feature/vision mls

applications/reconstruct/src/main.cpp

@@ -75,8 +75,10 @@ static Eigen::Affine3d create_rotation_matrix(float ax, float ay, float az) {
 	return rz * rx * ry;
 }
 
-// TODO:	Remove this class (requires more general solution). Also does not
+// TODO:	*	Remove this class (requires more general solution). Also does not
 //				process disconnections/reconnections/types etc. correctly.
+//			*	Update when new options become available.
+
 class ConfigProxy {
 	private:
 	vector<ftl::UUID> peers_;
@@ -99,6 +101,7 @@ class ConfigProxy {
 		auto config = json_t::parse(net_->call<string>(peers_[0], "get_cfg", uris_[0] + "/" + uri));
 		auto *proxy = ftl::create<ftl::Configurable>(root, name);
 		
+		try {
 			for (auto &itm : config.get<json::object_t>()) {
 				auto key = itm.first;
 				auto value = itm.second;
@@ -115,6 +118,10 @@ class ConfigProxy {
 				});
 			}
 		}
+		catch (nlohmann::detail::type_error) {
+			LOG(ERROR) << "Failed to add config proxy for: " << uri << "/" << name;
+		}
+	}
 };
 
 static void run(ftl::Configurable *root) {
@@ -174,6 +181,8 @@ static void run(ftl::Configurable *root) {
 		configproxy->add(disparity, "source/disparity/algorithm", "algorithm");
 		configproxy->add(disparity, "source/disparity/bilateral_filter", "bilateral_filter");
 		configproxy->add(disparity, "source/disparity/optflow_filter", "optflow_filter");
+		configproxy->add(disparity, "source/disparity/mls", "mls");
+		configproxy->add(disparity, "source/disparity/cross", "cross");
 	}
 
 	// Create scene transform, intended for axis aligning the walls and floor
@@ -289,7 +298,7 @@ static void run(ftl::Configurable *root) {
 
 			// TODO: Write pose+calibration+config packets
 			auto sources = group->sources();
-			for (int i=0; i<sources.size(); ++i) {
+			for (size_t i=0; i<sources.size(); ++i) {
 				//writeSourceProperties(writer, i, sources[i]);
 				sources[i]->inject(Channel::Calibration, sources[i]->parameters(), Channel::Left, sources[i]->getCapabilities());
 				sources[i]->inject(sources[i]->getPose()); 

components/operators/src/smoothing.cpp

@@ -253,6 +253,11 @@ bool AggreMLS::apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, ftl::rgbd::Sou
 		return false;
 	}
 
+	if (!in.hasChannel(Channel::Support1)) {
+		LOG(ERROR) << "Required support channel missing for MLS";
+		return false;
+	}
+
 	auto size = in.get<GpuMat>(Channel::Depth).size();
 	centroid_horiz_.create(size.height, size.width);
 	normals_horiz_.create(size.height, size.width);

components/rgbd-sources/src/sources/stereovideo/stereovideo.cpp

@@ -8,7 +8,14 @@
 #include "ftl/operators/opticalflow.hpp"
 #endif
 
+
+#include "ftl/operators/smoothing.hpp"
+#include "ftl/operators/colours.hpp"
+#include "ftl/operators/normals.hpp"
+#include "ftl/operators/filling.hpp"
+#include "ftl/operators/segmentation.hpp"
 #include "ftl/operators/disparity.hpp"
+#include "ftl/operators/mask.hpp"
 
 #include "ftl/threads.hpp"
 #include "calibrate.hpp"
@@ -132,6 +139,11 @@ void StereoVideoSource::init(const string &file) {
 	#endif
 	pipeline_depth_->append<ftl::operators::DisparityBilateralFilter>("bilateral_filter");
 	pipeline_depth_->append<ftl::operators::DisparityToDepth>("calculate_depth");
+	pipeline_depth_->append<ftl::operators::ColourChannels>("colour");  // Convert BGR to BGRA
+	pipeline_depth_->append<ftl::operators::Normals>("normals");  // Estimate surface normals
+	pipeline_depth_->append<ftl::operators::CrossSupport>("cross");
+	pipeline_depth_->append<ftl::operators::DiscontinuityMask>("discontinuity_mask");
+	pipeline_depth_->append<ftl::operators::AggreMLS>("mls");  // Perform MLS (using smoothing channel)
 
 	LOG(INFO) << "StereoVideo source ready...";
 	ready_ = true;