diff --git a/applications/reconstruct/src/main.cpp b/applications/reconstruct/src/main.cpp
index f3a92c93340de67bbee302a89dae93f01b550bcd..ddb17e42c10b36aa539501647b421aac7badbd21 100644
--- a/applications/reconstruct/src/main.cpp
+++ b/applications/reconstruct/src/main.cpp
@@ -136,7 +136,16 @@ static void run(ftl::Configurable *root) {
net->start();
net->waitConnections();
- // Check paths for an FTL file to load...
+ std::vector<int> sourcecounts;
+
+ // Add sources from the configuration file as a single group.
+ auto configuration_sources = root->getConfig()["sources"];
+ size_t configuration_size = configuration_sources.size();
+ if (configuration_size > 0) {
+ sourcecounts.push_back(configuration_size);
+ }
+
+ // Check paths for FTL files to load.
auto paths = (*root->get<nlohmann::json>("paths"));
for (auto &x : paths.items()) {
std::string path = x.value().get<std::string>();
@@ -162,12 +171,14 @@ static void run(ftl::Configurable *root) {
int N = root->value("N", 100);
// For each stream found, add a source object
- for (int i=0; i<=min(max_stream,N-1); ++i) {
+ int count = min(max_stream+1, N);
+ for (int i=0; i<count; ++i) {
root->getConfig()["sources"].push_back(nlohmann::json{{"uri",std::string("file://") + path + std::string("#") + std::to_string(i)}});
}
+ sourcecounts.push_back(count);
}
}
-
+
// Create a vector of all input RGB-Depth sources
auto sources = ftl::createArray<Source>(root, "sources", net);
@@ -175,7 +186,7 @@ static void run(ftl::Configurable *root) {
LOG(ERROR) << "No sources configured!";
return;
}
-
+
ConfigProxy *configproxy = nullptr;
if (net->numberOfPeers() > 0) {
configproxy = new ConfigProxy(net); // TODO delete
@@ -235,15 +246,15 @@ static void run(ftl::Configurable *root) {
}
}
- ftl::rgbd::FrameSet scene_A; // Output of align process
- ftl::rgbd::FrameSet scene_B; // Input of render process
+ std::vector<ftl::rgbd::FrameSet> scene_A(sourcecounts.size()); // Output of align process
+ std::vector<ftl::rgbd::FrameSet> scene_B(sourcecounts.size()); // Input of render process
//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::VirtualSource *virt = ftl::create<ftl::rgbd::VirtualSource>(root, "virtual");
//root->set("tags", nlohmann::json::array({ root->getID()+"/virtual" }));
- ftl::render::Triangular *splat = ftl::create<ftl::render::Triangular>(root, "renderer", &scene_B);
- ftl::rgbd::Group *group = new ftl::rgbd::Group;
+ ftl::render::Triangular *splat = ftl::create<ftl::render::Triangular>(root, "renderer", &(scene_B[0]));
+ std::vector<ftl::rgbd::Group *> groups;
ftl::ILW *align = ftl::create<ftl::ILW>(root, "merge");
int o = root->value("origin_pose", 0) % sources.size();
@@ -258,7 +269,7 @@ static void run(ftl::Configurable *root) {
//virt->setTimestamp(scene_B.timestamp);
// Do we need to convert Lab to BGR?
if (align->isLabColour()) {
- for (auto &f : scene_B.frames) {
+ for (auto &f : scene_B[0].frames) {
auto &col = f.get<cv::cuda::GpuMat>(Channel::Colour);
cv::cuda::cvtColor(col,col, cv::COLOR_Lab2BGR); // TODO: Add stream
}
@@ -268,28 +279,34 @@ static void run(ftl::Configurable *root) {
});
stream->add(virt);
- for (size_t i=0; i<sources.size(); i++) {
- Source *in = sources[i];
- in->setChannel(Channel::Depth);
- group->addSource(in);
+ size_t cumulative = 0;
+ for (auto c : sourcecounts) {
+ auto group = new ftl::rgbd::Group;
+ for (size_t i=cumulative; i<cumulative+c; i++) {
+ Source *in = sources[i];
+ in->setChannel(Channel::Depth);
+ group->addSource(in);
+ }
+ groups.push_back(group);
+ cumulative += c;
}
// ---- Recording code -----------------------------------------------------
std::ofstream fileout;
ftl::codecs::Writer writer(fileout);
- auto recorder = [&writer,&group](ftl::rgbd::Source *src, const ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet &pkt) {
+ auto recorder = [&writer,&groups](ftl::rgbd::Source *src, const ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet &pkt) {
ftl::codecs::StreamPacket s = spkt;
// Patch stream ID to match order in group
- s.streamID = group->streamID(src);
+ s.streamID = groups[0]->streamID(src);
writer.write(s, pkt);
};
root->set("record", false);
// Allow stream recording
- root->on("record", [&group,&fileout,&writer,&recorder](const ftl::config::Event &e) {
+ root->on("record", [&groups,&fileout,&writer,&recorder](const ftl::config::Event &e) {
if (e.entity->value("record", false)) {
char timestamp[18];
std::time_t t=std::time(NULL);
@@ -297,17 +314,17 @@ static void run(ftl::Configurable *root) {
fileout.open(std::string(timestamp) + ".ftl");
writer.begin();
- group->addRawCallback(std::function(recorder));
+ groups[0]->addRawCallback(std::function(recorder));
// TODO: Write pose+calibration+config packets
- auto sources = group->sources();
+ auto sources = groups[0]->sources();
for (size_t i=0; i<sources.size(); ++i) {
//writeSourceProperties(writer, i, sources[i]);
sources[i]->inject(Channel::Calibration, sources[i]->parameters(), Channel::Left, sources[i]->getCapabilities());
sources[i]->inject(sources[i]->getPose());
}
} else {
- group->removeRawCallback(recorder);
+ groups[0]->removeRawCallback(recorder);
writer.end();
fileout.close();
}
@@ -338,43 +355,45 @@ static void run(ftl::Configurable *root) {
pipeline1->append<ftl::operators::MultiViewMLS>("mvmls");
// Alignment
+ size_t size = groups.size();
+ for (size_t i = 0; i < size; ++i) {
+ groups[i]->setLatency(4);
+ groups[i]->setName("ReconGroup-" + std::to_string(i));
+ groups[i]->sync([splat,virt,&busy,&slave,&scene_A,&scene_B,&align,controls,pipeline1,i](ftl::rgbd::FrameSet &fs) -> bool {
+ //cudaSetDevice(scene->getCUDADevice());
- group->setLatency(4);
- group->setName("ReconGroup");
- group->sync([splat,virt,&busy,&slave,&scene_A,&scene_B,&align,controls,pipeline1](ftl::rgbd::FrameSet &fs) -> bool {
- //cudaSetDevice(scene->getCUDADevice());
-
- //if (slave.isPaused()) return true;
- if (controls->value("paused", false)) return true;
-
- if (busy) {
- LOG(INFO) << "Group frameset dropped: " << fs.timestamp;
- return true;
- }
- busy = true;
+ //if (slave.isPaused()) return true;
+ if (controls->value("paused", false)) return true;
+
+ if (busy) {
+ LOG(INFO) << "Group frameset dropped: " << fs.timestamp;
+ return true;
+ }
+ busy = true;
- // Swap the entire frameset to allow rapid return
- fs.swapTo(scene_A);
+ // Swap the entire frameset to allow rapid return
+ fs.swapTo(scene_A[i]);
- ftl::pool.push([&scene_B,&scene_A,&busy,&slave,&align, pipeline1](int id) {
- //cudaSetDevice(scene->getCUDADevice());
- // TODO: Release frameset here...
- //cudaSafeCall(cudaStreamSynchronize(scene->getIntegrationStream()));
+ ftl::pool.push([&scene_B,&scene_A,&busy,&slave,&align,pipeline1,i](int id) {
+ //cudaSetDevice(scene->getCUDADevice());
+ // TODO: Release frameset here...
+ //cudaSafeCall(cudaStreamSynchronize(scene->getIntegrationStream()));
- UNIQUE_LOCK(scene_A.mtx, lk);
+ UNIQUE_LOCK(scene_A[i].mtx, lk);
- pipeline1->apply(scene_A, scene_A, 0);
- align->process(scene_A);
+ pipeline1->apply(scene_A[i], scene_A[i], 0);
+ align->process(scene_A[i]);
- // TODO: To use second GPU, could do a download, swap, device change,
- // then upload to other device. Or some direct device-2-device copy.
- scene_A.swapTo(scene_B);
- LOG(INFO) << "Align complete... " << scene_A.timestamp;
- busy = false;
+ // TODO: To use second GPU, could do a download, swap, device change,
+ // then upload to other device. Or some direct device-2-device copy.
+ scene_A[i].swapTo(scene_B[i]);
+ LOG(INFO) << "Align complete... " << scene_A[i].timestamp;
+ busy = false;
+ });
+ return true;
});
- return true;
- });
+ }
LOG(INFO) << "Start timer";
ftl::timer::start(true);
@@ -394,7 +413,9 @@ static void run(ftl::Configurable *root) {
delete stream;
delete virt;
delete net;
- delete group;
+ for (auto g : groups) {
+ delete g;
+ }
ftl::config::cleanup(); // Remove any last configurable objects.
LOG(INFO) << "Done.";
diff --git a/components/common/cpp/src/configuration.cpp b/components/common/cpp/src/configuration.cpp
index aea0f1b209019332334a8530594d6ba1a84e4587..12ca9163d2c05ef23bfc6ca74c8345204f7bf60d 100644
--- a/components/common/cpp/src/configuration.cpp
+++ b/components/common/cpp/src/configuration.cpp
@@ -581,11 +581,11 @@ Configurable *ftl::config::configure(int argc, char **argv, const std::string &r
// Process Arguments
auto options = ftl::config::read_options(&argv, &argc);
- vector<string> paths;
+ vector<string> paths(argc);
while (argc-- > 0) {
- paths.push_back(argv[0]);
+ paths[argc] = argv[argc];
}
-
+
if (!findConfiguration(options["config"], paths)) {
LOG(FATAL) << "Could not find any configuration!";
}