From b0011ee9247d0a37cf437a3e2eb9bf74f3c2ec36 Mon Sep 17 00:00:00 2001
From: Sebastian Hahta <joseha@utu.fi>
Date: Wed, 4 Sep 2019 11:16:33 +0300
Subject: [PATCH] enable optflow in gitlab-ci (Windows)
---
.gitlab-ci.yml | 2 +-
components/rgbd-sources/src/algorithms/fixstars_sgm.cpp | 7 +++----
2 files changed, 4 insertions(+), 5 deletions(-)
diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index bbaae1509..28e09eeb3 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -32,7 +32,7 @@ linux:
windows:
stage: all
variables:
- CMAKE_ARGS: '-DWITH_PCL=FALSE -DCMAKE_GENERATOR_PLATFORM=x64 -DNVPIPE_DIR="D:/Build/NvPipe" -DEigen3_DIR="C:/Program Files (x86)/Eigen3/share/eigen3/cmake" -DOpenCV_DIR="D:/Build/opencv-4.1.1" -DCUDA_TOOLKIT_ROOT_DIR="C:/Program Files/NVIDIA GPU Computing Toolkit/CUDA/v10.1"'
+ CMAKE_ARGS: '-DWITH_OPTFLOW=TRUE -DWITH_PCL=FALSE -DCMAKE_GENERATOR_PLATFORM=x64 -DNVPIPE_DIR="D:/Build/NvPipe" -DEigen3_DIR="C:/Program Files (x86)/Eigen3/share/eigen3/cmake" -DOpenCV_DIR="D:/Build/opencv-4.1.1" -DCUDA_TOOLKIT_ROOT_DIR="C:/Program Files/NVIDIA GPU Computing Toolkit/CUDA/v10.1"'
DEPLOY_DIR: 'D:/Shared/AutoDeploy'
tags:
- win
diff --git a/components/rgbd-sources/src/algorithms/fixstars_sgm.cpp b/components/rgbd-sources/src/algorithms/fixstars_sgm.cpp
index b37c7b078..2fe64b3c5 100644
--- a/components/rgbd-sources/src/algorithms/fixstars_sgm.cpp
+++ b/components/rgbd-sources/src/algorithms/fixstars_sgm.cpp
@@ -116,10 +116,9 @@ void FixstarsSGM::compute(ftl::rgbd::Frame &frame, cv::cuda::Stream &stream)
dispt_full_res_.convertTo(disp, CV_32F, 1.0f / 16.0f, stream);
#ifdef HAVE_OPTFLOW
- if (use_off_) {
- Mat disp_host(disp);
- off_.filter(disp_host, Mat(lbw_));
- disp.upload(disp_host);
+ if (use_off_)
+ {
+ off_.filter(frame.setChannel<Mat>(ftl::rgbd::kChanDisparity), Mat(lbw_));
}
#endif
}
--
GitLab