From b5faa5b24923b314635284fa8ea19fe25a4de094 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Sun, 3 Nov 2019 13:39:17 +0200
Subject: [PATCH] Working smoothing channel
---
.../include/ftl/operators/smoothing.hpp | 2 +-
components/operators/src/smoothing.cpp | 35 ++++++++++---------
components/rgbd-sources/src/source.cpp | 2 +-
3 files changed, 21 insertions(+), 18 deletions(-)
diff --git a/components/operators/include/ftl/operators/smoothing.hpp b/components/operators/include/ftl/operators/smoothing.hpp
index 1f6961d81..b5362ea6f 100644
--- a/components/operators/include/ftl/operators/smoothing.hpp
+++ b/components/operators/include/ftl/operators/smoothing.hpp
@@ -43,7 +43,7 @@ class SmoothChannel : public ftl::operators::Operator {
bool apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, ftl::rgbd::Source *src, cudaStream_t stream) override;
private:
- ftl::rgbd::Frame temp_[2];
+ ftl::rgbd::Frame temp_[6];
};
/**
diff --git a/components/operators/src/smoothing.cpp b/components/operators/src/smoothing.cpp
index 79f372077..61dd9f8ce 100644
--- a/components/operators/src/smoothing.cpp
+++ b/components/operators/src/smoothing.cpp
@@ -71,8 +71,9 @@ SmoothChannel::~SmoothChannel() {
}
bool SmoothChannel::apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, ftl::rgbd::Source *s, cudaStream_t stream) {
- int radius = config()->value("radius", 1);
+ int radius = config()->value("radius", 3);
float threshold = config()->value("threshold", 30.0f);
+ int iters = max(0, min(6, config()->value("levels", 4)));
int width = s->parameters().width;
int height = s->parameters().height;
@@ -91,24 +92,26 @@ bool SmoothChannel::apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, ftl::rgbd
stream
);
- width /= 2;
- height /= 2;
+ for (int i=0; i<iters; ++i) {
+ width /= 2;
+ height /= 2;
- ftl::rgbd::Camera scaledCam = s->parameters().scaled(width, height);
+ ftl::rgbd::Camera scaledCam = s->parameters().scaled(width, height);
- // Downscale images for next pass
- cv::cuda::resize(in.get<GpuMat>(Channel::Colour), temp_[0].create<GpuMat>(Channel::Colour), cv::Size(width, height), 0.0, 0.0, cv::INTER_LINEAR);
- cv::cuda::resize(in.get<GpuMat>(Channel::Depth), temp_[0].create<GpuMat>(Channel::Depth), cv::Size(width, height), 0.0, 0.0, cv::INTER_NEAREST);
+ // Downscale images for next pass
+ cv::cuda::resize(in.get<GpuMat>(Channel::Colour), temp_[i].create<GpuMat>(Channel::Colour), cv::Size(width, height), 0.0, 0.0, cv::INTER_LINEAR);
+ cv::cuda::resize(in.get<GpuMat>(Channel::Depth), temp_[i].create<GpuMat>(Channel::Depth), cv::Size(width, height), 0.0, 0.0, cv::INTER_NEAREST);
- ftl::cuda::smooth_channel(
- temp_[0].createTexture<uchar4>(Channel::Colour),
- temp_[0].createTexture<float>(Channel::Depth),
- out.getTexture<float>(Channel::Smoothing),
- scaledCam,
- threshold,
- radius,
- stream
- );
+ ftl::cuda::smooth_channel(
+ temp_[i].createTexture<uchar4>(Channel::Colour),
+ temp_[i].createTexture<float>(Channel::Depth),
+ out.getTexture<float>(Channel::Smoothing),
+ scaledCam,
+ threshold,
+ radius,
+ stream
+ );
+ }
return true;
}
diff --git a/components/rgbd-sources/src/source.cpp b/components/rgbd-sources/src/source.cpp
index 24629e139..b0ee77a44 100644
--- a/components/rgbd-sources/src/source.cpp
+++ b/components/rgbd-sources/src/source.cpp
@@ -285,7 +285,7 @@ Camera Camera::scaled(int width, int height) const {
float scaleX = (float)width / (float)cam.width;
float scaleY = (float)height / (float)cam.height;
- CHECK( abs(scaleX - scaleY) < 0.000001f );
+ CHECK( abs(scaleX - scaleY) < 0.00000001f );
Camera newcam = cam;
newcam.width = width;
--
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