From a0c13794ea739b3460d6cf04499a953da534ad4b Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Mon, 30 Sep 2019 12:52:47 +0300
Subject: [PATCH] Allow motion rate control
---
applications/reconstruct/src/ilw/ilw.cpp | 7 ++++++-
applications/reconstruct/src/ilw/ilw.hpp | 1 +
2 files changed, 7 insertions(+), 1 deletion(-)
diff --git a/applications/reconstruct/src/ilw/ilw.cpp b/applications/reconstruct/src/ilw/ilw.cpp
index 973a162e6..1148762a3 100644
--- a/applications/reconstruct/src/ilw/ilw.cpp
+++ b/applications/reconstruct/src/ilw/ilw.cpp
@@ -16,6 +16,7 @@ using cv::cuda::GpuMat;
ILW::ILW(nlohmann::json &config) : ftl::Configurable(config) {
enabled_ = value("ilw_align", true);
iterations_ = value("iterations", 1);
+ motion_rate_ = value("motion_rate", 0.4f);
on("ilw_align", [this](const ftl::config::Event &e) {
enabled_ = value("ilw_align", true);
@@ -25,6 +26,10 @@ ILW::ILW(nlohmann::json &config) : ftl::Configurable(config) {
iterations_ = value("iterations", 1);
});
+ on("motion_rate", [this](const ftl::config::Event &e) {
+ motion_rate_ = value("motion_rate", 0.4f);
+ });
+
flags_ = 0;
if (value("ignore_bad", false)) flags_ |= ftl::cuda::kILWFlag_IgnoreBad;
if (value("restrict_z", true)) flags_ |= ftl::cuda::kILWFlag_RestrictZ;
@@ -58,7 +63,7 @@ bool ILW::process(ftl::rgbd::FrameSet &fs, cudaStream_t stream) {
}
_phase1(fs, win, stream);
//for (int j=0; j<3; ++j) {
- _phase2(fs, 0.4f, stream);
+ _phase2(fs, motion_rate_, stream);
//}
// TODO: Break if no time left
diff --git a/applications/reconstruct/src/ilw/ilw.hpp b/applications/reconstruct/src/ilw/ilw.hpp
index 36c2cbbc0..ce3b09795 100644
--- a/applications/reconstruct/src/ilw/ilw.hpp
+++ b/applications/reconstruct/src/ilw/ilw.hpp
@@ -62,6 +62,7 @@ class ILW : public ftl::Configurable {
bool enabled_;
unsigned int flags_;
int iterations_;
+ float motion_rate_;
};
}
--
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