optical flow in stereovideo

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

@@ -21,11 +21,13 @@ 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 kChanLeftGray = 0x0200;
+static const channel_t kChanRightGray = 0x0400;
 
 static const channel_t kChanOverlay1 = 0x1000;
 
 // maximum number of available channels
-static const unsigned int n_channels = 11;
+static const unsigned int n_channels = 13;
 
 inline bool isFloatChannel(ftl::rgbd::channel_t chan) {
 	return (chan == ftl::rgbd::kChanDepth || chan == ftl::rgbd::kChanEnergy);

components/rgbd-sources/src/stereovideo.cpp

@@ -62,7 +62,9 @@ void StereoVideoSource::init(const string &file)
 
 #ifdef HAVE_OPTFLOW
 	// TODO could be calculated at later step too if have access to old frames
-	
+	use_optflow_ = host_->value("use_optflow", false);
+	LOG(INFO) << "Using optical flow: " << (use_optflow_ ? "true" : "false");
+
 	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);
@@ -178,22 +180,23 @@ bool StereoVideoSource::retrieve() {
 	lsrc_->get(left, right, calib_, stream2_);
 
 #ifdef HAVE_OPTFLOW
-/*
-	if (nvof_)
+	if (use_optflow_)
 	{
-		cv::cuda::cvtColor(frame.left, frame.left_gray, cv::COLOR_BGR2GRAY, 0, stream2_);
-		cv::cuda::cvtColor(frame.right, frame.right_gray, cv::COLOR_BGR2GRAY, 0, stream2_);
-		frame.left_gray_ready = frame.right_gray_ready = true;
+		auto &left_gray = frame.setChannel<cv::cuda::GpuMat>(kChanLeftGray);
+		auto &right_gray = frame.setChannel<cv::cuda::GpuMat>(kChanRightGray);
+
+		cv::cuda::cvtColor(left, left_gray, cv::COLOR_BGR2GRAY, 0, stream2_);
+		cv::cuda::cvtColor(right, right_gray, cv::COLOR_BGR2GRAY, 0, stream2_);
 
-		if (frames_[1].left_gray_ready)
+		if (frames_[1].hasChannel(kChanLeftGray))
 		{
-			nvof_->calc(frame.left_gray, frames_[1].left_gray, frame.optflow_, stream2_);
+			auto &left_gray_prev = frame.getChannel<cv::cuda::GpuMat>(kChanLeftGray, stream2_);
+			auto &optflow = frame.setChannel<cv::cuda::GpuMat>(kChanFlow);
+			nvof_->calc(left_gray, left_gray_prev, optflow_, stream2_);
 			// nvof_->upSampler() isn't implemented with CUDA
-			cv::cuda::resize(frame.optflow_, frame.optflow, frame.left.size(), 0.0, 0.0, cv::INTER_NEAREST, stream2_);
-			frame.optflow_ready = true;
+			cv::cuda::resize(optflow_, optflow, left.size(), 0.0, 0.0, cv::INTER_NEAREST, stream2_);
 		}
 	}
-*/
 #endif
 
 	stream2_.waitForCompletion();

components/rgbd-sources/src/stereovideo.hpp

@@ -52,6 +52,7 @@ class StereoVideoSource : public detail::Source {
 
 #ifdef HAVE_OPTFLOW
 	cv::Ptr<cv::cuda::NvidiaOpticalFlow_1_0> nvof_;
+	cv::cuda::GpuMat optflow_;
 #endif
 
 	void init(const std::string &);