From b393a16d09bdb997bba03c414fd8555841a3447f Mon Sep 17 00:00:00 2001
From: Sebastian Hahta <joseha@utu.fi>
Date: Mon, 2 Sep 2019 14:19:52 +0300
Subject: [PATCH] Template specialization for get/set.
---
components/rgbd-sources/CMakeLists.txt | 1 +
.../rgbd-sources/include/ftl/rgbd/frame.hpp | 47 ++---------------
components/rgbd-sources/src/frame.cpp | 52 +++++++++++++++++++
components/rgbd-sources/src/stereovideo.cpp | 12 ++---
4 files changed, 62 insertions(+), 50 deletions(-)
create mode 100644 components/rgbd-sources/src/frame.cpp
diff --git a/components/rgbd-sources/CMakeLists.txt b/components/rgbd-sources/CMakeLists.txt
index 5d2008bf0..ff7d29098 100644
--- a/components/rgbd-sources/CMakeLists.txt
+++ b/components/rgbd-sources/CMakeLists.txt
@@ -3,6 +3,7 @@ set(RGBDSRC
src/local.cpp
src/disparity.cpp
src/source.cpp
+ src/frame.cpp
src/stereovideo.cpp
src/middlebury_source.cpp
src/net.cpp
diff --git a/components/rgbd-sources/include/ftl/rgbd/frame.hpp b/components/rgbd-sources/include/ftl/rgbd/frame.hpp
index e41d8d188..ddc624d9b 100644
--- a/components/rgbd-sources/include/ftl/rgbd/frame.hpp
+++ b/components/rgbd-sources/include/ftl/rgbd/frame.hpp
@@ -36,49 +36,8 @@ public:
* true.
*/
- const cv::Mat& getChannel(const ftl::rgbd::channel_t& channel)
- {
- auto idx = _channelIdx(channel);
- if (!(available_[idx] & mask_host))
- {
- if (available_[idx] & mask_gpu)
- {
- channels_gpu_[idx].download(channels_host_[idx]);
- available_[idx] |= mask_host;
- }
- }
-
- return channels_host_[idx];
- }
-
- cv::Mat& setChannel(const ftl::rgbd::channel_t& channel)
- {
- auto idx = _channelIdx(channel);
- available_[idx] = mask_host;
- return channels_host_[idx];
- }
-
- const cv::cuda::GpuMat& getChannelGpu(const ftl::rgbd::channel_t& channel)
- {
- auto idx = _channelIdx(channel);
- if (!(available_[idx] & mask_gpu))
- {
- if (available_[idx] & mask_host)
- {
- channels_gpu_[idx].upload(channels_host_[idx]);
- available_[idx] |= mask_gpu;
- }
- }
-
- return channels_gpu_[idx];
- }
-
- cv::cuda::GpuMat& setChannelGpu(const ftl::rgbd::channel_t& channel)
- {
- auto idx = _channelIdx(channel);
- available_[idx] = mask_gpu;
- return channels_gpu_[idx];
- }
+ template <typename T> const T& getChannel(const ftl::rgbd::channel_t& channel);
+ template <typename T> T& setChannel(const ftl::rgbd::channel_t& channel);
private:
@@ -112,4 +71,4 @@ private:
};
}
-}
\ No newline at end of file
+}
diff --git a/components/rgbd-sources/src/frame.cpp b/components/rgbd-sources/src/frame.cpp
new file mode 100644
index 000000000..62b3795ff
--- /dev/null
+++ b/components/rgbd-sources/src/frame.cpp
@@ -0,0 +1,52 @@
+
+#include <ftl/rgbd/frame.hpp>
+
+namespace ftl {
+namespace rgbd {
+
+template<> const cv::Mat& Frame::getChannel(const ftl::rgbd::channel_t& channel)
+{
+ auto idx = _channelIdx(channel);
+ if (!(available_[idx] & mask_host))
+ {
+ if (available_[idx] & mask_gpu)
+ {
+ channels_gpu_[idx].download(channels_host_[idx]);
+ available_[idx] |= mask_host;
+ }
+ }
+
+ return channels_host_[idx];
+}
+
+template<> cv::Mat& Frame::setChannel(const ftl::rgbd::channel_t& channel)
+{
+ auto idx = _channelIdx(channel);
+ available_[idx] = mask_host;
+ return channels_host_[idx];
+}
+
+template<> const cv::cuda::GpuMat& Frame::getChannel(const ftl::rgbd::channel_t& channel)
+{
+ auto idx = _channelIdx(channel);
+ if (!(available_[idx] & mask_gpu))
+ {
+ if (available_[idx] & mask_host)
+ {
+ channels_gpu_[idx].upload(channels_host_[idx]);
+ available_[idx] |= mask_gpu;
+ }
+ }
+
+ return channels_gpu_[idx];
+}
+
+template<> cv::cuda::GpuMat& Frame::setChannel(const ftl::rgbd::channel_t& channel)
+{
+ auto idx = _channelIdx(channel);
+ available_[idx] = mask_gpu;
+ return channels_gpu_[idx];
+}
+
+}
+}
\ No newline at end of file
diff --git a/components/rgbd-sources/src/stereovideo.cpp b/components/rgbd-sources/src/stereovideo.cpp
index 75ed21230..f5257f5cb 100644
--- a/components/rgbd-sources/src/stereovideo.cpp
+++ b/components/rgbd-sources/src/stereovideo.cpp
@@ -173,8 +173,8 @@ bool StereoVideoSource::capture(int64_t ts) {
bool StereoVideoSource::retrieve() {
auto &frame = frames_[0];
frame.reset();
- auto &left = frame.setChannelGpu(ftl::rgbd::kChanLeft);
- auto &right = frame.setChannelGpu(ftl::rgbd::kChanRight);
+ auto &left = frame.setChannel<cv::cuda::GpuMat>(ftl::rgbd::kChanLeft);
+ auto &right = frame.setChannel<cv::cuda::GpuMat>(ftl::rgbd::kChanRight);
lsrc_->get(left, right, calib_, stream2_);
#ifdef HAVE_OPTFLOW
@@ -208,15 +208,15 @@ void StereoVideoSource::swap() {
bool StereoVideoSource::compute(int n, int b) {
auto &frame = frames_[1];
- auto &left = frame.getChannelGpu(ftl::rgbd::kChanLeft);
- auto &right = frame.getChannelGpu(ftl::rgbd::kChanRight);
+ auto &left = frame.getChannel<cv::cuda::GpuMat>(ftl::rgbd::kChanLeft);
+ auto &right = frame.getChannel<cv::cuda::GpuMat>(ftl::rgbd::kChanRight);
const ftl::rgbd::channel_t chan = host_->getChannel();
if (left.empty() || right.empty()) return false;
if (chan == ftl::rgbd::kChanDepth) {
- auto &depth = frame.setChannelGpu(ftl::rgbd::kChanDepth);
- auto &disp = frame.setChannelGpu(ftl::rgbd::kChanDisparity);
+ auto &depth = frame.setChannel<cv::cuda::GpuMat>(ftl::rgbd::kChanDepth);
+ auto &disp = frame.setChannel<cv::cuda::GpuMat>(ftl::rgbd::kChanDisparity);
if (depth.empty()) depth = cv::cuda::GpuMat(left.size(), CV_32FC1);
if (disp.empty()) disp = cv::cuda::GpuMat(left.size(), CV_32FC1);
--
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