more refactoring: disparity class use new frame class

components/rgbd-sources/include/ftl/rgbd/detail/source.hpp

@@ -4,36 +4,13 @@
 #include <Eigen/Eigen>
 #include <opencv2/opencv.hpp>
 #include <ftl/rgbd/camera.hpp>
+#include <ftl/rgbd/frame.hpp>
 
 namespace ftl{
 namespace rgbd {
 
 class Source;
 
-// TODO:	frame.hpp has to know the exact amount of channels
-//			(remove hardcoded value by providing exact value elsewhere).
-//			Possibly move channels to frame.hpp?
-
-typedef unsigned int channel_t;
-
-static const channel_t kChanNone = 0;
-static const channel_t kChanLeft = 0x0001;
-static const channel_t kChanDepth = 0x0002;
-static const channel_t kChanRight = 0x0004;
-static const channel_t kChanDisparity = 0x0008;
-static const channel_t kChanDeviation = 0x0010;
-static const channel_t kChanNormals = 0x0020;
-static const channel_t kChanConfidence = 0x0040;
-static const channel_t kChanFlow = 0x0080;
-static const channel_t kChanEnergy = 0x0100;
-
-static const channel_t kChanOverlay1 = 0x1000;
-
-inline bool isFloatChannel(ftl::rgbd::channel_t chan) {
-	return (chan == ftl::rgbd::kChanDepth || chan == ftl::rgbd::kChanEnergy);
-}
-
-
 typedef unsigned int capability_t;
 
 static const capability_t kCapMovable	= 0x0001;	// A movable virtual cam

components/rgbd-sources/include/ftl/rgbd/frame.hpp

 #pragma once
+#ifndef _FTL_RGBD_FRAME_HPP_
+#define _FTL_RGBD_FRAME_HPP_
 
-#include <ftl/rgbd/detail/source.hpp>
 #include <ftl/configuration.hpp>
 #include <opencv2/core.hpp>
+#include <opencv2/core/cuda.hpp>
 
 namespace ftl {
 namespace rgbd {
 
+typedef unsigned int channel_t;
+
+static const channel_t kChanNone = 0;
+static const channel_t kChanLeft = 0x0001;
+static const channel_t kChanDepth = 0x0002;
+static const channel_t kChanRight = 0x0004;
+static const channel_t kChanDisparity = 0x0008;
+static const channel_t kChanDeviation = 0x0010;
+static const channel_t kChanNormals = 0x0020;
+static const channel_t kChanConfidence = 0x0040;
+static const channel_t kChanFlow = 0x0080;
+static const channel_t kChanEnergy = 0x0100;
+
+static const channel_t kChanOverlay1 = 0x1000;
+
+// maximum number of available channels
+static const unsigned int n_channels = 11;
+
+inline bool isFloatChannel(ftl::rgbd::channel_t chan) {
+	return (chan == ftl::rgbd::kChanDepth || chan == ftl::rgbd::kChanEnergy);
+}
+
+class Frame;
+
 class Frame {
 public:
-	/* @todo	TODO: REMOVE HARDCODED CHANNEL COUNT!
-	 */
-	Frame() : channels_host_(11), channels_gpu_(11), available_(11, 0) {}
+	Frame() :	channels_host_(n_channels),
+				channels_gpu_(n_channels),
+				available_(n_channels, 0)
+	{}
 
 	/* @brief	Reset all channels without releasing memory.
 	 */
@@ -27,16 +54,27 @@ public:
 		return available_[_channelIdx(channel)];
 	}
 
-	/* @brief	get reference to the channel contents
-	 * @param	channel type
-	 * @returns	const reference to channel data
+	/* @brief	Method to get reference to the channel content
+	 * @param	Channel type
+	 * @returns	Const reference to channel data
 	 * 
-	 * Methods automatically copy between host/gpu if the data is only available
-	 * in the other. Results are cached. Result is valid only if hasChannel() is
-	 * true.
+	 * Result is valid only if hasChannel() is true. Host/Gpu transfer is
+	 * performed, if necessary, but only once unless channel contents is
+	 * 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);
+
+
+	/* @brief	Method to set/modify channel content
+	 * @param	Channel type
+	 * @returns	Reference to channel data
+	 * 
+	 * Returns non-const reference to channel data. Invalidates other copies of
+	 * the data (host/gpu) for the specified channel, next time getChannel() is
+	 * called a memory transfer may occur.
+	 */
 	template <typename T> T& setChannel(const ftl::rgbd::channel_t& channel);
 
 private:
@@ -70,5 +108,12 @@ private:
 	std::vector<uint> available_;
 };
 
+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::cuda::GpuMat& Frame::setChannel(const ftl::rgbd::channel_t& channel);
+
 }
 }
+
+#endif // _FTL_RGBD_FRAME_HPP_
\ No newline at end of file

components/rgbd-sources/src/algorithms/fixstars_sgm.cpp

@@ -64,9 +64,17 @@ void FixstarsSGM::init(const cv::Size size) {
 	);
 }
 
-void FixstarsSGM::compute(const cv::cuda::GpuMat &l, const cv::cuda::GpuMat &r,
-	cv::cuda::GpuMat &disp, cv::cuda::Stream &stream)
+void FixstarsSGM::compute(ftl::rgbd::Frame &frame, cv::cuda::Stream &stream)
 {
+	const auto &l = frame.getChannel<GpuMat>(ftl::rgbd::kChanLeft);
+	const auto &r = frame.getChannel<GpuMat>(ftl::rgbd::kChanRight);
+	auto &disp = frame.setChannel<GpuMat>(ftl::rgbd::kChanDisparity);
+
+	if (disp.size() != l.size())
+	{
+		disp = GpuMat(l.size(), CV_32FC1);
+	}
+
 	if (l.size() != size_) {
 		// re-use same buffer for l/r
 		cv::cuda::resize(r, l_downscaled_, size_, 0.0, 0.0, cv::INTER_CUBIC, stream);

components/rgbd-sources/src/algorithms/fixstars_sgm.hpp

@@ -30,7 +30,7 @@ namespace ftl {
 		public:
 			explicit FixstarsSGM(nlohmann::json &config);
 
-			void compute(const cv::cuda::GpuMat &l, const cv::cuda::GpuMat &r, cv::cuda::GpuMat &disp, cv::cuda::Stream &stream) override;
+			void compute(ftl::rgbd::Frame &frame, cv::cuda::Stream &stream) override;
 			void setMask(cv::Mat &mask) override;
 
 			/* Factory creator */

components/rgbd-sources/src/disparity.hpp

@@ -8,6 +8,7 @@
 #include <opencv2/opencv.hpp>
 #include <nlohmann/json.hpp>
 #include <ftl/configurable.hpp>
+#include <ftl/rgbd/frame.hpp>
 
 namespace ftl {
 namespace rgbd {
@@ -32,7 +33,15 @@ class Disparity : public ftl::Configurable {
 	 * Pure virtual function representing the actual computation of
 	 * disparity from left and right images to be implemented.
 	 */
-	virtual void compute(const cv::cuda::GpuMat &l, const cv::cuda::GpuMat &r, cv::cuda::GpuMat &disp, cv::cuda::Stream &stream)=0;
+	virtual void compute(Frame &frame, cv::cuda::Stream &stream)=0;
+	virtual void compute(cv::cuda::GpuMat &l, cv::cuda::GpuMat &r, cv::cuda::GpuMat &disp, cv::cuda::Stream &stream)
+	{
+		ftl::rgbd::Frame frame;
+		frame.setChannel<cv::cuda::GpuMat>(kChanLeft) = l;
+		frame.setChannel<cv::cuda::GpuMat>(kChanRight) = r;
+		frame.setChannel<cv::cuda::GpuMat>(kChanDisparity) = disp;
+	}
+
 
 	/**
 	 * Factory registration class.

components/rgbd-sources/src/frame.cpp

@@ -6,7 +6,7 @@ namespace rgbd {
 
 template<> const cv::Mat& Frame::getChannel(const ftl::rgbd::channel_t& channel)
 {
-	auto idx = _channelIdx(channel);
+	size_t idx = _channelIdx(channel);
 	if (!(available_[idx] & mask_host))
 	{
 		if (available_[idx] & mask_gpu)
@@ -21,14 +21,14 @@ template<> const cv::Mat& Frame::getChannel(const ftl::rgbd::channel_t& channel)
 
 template<> cv::Mat& Frame::setChannel(const ftl::rgbd::channel_t& channel)
 {
-	auto idx = _channelIdx(channel);
+	size_t idx = _channelIdx(channel);
 	available_[idx] = mask_host;
 	return channels_host_[idx];
 }
 
 template<> const cv::cuda::GpuMat& Frame::getChannel(const ftl::rgbd::channel_t& channel)
 {
-	auto idx = _channelIdx(channel);
+	size_t idx = _channelIdx(channel);
 	if (!(available_[idx] & mask_gpu))
 	{
 		if (available_[idx] & mask_host)
@@ -43,7 +43,7 @@ template<> const cv::cuda::GpuMat& Frame::getChannel(const ftl::rgbd::channel_t&
 
 template<> cv::cuda::GpuMat& Frame::setChannel(const ftl::rgbd::channel_t& channel)
 {
-	auto idx = _channelIdx(channel);
+	size_t idx = _channelIdx(channel);
 	available_[idx] = mask_gpu;
 	return channels_gpu_[idx];
 }

components/rgbd-sources/src/stereovideo.cpp

@@ -217,16 +217,16 @@ bool StereoVideoSource::compute(int n, int b) {
 	if (left.empty() || right.empty()) return false;
 
 	if (chan == ftl::rgbd::kChanDepth) {
+		disp_->compute(frame, stream_);
+		
+		auto &disp = frame.getChannel<cv::cuda::GpuMat>(ftl::rgbd::kChanDisparity);
 		auto &depth = frame.setChannel<cv::cuda::GpuMat>(ftl::rgbd::kChanDepth);
-		auto &disp = frame.setChannel<cv::cuda::GpuMat>(ftl::rgbd::kChanDisparity);
-
 		if (depth.empty()) depth = cv::cuda::GpuMat(left.size(), CV_32FC1);
-		if (disp.empty()) disp = cv::cuda::GpuMat(left.size(), CV_32FC1);
-		disp_->compute(left, right, disp, stream_);
+
 		ftl::cuda::disparity_to_depth(disp, depth, params_, stream_);
+		
 		left.download(rgb_, stream_);
 		depth.download(depth_, stream_);
-
 		stream_.waitForCompletion();  // TODO:(Nick) Move to getFrames
 	} else if (chan == ftl::rgbd::kChanRight) {
 		left.download(rgb_, stream_);