diff --git a/applications/reconstruct/src/main.cpp b/applications/reconstruct/src/main.cpp
index c2341e7de37abd2fd03195b519666dbab5f6eda8..72cdfe5704b27bc9444f7173700bceeea571b6e0 100644
--- a/applications/reconstruct/src/main.cpp
+++ b/applications/reconstruct/src/main.cpp
@@ -14,6 +14,7 @@
#include <ftl/rgbd/streamer.hpp>
#include <ftl/slave.hpp>
#include <ftl/rgbd/group.hpp>
+#include <ftl/threads.hpp>
#include "ilw.hpp"
#include <ftl/render/splat_render.hpp>
@@ -138,6 +139,8 @@ static void run(ftl::Configurable *root) {
// TODO: Release frameset here...
//cudaSafeCall(cudaStreamSynchronize(scene->getIntegrationStream()));
+ UNIQUE_LOCK(scene_A.mtx, lk);
+
// Send all frames to GPU, block until done?
scene_A.upload(Channel::Colour + Channel::Depth); // TODO: (Nick) Add scene stream.
align->process(scene_A);
diff --git a/components/renderers/cpp/src/splat_render.cpp b/components/renderers/cpp/src/splat_render.cpp
index 9d84f2f821e52d05ba158f5f055f2b5b641737f9..9bae08e43687ab8f1a2a05d75e718fd0f406e117 100644
--- a/components/renderers/cpp/src/splat_render.cpp
+++ b/components/renderers/cpp/src/splat_render.cpp
@@ -20,9 +20,10 @@ Splatter::~Splatter() {
}
bool Splatter::render(ftl::rgbd::VirtualSource *src, ftl::rgbd::Frame &out, cudaStream_t stream) {
+ SHARED_LOCK(scene_->mtx, lk);
if (!src->isReady()) return false;
- LOG(INFO) << "Render ready2";
+ if (scene_->frames.size() > 0) LOG(INFO) << "Render ready2 " << (unsigned int)scene_->frames[0].getChannels();
const auto &camera = src->parameters();
@@ -82,16 +83,18 @@ bool Splatter::render(ftl::rgbd::VirtualSource *src, ftl::rgbd::Frame &out, cuda
out.get<GpuMat>(Channel::Depth).setTo(cv::Scalar(1000.0f), cvstream);
out.get<GpuMat>(Channel::Colour).setTo(cv::Scalar(0,0,0), cvstream);
- LOG(INFO) << "Render ready";
+ LOG(INFO) << "Render ready: " << camera.width << "," << camera.height;
// Render each camera into virtual view
for (size_t i=0; i<scene_->frames.size(); ++i) {
auto &f = scene_->frames[i];
auto *s = scene_->sources[i];
- if (!f.hasChannel(Channel::Depth) || f.isCPU(Channel::Depth)) {
- LOG(ERROR) << "Missing required Depth channel";
- return false;
+ if (f.empty(Channel::Depth + Channel::Colour)) {
+ LOG(ERROR) << "Missing required channel";
+ continue;
+ } else {
+ LOG(INFO) << "Channels found";
}
// Needs to create points channel first?
@@ -123,6 +126,7 @@ bool Splatter::render(ftl::rgbd::VirtualSource *src, ftl::rgbd::Frame &out, cuda
//ftl::cuda::mls_render_depth(depth1_, depth3_, params, scene_->cameraCount(), stream);
if (src->getChannel() == Channel::Depth) {
+ LOG(INFO) << "Rendering depth";
//ftl::cuda::int_to_float(depth1_, depth2_, 1.0f / 1000.0f, stream);
if (value("splatting", false)) {
//ftl::cuda::splat_points(depth1_, colour1_, normal1_, depth2_, colour2_, params, stream);
@@ -149,6 +153,7 @@ bool Splatter::render(ftl::rgbd::VirtualSource *src, ftl::rgbd::Frame &out, cuda
// src->writeFrames(colour1_, depth2_, stream);
//}
} else if (src->getChannel() == Channel::Right) {
+ LOG(INFO) << "Rendering right";
// Adjust pose to right eye position
Eigen::Affine3f transform(Eigen::Translation3f(camera.baseline,0.0f,0.0f));
Eigen::Matrix4f matrix = src->getPose().cast<float>() * transform.matrix();
@@ -160,13 +165,14 @@ bool Splatter::render(ftl::rgbd::VirtualSource *src, ftl::rgbd::Frame &out, cuda
//src->writeFrames(ts, colour1_, colour2_, stream);
//src->write(scene_.timestamp, output_, stream);
} else {
+ LOG(INFO) << "No second rendering";
if (value("splatting", false)) {
//ftl::cuda::splat_points(depth1_, colour1_, normal1_, depth2_, colour2_, params, stream);
//src->writeFrames(ts, colour1_, depth2_, stream);
//src->write(scene_.timestamp, out, stream);
} else {
//ftl::cuda::int_to_float(depth1_, depth2_, 1.0f / 1000.0f, stream);
- temp_.get<GpuMat>(Channel::Depth).convertTo(out.get<GpuMat>(Channel::Depth), CV_32F, 1.0f / 1000.0f, cvstream);
+ //temp_.get<GpuMat>(Channel::Depth).convertTo(out.get<GpuMat>(Channel::Depth), CV_32F, 1.0f / 1000.0f, cvstream);
//src->writeFrames(ts, colour1_, depth2_, stream);
//src->write(scene_.timestamp, output_, stream);
}
diff --git a/components/rgbd-sources/include/ftl/rgbd/frame.hpp b/components/rgbd-sources/include/ftl/rgbd/frame.hpp
index 89523fc9bb1d09f1ed3ca003f234ffb5df2534ec..26da81422395c9b09cc8ab7ad8f38d1b9818663c 100644
--- a/components/rgbd-sources/include/ftl/rgbd/frame.hpp
+++ b/components/rgbd-sources/include/ftl/rgbd/frame.hpp
@@ -88,6 +88,13 @@ public:
*/
void reset();
+ bool empty(ftl::rgbd::Channels c);
+
+ inline bool empty(ftl::rgbd::Channel c) {
+ auto &m = _get(c);
+ return !hasChannel(c) || (m.host.empty() && m.gpu.empty());
+ }
+
/**
* Is there valid data in channel (either host or gpu).
*/
@@ -95,6 +102,8 @@ public:
return channels_.has(channel);
}
+ inline ftl::rgbd::Channels getChannels() const { return channels_; }
+
/**
* Is the channel data currently located on GPU. This also returns false if
* the channel does not exist.
diff --git a/components/rgbd-sources/src/frame.cpp b/components/rgbd-sources/src/frame.cpp
index ea207404b7213d147062bee328e5a48b3be24cff..5a10e1ff125c58ed6645d58fe231825cdcb9e1a8 100644
--- a/components/rgbd-sources/src/frame.cpp
+++ b/components/rgbd-sources/src/frame.cpp
@@ -39,24 +39,36 @@ void Frame::upload(Channels c, cv::cuda::Stream stream) {
}
}
+bool Frame::empty(ftl::rgbd::Channels channels) {
+ for (auto c : channels) {
+ LOG(INFO) << "Check empty for " << (int)c;
+ if (empty(c)) return true;
+ }
+ return false;
+}
+
void Frame::swapTo(ftl::rgbd::Channels channels, Frame &f) {
+ f.reset();
+
// For all channels in this frame object
for (auto c : channels_) {
// Should we swap this channel?
if (channels.has(c)) {
// Does 'f' have this channel?
- if (!f.hasChannel(c)) {
+ //if (!f.hasChannel(c)) {
// No, so create it first
// FIXME: Allocate the memory as well?
if (isCPU(c)) f.create<cv::Mat>(c);
else f.create<cv::cuda::GpuMat>(c);
- }
+ //}
auto &m1 = _get(c);
auto &m2 = f._get(c);
cv::swap(m1.host, m2.host);
cv::cuda::swap(m1.gpu, m2.gpu);
+
+ LOG(INFO) << "Swapping channel: " << static_cast<int>(c);
}
}
}
diff --git a/components/rgbd-sources/src/virtual.cpp b/components/rgbd-sources/src/virtual.cpp
index c38a3da528b532fd10b105acc1f696da24419228..54c9754b949f3bb7316136516c6dd7f3678fa875 100644
--- a/components/rgbd-sources/src/virtual.cpp
+++ b/components/rgbd-sources/src/virtual.cpp
@@ -6,8 +6,8 @@ using ftl::rgbd::Channel;
class VirtualImpl : public ftl::rgbd::detail::Source {
public:
- explicit VirtualImpl(ftl::rgbd::Source *host) : ftl::rgbd::detail::Source(host) {
-
+ explicit VirtualImpl(ftl::rgbd::Source *host, const ftl::rgbd::Camera ¶ms) : ftl::rgbd::detail::Source(host) {
+ params_ = params;
}
~VirtualImpl() {
@@ -52,7 +52,8 @@ class VirtualImpl : public ftl::rgbd::detail::Source {
};
VirtualSource::VirtualSource(ftl::config::json_t &cfg) : Source(cfg) {
- impl_ = new VirtualImpl(this);
+ auto params = params_;
+ impl_ = new VirtualImpl(this, params);
}
VirtualSource::~VirtualSource() {