diff --git a/components/rgbd-sources/include/ftl/rgbd/frame.hpp b/components/rgbd-sources/include/ftl/rgbd/frame.hpp
index a2ec2178987f1d2c0a3ec3a291318f9df34c9f13..aec1825035f7ecfab3daec8d1caea6ab09dd8708 100644
--- a/components/rgbd-sources/include/ftl/rgbd/frame.hpp
+++ b/components/rgbd-sources/include/ftl/rgbd/frame.hpp
@@ -56,6 +56,7 @@ public:
/* @brief Method to get reference to the channel content
* @param Channel type
+ * @param CUDA stream
* @returns Const reference to channel data
*
* Result is valid only if hasChannel() is true. Host/Gpu transfer is
@@ -63,10 +64,9 @@ public:
* changed by calling setChannel(). Return value valid only if
* hasChannel(channel) is true.
*/
-
+ template <typename T> const T& getChannel(const ftl::rgbd::channel_t& channel, cv::cuda::Stream& stream);
template <typename T> const T& getChannel(const ftl::rgbd::channel_t& channel);
-
/* @brief Method to set/modify channel content
* @param Channel type
* @returns Reference to channel data
@@ -113,9 +113,13 @@ private:
std::vector<uint> available_;
};
+template<> const cv::Mat& Frame::getChannel(const ftl::rgbd::channel_t& channel, cv::cuda::Stream& stream);
+template<> const cv::cuda::GpuMat& Frame::getChannel(const ftl::rgbd::channel_t& channel, cv::cuda::Stream& stream);
+
template<> const cv::Mat& Frame::getChannel(const ftl::rgbd::channel_t& channel);
-template<> cv::Mat& Frame::setChannel(const ftl::rgbd::channel_t& channel);
template<> const cv::cuda::GpuMat& Frame::getChannel(const ftl::rgbd::channel_t& channel);
+
+template<> cv::Mat& Frame::setChannel(const ftl::rgbd::channel_t& channel);
template<> cv::cuda::GpuMat& Frame::setChannel(const ftl::rgbd::channel_t& channel);
}
diff --git a/components/rgbd-sources/src/frame.cpp b/components/rgbd-sources/src/frame.cpp
index ea6a94f4f98763dccf57299f606b9b9b53c8f17f..8145280cc83d24347d9bb2fc07a5a9546bbe5dd7 100644
--- a/components/rgbd-sources/src/frame.cpp
+++ b/components/rgbd-sources/src/frame.cpp
@@ -4,14 +4,14 @@
namespace ftl {
namespace rgbd {
-template<> const cv::Mat& Frame::getChannel(const ftl::rgbd::channel_t& channel)
+template<> const cv::Mat& Frame::getChannel(const ftl::rgbd::channel_t& channel, cv::cuda::Stream &stream)
{
size_t idx = _channelIdx(channel);
if (!(available_[idx] & mask_host))
{
if (available_[idx] & mask_gpu)
{
- channels_gpu_[idx].download(channels_host_[idx]);
+ channels_gpu_[idx].download(channels_host_[idx], stream);
available_[idx] |= mask_host;
}
}
@@ -19,6 +19,14 @@ template<> const cv::Mat& Frame::getChannel(const ftl::rgbd::channel_t& channel)
return channels_host_[idx];
}
+template<> const cv::Mat& Frame::getChannel(const ftl::rgbd::channel_t& channel)
+{
+ auto &stream = cv::cuda::Stream::Null();
+ auto &retval = getChannel<cv::Mat>(channel, stream);
+ stream.waitForCompletion();
+ return retval;
+}
+
template<> cv::Mat& Frame::setChannel(const ftl::rgbd::channel_t& channel)
{
size_t idx = _channelIdx(channel);
@@ -26,14 +34,14 @@ template<> cv::Mat& Frame::setChannel(const ftl::rgbd::channel_t& channel)
return channels_host_[idx];
}
-template<> const cv::cuda::GpuMat& Frame::getChannel(const ftl::rgbd::channel_t& channel)
+template<> const cv::cuda::GpuMat& Frame::getChannel(const ftl::rgbd::channel_t& channel, cv::cuda::Stream &stream)
{
size_t idx = _channelIdx(channel);
if (!(available_[idx] & mask_gpu))
{
if (available_[idx] & mask_host)
{
- channels_gpu_[idx].upload(channels_host_[idx]);
+ channels_gpu_[idx].upload(channels_host_[idx], stream);
available_[idx] |= mask_gpu;
}
}
@@ -41,6 +49,14 @@ template<> const cv::cuda::GpuMat& Frame::getChannel(const ftl::rgbd::channel_t&
return channels_gpu_[idx];
}
+template<> const cv::cuda::GpuMat& Frame::getChannel(const ftl::rgbd::channel_t& channel)
+{
+ auto &stream = cv::cuda::Stream::Null();
+ auto &retval = getChannel<cv::cuda::GpuMat>(channel, stream);
+ stream.waitForCompletion();
+ return retval;
+}
+
template<> cv::cuda::GpuMat& Frame::setChannel(const ftl::rgbd::channel_t& channel)
{
size_t idx = _channelIdx(channel);
diff --git a/components/rgbd-sources/src/offilter.cpp b/components/rgbd-sources/src/offilter.cpp
index 913dc5ec506b794d8bc0cd35e35f4a74bbf1cd8e..03db4807a7f9fa045708d3cf17bf32556b7bf5b5 100644
--- a/components/rgbd-sources/src/offilter.cpp
+++ b/components/rgbd-sources/src/offilter.cpp
@@ -16,7 +16,8 @@ template<typename T> static bool inline isValidDisparity(T d) { return (0.0 < d)
OFDisparityFilter::OFDisparityFilter(Size size, int n_frames, float threshold) :
n_(0), n_max_(n_frames), threshold_(threshold), size_(size)
{
- disp_ = Mat::zeros(size, CV_64FC(n_frames));
+
+ disp_ = Mat::zeros(cv::Size(size.width * n_frames, size.height), CV_64FC1);
gray_ = Mat::zeros(size, CV_8UC1);
nvof_ = cv::cuda::NvidiaOpticalFlow_1_0::create(size.width, size.height,
diff --git a/components/rgbd-sources/src/stereovideo.cpp b/components/rgbd-sources/src/stereovideo.cpp
index 5a1ecfdb6a0319dc535e9e50e8ce8f6a102d1876..58ad0d923a6984ae75923bd2665e7db7909c8b54 100644
--- a/components/rgbd-sources/src/stereovideo.cpp
+++ b/components/rgbd-sources/src/stereovideo.cpp
@@ -61,13 +61,11 @@ void StereoVideoSource::init(const string &file)
frames_ = std::vector<Frame>(2);
#ifdef HAVE_OPTFLOW
-/*
- // TODO make optional, can be calculated at later step
+ // TODO could be calculated at later step too if have access to old frames
nvof_ = cv::cuda::NvidiaOpticalFlow_1_0::create(size.width, size.height,
cv::cuda::NvidiaOpticalFlow_1_0::NV_OF_PERF_LEVEL_SLOW,
true, false, false, 0);
-*/
#endif
calib_ = ftl::create<Calibrate>(host_, "calibration", size, stream_);
diff --git a/components/rgbd-sources/src/stereovideo.hpp b/components/rgbd-sources/src/stereovideo.hpp
index cfbe9f5ef77e39ac539452b765255a0f5e9d93e9..2f9fa1831ce3871b115d7452efbdc7aec9a0ec4f 100644
--- a/components/rgbd-sources/src/stereovideo.hpp
+++ b/components/rgbd-sources/src/stereovideo.hpp
@@ -41,6 +41,7 @@ class StereoVideoSource : public detail::Source {
Disparity *disp_;
bool ready_;
+ bool use_optflow_;
cv::cuda::Stream stream_;
cv::cuda::Stream stream2_;
@@ -50,7 +51,7 @@ class StereoVideoSource : public detail::Source {
cv::Mat mask_l_;
#ifdef HAVE_OPTFLOW
-// cv::Ptr<cv::cuda::NvidiaOpticalFlow_1_0> nvof_;
+ cv::Ptr<cv::cuda::NvidiaOpticalFlow_1_0> nvof_;
#endif
void init(const std::string &);