ftl::codecs::Channel;
 using ftl::rgbd::Frame;
@@ -19,14 +19,14 @@ using std::vector;
 
 template<typename T> static bool inline isValidDisparity(T d) { return (0.0 < d) && (d < 256.0); } // TODO
 
-DisparitySmoothingOF::DisparitySmoothingOF(ftl::Configurable* cfg) :
+OpticalFlowTemporalSmoothing::OpticalFlowTemporalSmoothing(ftl::Configurable* cfg) :
 		ftl::operators::Operator(cfg) {
 	
 	size_ = Size(0, 0);
 
 	n_max_ = cfg->value("history_size", 7);
 	if (n_max_ < 1) {
-		LOG(WARNING) << "History length must be larger than 0";
+		LOG(WARNING) << "History length must be larger than 0, using default (0)";
 		n_max_ = 7;
 	}
 
@@ -66,7 +66,7 @@ DisparitySmoothingOF::DisparitySmoothingOF(ftl::Configurable* cfg) :
 	});
 }
 
-DisparitySmoothingOF::~DisparitySmoothingOF() {}
+OpticalFlowTemporalSmoothing::~OpticalFlowTemporalSmoothing() {}
 
 bool DisparitySmoothingOF::init() {
 	if (size_ == Size(0, 0)) { return false; }

components/rgbd-sources/src/sources/stereovideo/stereovideo.cpp

@@ -126,8 +126,8 @@ void StereoVideoSource::init(const string &file) {
 
 	pipeline_depth_ = ftl::config::create<ftl::operators::Graph>(host_, "disparity");
 	pipeline_depth_->append<ftl::operators::FixstarsSGM>("algorithm");
+	pipeline_depth_->append<ftl::operators::OpticalFlowTemporalSmoothing>("optflow_filter");
 	pipeline_depth_->append<ftl::operators::DisparityBilateralFilter>("bilateral_filter");
-	pipeline_depth_->append<ftl::operators::DisparitySmoothingOF>("optflow_filter");
 	pipeline_depth_->append<ftl::operators::DisparityToDepth>("calculate_depth");
 
 	LOG(INFO) << "StereoVideo source ready...";