diff --git a/applications/gui/src/camera.cpp b/applications/gui/src/camera.cpp
index c055804824c423d3c4eeca5ee174f98018c7c9c3..d4c85b5d2e5e72b6c6d6c296ebf2921a7d13c636 100644
--- a/applications/gui/src/camera.cpp
+++ b/applications/gui/src/camera.cpp
@@ -235,6 +235,7 @@ void ftl::gui::Camera::setChannel(Channel c) {
channel_ = c;
switch (c) {
case Channel::Energy:
+ case Channel::Density:
case Channel::Flow:
case Channel::Confidence:
case Channel::Normals:
diff --git a/components/common/cpp/include/ftl/exception.hpp b/components/common/cpp/include/ftl/exception.hpp
index 6719158bba5f5f53abfcdeb0fb39a5b5dda0d5f2..921e53493eda023a35af6f4c53b43ca2e26125d9 100644
--- a/components/common/cpp/include/ftl/exception.hpp
+++ b/components/common/cpp/include/ftl/exception.hpp
@@ -1,18 +1,49 @@
#ifndef _FTL_EXCEPTION_HPP_
#define _FTL_EXCEPTION_HPP_
+#include <sstream>
+
namespace ftl {
+class Formatter {
+ public:
+ Formatter() {}
+ ~Formatter() {}
+
+ template <typename Type>
+ inline Formatter & operator << (const Type & value)
+ {
+ stream_ << value;
+ return *this;
+ }
+
+ inline std::string str() const { return stream_.str(); }
+ inline operator std::string () const { return stream_.str(); }
+
+ enum ConvertToString
+ {
+ to_str
+ };
+ inline std::string operator >> (ConvertToString) { return stream_.str(); }
+
+private:
+ std::stringstream stream_;
+
+ Formatter(const Formatter &);
+ Formatter & operator = (Formatter &);
+};
+
class exception : public std::exception
{
public:
- explicit exception(const char *msg) : msg_(msg) {};
+ explicit exception(const char *msg) : msg_(msg) {}
+ explicit exception(const Formatter &msg) : msg_(msg.str()) {}
const char * what () const throw () {
- return msg_;
+ return msg_.c_str();
}
private:
- const char *msg_;
+ std::string msg_;
};
}
diff --git a/components/renderers/cpp/include/ftl/render/splat_render.hpp b/components/renderers/cpp/include/ftl/render/splat_render.hpp
index 4de9ec491974b2a780b9c3f5616218d3e102e340..8fc0e10311668c3938b77c835ef31f8100905f64 100644
--- a/components/renderers/cpp/include/ftl/render/splat_render.hpp
+++ b/components/renderers/cpp/include/ftl/render/splat_render.hpp
@@ -26,7 +26,7 @@ class Splatter : public ftl::render::Renderer {
//void setOutputDevice(int);
protected:
- void _renderChannel(ftl::rgbd::Frame &out, const ftl::rgbd::Channel &channel, cudaStream_t stream);
+ void _renderChannel(ftl::rgbd::Frame &out, ftl::rgbd::Channel channel_in, ftl::rgbd::Channel channel_out, cudaStream_t stream);
private:
int device_;
@@ -40,6 +40,7 @@ class Splatter : public ftl::render::Renderer {
//SplatParams params_;
ftl::rgbd::Frame temp_;
+ ftl::rgbd::Frame accum_;
ftl::rgbd::FrameSet *scene_;
ftl::cuda::ClipSpace clip_;
bool clipping_;
diff --git a/components/renderers/cpp/src/splat_render.cpp b/components/renderers/cpp/src/splat_render.cpp
index 6aaaebb75f9659ad7d9fa132111ee37ba05192f7..f766fa1e385c9e74be3bded23e2377d4c1ddcede 100644
--- a/components/renderers/cpp/src/splat_render.cpp
+++ b/components/renderers/cpp/src/splat_render.cpp
@@ -214,76 +214,78 @@ void Splatter::_dibr(cudaStream_t stream) {
}
void Splatter::_renderChannel(
- ftl::rgbd::Frame &out,
- const Channel &channel, cudaStream_t stream)
+ ftl::rgbd::Frame &out,
+ Channel channel_in, Channel channel_out, cudaStream_t stream)
{
- if (channel == Channel::None) return;
+ if (channel_out == Channel::None || channel_in == Channel::None) return;
cv::cuda::Stream cvstream = cv::cuda::StreamAccessor::wrapStream(stream);
if (scene_->frames.size() < 1) return;
- bool is_float = out.get<GpuMat>(channel).type() == CV_32F; //ftl::rgbd::isFloatChannel(channel);
- bool is_4chan = out.get<GpuMat>(channel).type() == CV_32FC4;
+ bool is_float = out.get<GpuMat>(channel_out).type() == CV_32F; //ftl::rgbd::isFloatChannel(channel);
+ bool is_4chan = out.get<GpuMat>(channel_out).type() == CV_32FC4;
temp_.createTexture<float4>(Channel::Colour);
temp_.createTexture<float>(Channel::Contribution);
// Generate initial normals for the splats
- out.create<GpuMat>(Channel::Normals, Format<float4>(params_.camera.width, params_.camera.height));
- _blendChannel(out, Channel::Normals, Channel::Normals, stream);
+ accum_.create<GpuMat>(Channel::Normals, Format<float4>(params_.camera.width, params_.camera.height));
+ _blendChannel(accum_, Channel::Normals, Channel::Normals, stream);
// Estimate point density
- out.create<GpuMat>(Channel::Density, Format<float>(params_.camera.width, params_.camera.height));
- _blendChannel(out, Channel::Depth, Channel::Density, stream);
+ accum_.create<GpuMat>(Channel::Density, Format<float>(params_.camera.width, params_.camera.height));
+ _blendChannel(accum_, Channel::Depth, Channel::Density, stream);
// FIXME: Using colour 2 in this way seems broken since it is already used
if (is_4chan) {
- temp_.create<GpuMat>(Channel::Colour2, Format<float4>(params_.camera.width, params_.camera.height));
- temp_.get<GpuMat>(Channel::Colour2).setTo(cv::Scalar(0.0f,0.0f,0.0f,0.0f), cvstream);
+ accum_.create<GpuMat>(channel_out, Format<float4>(params_.camera.width, params_.camera.height));
+ accum_.get<GpuMat>(channel_out).setTo(cv::Scalar(0.0f,0.0f,0.0f,0.0f), cvstream);
} else if (is_float) {
- temp_.create<GpuMat>(Channel::Colour2, Format<float>(params_.camera.width, params_.camera.height));
- temp_.get<GpuMat>(Channel::Colour2).setTo(cv::Scalar(0.0f), cvstream);
+ accum_.create<GpuMat>(channel_out, Format<float>(params_.camera.width, params_.camera.height));
+ accum_.get<GpuMat>(channel_out).setTo(cv::Scalar(0.0f), cvstream);
} else {
- temp_.create<GpuMat>(Channel::Colour2, Format<uchar4>(params_.camera.width, params_.camera.height));
- temp_.get<GpuMat>(Channel::Colour2).setTo(cv::Scalar(0,0,0,0), cvstream);
+ accum_.create<GpuMat>(channel_out, Format<uchar4>(params_.camera.width, params_.camera.height));
+ accum_.get<GpuMat>(channel_out).setTo(cv::Scalar(0,0,0,0), cvstream);
}
- if (splat_) {
- _blendChannel(temp_, channel, Channel::Colour2, stream);
- } else {
- _blendChannel(out, channel, channel, stream);
- }
+ //if (splat_) {
+ _blendChannel(accum_, channel_in, channel_out, stream);
+ //} else {
+ // _blendChannel(out, channel, channel, stream);
+ //}
// Now splat the points
if (splat_) {
if (is_4chan) {
ftl::cuda::splat(
- out.getTexture<float4>(Channel::Normals),
- temp_.getTexture<float4>(Channel::Colour2),
+ accum_.getTexture<float4>(Channel::Normals),
+ accum_.getTexture<float4>(channel_out),
temp_.getTexture<int>(Channel::Depth2),
out.createTexture<float>(Channel::Depth),
- out.createTexture<float4>(channel),
+ out.createTexture<float4>(channel_out),
params_, stream
);
} else if (is_float) {
ftl::cuda::splat(
- out.getTexture<float4>(Channel::Normals),
- temp_.getTexture<float>(Channel::Colour2),
+ accum_.getTexture<float4>(Channel::Normals),
+ accum_.getTexture<float>(channel_out),
temp_.getTexture<int>(Channel::Depth2),
out.createTexture<float>(Channel::Depth),
- out.createTexture<float>(channel),
+ out.createTexture<float>(channel_out),
params_, stream
);
} else {
ftl::cuda::splat(
- out.getTexture<float4>(Channel::Normals),
- temp_.getTexture<uchar4>(Channel::Colour2),
+ accum_.getTexture<float4>(Channel::Normals),
+ accum_.getTexture<uchar4>(channel_out),
temp_.getTexture<int>(Channel::Depth2),
out.createTexture<float>(Channel::Depth),
- out.createTexture<uchar4>(channel),
+ out.createTexture<uchar4>(channel_out),
params_, stream
);
}
+ } else {
+ // Swap accum frames directly to output.
}
}
@@ -367,7 +369,7 @@ bool Splatter::render(ftl::rgbd::VirtualSource *src, ftl::rgbd::Frame &out, cuda
}
_dibr(stream);
- _renderChannel(out, Channel::Colour, stream);
+ _renderChannel(out, Channel::Colour, Channel::Colour, stream);
Channel chan = src->getChannel();
if (chan == Channel::Depth)
@@ -377,7 +379,7 @@ bool Splatter::render(ftl::rgbd::VirtualSource *src, ftl::rgbd::Frame &out, cuda
out.create<GpuMat>(Channel::Normals, Format<float4>(camera.width, camera.height));
// Render normal attribute
- _renderChannel(out, Channel::Normals, stream);
+ _renderChannel(out, Channel::Normals, Channel::Normals, stream);
// Convert normal to single float value
temp_.create<GpuMat>(Channel::Colour, Format<uchar4>(camera.width, camera.height));
@@ -394,6 +396,11 @@ bool Splatter::render(ftl::rgbd::VirtualSource *src, ftl::rgbd::Frame &out, cuda
//{
// cv::cuda::swap(temp_.get<GpuMat>(Channel::Contribution), out.create<GpuMat>(Channel::Contribution));
//}
+ else if (chan == Channel::Density) {
+ out.create<GpuMat>(chan, Format<float>(camera.width, camera.height));
+ out.get<GpuMat>(chan).setTo(cv::Scalar(0.0f), cvstream);
+ _renderChannel(out, Channel::Depth, Channel::Density, stream);
+ }
else if (chan == Channel::Right)
{
Eigen::Affine3f transform(Eigen::Translation3f(camera.baseline,0.0f,0.0f));
@@ -405,7 +412,7 @@ bool Splatter::render(ftl::rgbd::VirtualSource *src, ftl::rgbd::Frame &out, cuda
out.get<GpuMat>(Channel::Right).setTo(background_, cvstream);
_dibr(stream); // Need to re-dibr due to pose change
- _renderChannel(out, Channel::Right, stream);
+ _renderChannel(out, Channel::Right, Channel::Right, stream);
} else if (chan != Channel::None) {
if (ftl::rgbd::isFloatChannel(chan)) {
out.create<GpuMat>(chan, Format<float>(camera.width, camera.height));
@@ -414,7 +421,7 @@ bool Splatter::render(ftl::rgbd::VirtualSource *src, ftl::rgbd::Frame &out, cuda
out.create<GpuMat>(chan, Format<uchar4>(camera.width, camera.height));
out.get<GpuMat>(chan).setTo(background_, cvstream);
}
- _renderChannel(out, chan, stream);
+ _renderChannel(out, chan, chan, stream);
}
return true;
diff --git a/components/rgbd-sources/include/ftl/rgbd/frame.hpp b/components/rgbd-sources/include/ftl/rgbd/frame.hpp
index e9036fd6cad9ddf50d96dd96956d99a920c6abb0..45bf3f4a9b8f862e3d70c22abfcddb096855d7c2 100644
--- a/components/rgbd-sources/include/ftl/rgbd/frame.hpp
+++ b/components/rgbd-sources/include/ftl/rgbd/frame.hpp
@@ -181,7 +181,7 @@ template <> cv::cuda::GpuMat &Frame::create(ftl::rgbd::Channel c);
template <typename T>
ftl::cuda::TextureObject<T> &Frame::getTexture(ftl::rgbd::Channel c) {
- if (!channels_.has(c)) throw ftl::exception("Texture channel does not exist");
+ if (!channels_.has(c)) throw ftl::exception(ftl::Formatter() << "Texture channel does not exist: " << (int)c);
if (!gpu_.has(c)) throw ftl::exception("Texture channel is not on GPU");
auto &m = _get(c);