From ac9ca2ba83783c2f51de0e644f61590a472d9296 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Sun, 7 Jun 2020 12:22:25 +0300
Subject: [PATCH] Docs and tidy
---
components/rgbd-sources/src/basesource.hpp | 21 +++++++++++--
components/rgbd-sources/src/camera.cpp | 22 ++++++++++++++
components/rgbd-sources/src/group.cpp | 33 ++-------------------
components/rgbd-sources/src/source.cpp | 34 +---------------------
4 files changed, 44 insertions(+), 66 deletions(-)
diff --git a/components/rgbd-sources/src/basesource.hpp b/components/rgbd-sources/src/basesource.hpp
index 80cda5be6..e3996d8af 100644
--- a/components/rgbd-sources/src/basesource.hpp
+++ b/components/rgbd-sources/src/basesource.hpp
@@ -3,7 +3,6 @@
#include <Eigen/Eigen>
#include <ftl/cuda_util.hpp>
-//#include <opencv2/opencv.hpp>
#include <ftl/rgbd/camera.hpp>
#include <ftl/rgbd/frame.hpp>
@@ -12,8 +11,20 @@ namespace rgbd {
class Source;
+/**
+ * Base class for source device implementations. Each device provides a capture
+ * and retrieve functionality. `capture` is called with a high resolution timer
+ * at a precise timestamp to ensure synchronisation. In another thread the
+ * `retrieve` function is called after `capture` to download any data into the
+ * provided frame object. The frame object is then dispatched for further
+ * processing, such as disparity calculation, or is discarded if a previous
+ * processing dispatch is still on going.
+ *
+ * @see ftl::rgbd::Group
+ */
class BaseSourceImpl {
public:
+ // TODO: Remove this
friend class ftl::rgbd::Source;
public:
@@ -21,12 +32,15 @@ class BaseSourceImpl {
virtual ~BaseSourceImpl() {}
/**
- * Perform hardware data capture. This should be low latency.
+ * Perform hardware data capture. This should be low latency (<1ms).
*/
virtual bool capture(int64_t ts)=0;
/**
* Perform slow IO operation to get the data into the given frame object.
+ * This can take up to 1 fps (eg. ~40ms), but should be faster. It occurs
+ * in a different thread to the `capture` call but will never occur at the
+ * same time as `capture`. If `capture` fails then this will not be called.
*/
virtual bool retrieve(ftl::rgbd::Frame &frame)=0;
@@ -35,6 +49,7 @@ class BaseSourceImpl {
*/
virtual bool isReady() { return false; };
+ // These should be accessed via the state object in a frame.
[[deprecated]] virtual void setPose(const Eigen::Matrix4d &pose) { state_.setPose(pose); };
[[deprecated]] virtual Camera parameters(ftl::codecs::Channel) { return params_; };
@@ -43,7 +58,7 @@ class BaseSourceImpl {
protected:
ftl::rgbd::FrameState state_;
- capability_t capabilities_;
+ capability_t capabilities_; // To be deprecated
ftl::rgbd::Source *host_;
ftl::rgbd::Camera ¶ms_;
};
diff --git a/components/rgbd-sources/src/camera.cpp b/components/rgbd-sources/src/camera.cpp
index 96ac0be4c..b4631a69d 100644
--- a/components/rgbd-sources/src/camera.cpp
+++ b/components/rgbd-sources/src/camera.cpp
@@ -25,3 +25,25 @@ cv::Mat Camera::getCameraMatrix() const {
K.at<double>(1,2) = -cy;
return K;
}
+
+/*
+ * Scale camera parameters to match resolution.
+ */
+Camera Camera::scaled(int width, int height) const {
+ const auto &cam = *this;
+ float scaleX = (float)width / (float)cam.width;
+ float scaleY = (float)height / (float)cam.height;
+
+ //CHECK( abs(scaleX - scaleY) < 0.00000001f );
+
+ Camera newcam = cam;
+ newcam.width = width;
+ newcam.height = height;
+ newcam.fx *= scaleX;
+ newcam.fy *= scaleY;
+ newcam.cx *= scaleX;
+ newcam.cy *= scaleY;
+ newcam.doffs *= scaleX;
+
+ return newcam;
+}
diff --git a/components/rgbd-sources/src/group.cpp b/components/rgbd-sources/src/group.cpp
index 4a8230c68..f1bc55a62 100644
--- a/components/rgbd-sources/src/group.cpp
+++ b/components/rgbd-sources/src/group.cpp
@@ -97,10 +97,6 @@ int Group::streamID(const ftl::rgbd::Source *s) const {
}
void Group::onFrameSet(const ftl::rgbd::VideoCallback &cb) {
- //if (latency_ == 0) {
- // callback_ = cb;
- //}
-
// 1. Capture camera frames with high precision
cap_id_ = ftl::timer::add(ftl::timer::kTimerHighPrecision, [this](int64_t ts) {
skip_ = jobs_ != 0; // Last frame not finished so skip all steps
@@ -108,42 +104,25 @@ void Group::onFrameSet(const ftl::rgbd::VideoCallback &cb) {
if (skip_) return true;
for (auto s : sources_) {
- s->capture(ts);
+ skip_ &= s->capture(ts);
}
return true;
});
- // 2. After capture, swap any internal source double buffers
- /*swap_id_ = ftl::timer::add(ftl::timer::kTimerSwap, [this](int64_t ts) {
- if (skip_) return true;
- for (auto s : sources_) {
- s->swap();
- }
- return true;
- });*/
-
- // 3. Issue IO retrieve ad compute jobs before finding a valid
+ // 2. Issue IO retrieve ad compute jobs before finding a valid
// frame at required latency to pass to callback.
main_id_ = ftl::timer::add(ftl::timer::kTimerMain, [this,cb](int64_t ts) {
- //if (skip_) LOG(ERROR) << "SKIPPING TIMER JOB " << ts;
if (skip_) return true;
- //jobs_++;
for (auto s : sources_) {
- jobs_++; // += 2;
+ jobs_++;
ftl::pool.push([this,s,ts](int id) {
_retrieveJob(s);
--jobs_;
- //if (jobs_ == 0) LOG(INFO) << "LAST JOB = Retrieve";
_dispatchJob(s, ts);
});
- /*ftl::pool.push([this,s](int id) {
- _computeJob(s);
- //if (jobs_ == 0) LOG(INFO) << "LAST JOB = Compute";
- --jobs_;
- });*/
}
return true;
});
@@ -154,12 +133,6 @@ void Group::onFrameSet(const ftl::rgbd::VideoCallback &cb) {
});
}
-/*void Group::removeRawCallback(const std::function<void(ftl::rgbd::Source*, const ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet &pkt)> &f) {
- for (auto s : sources_) {
- s->removeRawCallback(f);
- }
-}*/
-
void Group::setName(const std::string &name) {
name_ = name;
builder_.setName(name);
diff --git a/components/rgbd-sources/src/source.cpp b/components/rgbd-sources/src/source.cpp
index ed3b856c6..b7ff97b2f 100644
--- a/components/rgbd-sources/src/source.cpp
+++ b/components/rgbd-sources/src/source.cpp
@@ -133,7 +133,7 @@ static ftl::rgbd::BaseSourceImpl *createFileImpl(const ftl::URI &uri, Source *ho
}
static ftl::rgbd::BaseSourceImpl *createDeviceImpl(const ftl::URI &uri, Source *host) {
- if (uri.getPathSegment(0) == "video") {
+ if (uri.getPathSegment(0) == "video" || uri.getPathSegment(0) == "camera") {
return new StereoVideoSource(host);
} else if (uri.getPathSegment(0) == "pylon") {
#ifdef HAVE_PYLON
@@ -149,17 +149,6 @@ static ftl::rgbd::BaseSourceImpl *createDeviceImpl(const ftl::URI &uri, Source *
#endif
} else if (uri.getPathSegment(0) == "screen") {
return new ScreenCapture(host);
- } else {
- /*params_.width = value("width", 1280);
- params_.height = value("height", 720);
- params_.fx = value("focal", 700.0f);
- params_.fy = params_.fx;
- params_.cx = -(double)params_.width / 2.0;
- params_.cy = -(double)params_.height / 2.0;
- params_.minDepth = value("minDepth", 0.1f);
- params_.maxDepth = value("maxDepth", 20.0f);
- params_.doffs = 0;
- params_.baseline = value("baseline", 0.0f);*/
}
return nullptr;
}
@@ -253,25 +242,4 @@ void Source::setCallback(const FrameCallback &cb) {
callback_ = cb;
}
-/*
- * Scale camera parameters to match resolution.
- */
-Camera Camera::scaled(int width, int height) const {
- const auto &cam = *this;
- float scaleX = (float)width / (float)cam.width;
- float scaleY = (float)height / (float)cam.height;
-
- //CHECK( abs(scaleX - scaleY) < 0.00000001f );
-
- Camera newcam = cam;
- newcam.width = width;
- newcam.height = height;
- newcam.fx *= scaleX;
- newcam.fy *= scaleY;
- newcam.cx *= scaleX;
- newcam.cy *= scaleY;
- newcam.doffs *= scaleX;
-
- return newcam;
-}
--
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