Optionally use Lab colour space

applications/reconstruct/src/ilw/ilw.cpp

@@ -18,6 +18,7 @@ ILW::ILW(nlohmann::json &config) : ftl::Configurable(config) {
     iterations_ = value("iterations", 1);
     motion_rate_ = value("motion_rate", 0.4f);
     motion_window_ = value("motion_window", 3);
+    use_lab_ = value("use_Lab", false);
 
     on("ilw_align", [this](const ftl::config::Event &e) {
         enabled_ = value("ilw_align", true);
@@ -35,6 +36,10 @@ ILW::ILW(nlohmann::json &config) : ftl::Configurable(config) {
         motion_window_ = value("motion_window", 3);
     });
 
+    on("use_Lab", [this](const ftl::config::Event &e) {
+        use_lab_ = value("use_Lab", false);
+    });
+
     flags_ = 0;
     if (value("ignore_bad", false)) flags_ |= ftl::cuda::kILWFlag_IgnoreBad;
     if (value("restrict_z", true)) flags_ |= ftl::cuda::kILWFlag_RestrictZ;
@@ -97,11 +102,13 @@ bool ILW::_phase0(ftl::rgbd::FrameSet &fs, cudaStream_t stream) {
 
         // Convert colour from BGR to BGRA if needed
 		if (f.get<GpuMat>(Channel::Colour).type() == CV_8UC3) {
+            cv::cuda::Stream cvstream = cv::cuda::StreamAccessor::wrapStream(stream);
 			// Convert to 4 channel colour
 			auto &col = f.get<GpuMat>(Channel::Colour);
 			GpuMat tmp(col.size(), CV_8UC4);
 			cv::cuda::swap(col, tmp);
-			cv::cuda::cvtColor(tmp,col, cv::COLOR_BGR2BGRA);
+            if (use_lab_) cv::cuda::cvtColor(tmp,tmp, cv::COLOR_BGR2Lab, 0, cvstream);
+			cv::cuda::cvtColor(tmp,col, cv::COLOR_BGR2BGRA, 0, cvstream);
 		}
 
         f.createTexture<float4>(Channel::EnergyVector, Format<float4>(f.get<GpuMat>(Channel::Colour).size()));

applications/reconstruct/src/ilw/ilw.hpp

@@ -42,6 +42,8 @@ class ILW : public ftl::Configurable {
      */
     bool process(ftl::rgbd::FrameSet &fs, cudaStream_t stream=0);
 
+    inline bool isLabColour() const { return use_lab_; }
+
     private:
     /*
      * Initialise data.
@@ -64,6 +66,7 @@ class ILW : public ftl::Configurable {
     int iterations_;
     float motion_rate_;
     int motion_window_;
+    bool use_lab_;
 };
 
 }

applications/reconstruct/src/main.cpp

@@ -137,8 +137,15 @@ static void run(ftl::Configurable *root) {
 	ftl::ILW *align = ftl::create<ftl::ILW>(root, "merge");
 
 	// Generate virtual camera render when requested by streamer
-	virt->onRender([splat,virt,&scene_B](ftl::rgbd::Frame &out) {
+	virt->onRender([splat,virt,&scene_B,align](ftl::rgbd::Frame &out) {
 		virt->setTimestamp(scene_B.timestamp);
+		// Do we need to convert Lab to BGR?
+		if (align->isLabColour()) {
+			for (auto &f : scene_B.frames) {
+				auto &col = f.get<cv::cuda::GpuMat>(Channel::Colour);
+				cv::cuda::cvtColor(col,col, cv::COLOR_Lab2BGR);
+			}
+		}
 		splat->render(virt, out);
 	});
 	stream->add(virt);