From a854f96fd4a05db495d7ec068e6fbaa532387e9a Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Thu, 12 Dec 2019 13:02:31 +0200
Subject: [PATCH] Add highres channel
---
applications/reconstruct/src/reconstruction.cpp | 4 ++--
components/operators/src/colours.cpp | 13 +++++++++++--
components/renderers/cpp/src/tri_render.cpp | 6 +++++-
3 files changed, 18 insertions(+), 5 deletions(-)
diff --git a/applications/reconstruct/src/reconstruction.cpp b/applications/reconstruct/src/reconstruction.cpp
index be1f6cd8b..8a868e56e 100644
--- a/applications/reconstruct/src/reconstruction.cpp
+++ b/applications/reconstruct/src/reconstruction.cpp
@@ -61,7 +61,7 @@ Reconstruction::Reconstruction(nlohmann::json &config, const std::string name) :
ftl::pool.push([this](int id) {
UNIQUE_LOCK(fs_align_.mtx, lk);
- rgb_.resize(fs_align_.frames.size());
+ /*rgb_.resize(fs_align_.frames.size());
for (size_t i = 0; i < rgb_.size(); i++) {
auto &depth = fs_align_.frames[i].get<cv::cuda::GpuMat>(ftl::codecs::Channel::Depth);
auto &color = fs_align_.frames[i].get<cv::cuda::GpuMat>(ftl::codecs::Channel::Colour);
@@ -70,7 +70,7 @@ Reconstruction::Reconstruction(nlohmann::json &config, const std::string name) :
std::swap(rgb_[i], color);
cv::cuda::resize(rgb_[i], color, depth.size(), 0.0, 0.0, cv::INTER_LINEAR);
}
- }
+ }*/
pipeline_->apply(fs_align_, fs_align_, 0);
diff --git a/components/operators/src/colours.cpp b/components/operators/src/colours.cpp
index 9c6fff8b8..6a49f6ede 100644
--- a/components/operators/src/colours.cpp
+++ b/components/operators/src/colours.cpp
@@ -14,11 +14,12 @@ ColourChannels::~ColourChannels() {
bool ColourChannels::apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, ftl::rgbd::Source *s, cudaStream_t stream) {
auto cvstream = cv::cuda::StreamAccessor::wrapStream(stream);
+ auto &col = in.get<cv::cuda::GpuMat>(Channel::Colour);
+
// Convert colour from BGR to BGRA if needed
- if (in.get<cv::cuda::GpuMat>(Channel::Colour).type() == CV_8UC3) {
+ if (col.type() == CV_8UC3) {
//cv::cuda::Stream cvstream = cv::cuda::StreamAccessor::wrapStream(stream);
// Convert to 4 channel colour
- auto &col = in.get<cv::cuda::GpuMat>(Channel::Colour);
temp_.create(col.size(), CV_8UC4);
cv::cuda::swap(col, temp_);
cv::cuda::cvtColor(temp_,col, cv::COLOR_BGR2BGRA, 0, cvstream);
@@ -27,5 +28,13 @@ bool ColourChannels::apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, ftl::rgb
//in.resetTexture(Channel::Colour);
in.createTexture<uchar4>(Channel::Colour, true);
+ auto &depth = in.get<cv::cuda::GpuMat>(Channel::Depth);
+ if (depth.size() != col.size()) {
+ auto &col2 = in.create<cv::cuda::GpuMat>(Channel::ColourHighRes);
+ cv::cuda::resize(col, col2, depth.size(), 0.0, 0.0, cv::INTER_LINEAR, cvstream);
+ in.createTexture<uchar4>(Channel::ColourHighRes, true);
+ in.swapChannels(Channel::Colour, Channel::ColourHighRes);
+ }
+
return true;
}
diff --git a/components/renderers/cpp/src/tri_render.cpp b/components/renderers/cpp/src/tri_render.cpp
index 06d4fe262..42693dd3f 100644
--- a/components/renderers/cpp/src/tri_render.cpp
+++ b/components/renderers/cpp/src/tri_render.cpp
@@ -607,7 +607,11 @@ bool Triangular::render(ftl::rgbd::VirtualSource *src, ftl::rgbd::Frame &out, co
}
// Reprojection of colours onto surface
- _renderChannel(out, Channel::Colour, Channel::Colour, t, stream_);
+ auto main_channel = (scene_->frames[0].hasChannel(Channel::ColourHighRes)) ? Channel::ColourHighRes : Channel::Colour;
+ //if (scene_->frames[0].hasChannel(Channel::ColourHighRes)) {
+ // LOG(INFO) << "HAVE HIGH RES: " << scene_->frames[0].get<GpuMat>(Channel::ColourHighRes).rows;
+ //}
+ _renderChannel(out, main_channel, Channel::Colour, t, stream_);
if (value("cool_effect", false)) {
auto pose = params.m_viewMatrixInverse.getFloat3x3();
--
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