Add recon pipeline creator

applications/reconstruct2/src/main.cpp

@@ -5,6 +5,19 @@
 #include <nlohmann/json.hpp>
 #include <loguru.hpp>
 
+#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/mask.hpp"
+#include "ftl/operators/antialiasing.hpp"
+#include "ftl/operators/mvmls.hpp"
+#include "ftl/operators/clipping.hpp"
+#include <ftl/operators/disparity.hpp>
+#include <ftl/operators/poser.hpp>
+#include <ftl/operators/detectandtrack.hpp>
+
 using ftl::net::Universe;
 using ftl::stream::Feed;
 using ftl::codecs::Channel;
@@ -73,6 +86,28 @@ static void run(ftl::Configurable *root) {
 
 	auto *filter = feed->filter({Channel::Colour, Channel::Depth});
 	feed->set("uri", root->value("uri", std::string("ftl://ftlab.utu.fi/reconstruction")));
+	feed->setPipelineCreator([](ftl::operators::Graph *pipeline) {
+		pipeline->append<ftl::operators::DepthChannel>("depth");  // Ensure there is a depth channel
+		pipeline->append<ftl::operators::DisparityBilateralFilter>("bilateral_filter")->value("enabled", false);
+		pipeline->append<ftl::operators::DisparityToDepth>("calculate_depth")->value("enabled", false);
+		pipeline->append<ftl::operators::ColourChannels>("colour");  // Convert BGR to BGRA
+		pipeline->append<ftl::operators::ClipScene>("clipping")->value("enabled", false);
+		pipeline->append<ftl::operators::DetectAndTrack>("facedetection")->value("enabled", false);
+		pipeline->append<ftl::operators::ArUco>("aruco")->value("enabled", false);
+		//pipeline_->append<ftl::operators::HFSmoother>("hfnoise");  // Remove high-frequency noise
+		pipeline->append<ftl::operators::Normals>("normals");  // Estimate surface normals
+		//pipeline_->append<ftl::operators::SmoothChannel>("smoothing");  // Generate a smoothing channel
+		//pipeline_->append<ftl::operators::ScanFieldFill>("filling");  // Generate a smoothing channel
+		pipeline->append<ftl::operators::CrossSupport>("cross");
+		pipeline->append<ftl::operators::DiscontinuityMask>("discontinuity");
+		pipeline->append<ftl::operators::CrossSupport>("cross2")->value("discon_support", true);
+		pipeline->append<ftl::operators::BorderMask>("border_mask")->value("enabled", false);
+		pipeline->append<ftl::operators::CullDiscontinuity>("remove_discontinuity")->set("enabled", false);
+		//pipeline_->append<ftl::operators::AggreMLS>("mls");  // Perform MLS (using smoothing channel)
+		pipeline->append<ftl::operators::VisCrossSupport>("viscross")->value("enabled", false);
+		pipeline->append<ftl::operators::MultiViewMLS>("mvmls");
+		pipeline->append<ftl::operators::Poser>("poser")->value("enabled", false);
+	});
 	//feed->lowLatencyMode();
 	feed->startStreaming(filter);
 

components/streams/include/ftl/streams/feed.hpp

@@ -135,6 +135,8 @@ public:
 	cv::Mat getThumbnail(const std::string &uri);
 	std::string getName(const std::string &uri);
 
+	void setPipelineCreator(const std::function<void(ftl::operators::Graph*)> &cb);
+
 	ftl::operators::Graph* addPipeline(const std::string &name);
 	ftl::operators::Graph* addPipeline(uint32_t fsid);
 	/** Returns pointer to filter object. Pointers will be invalid after Feed
@@ -189,6 +191,7 @@ private:
 	std::unordered_map<uint32_t, ftl::render::Source*> renderers_;
 	std::unordered_map<uint32_t, ftl::operators::Graph*> pre_pipelines_;
 	std::list<ftl::streams::ManualSourceBuilder*> render_builders_;
+	std::function<void(ftl::operators::Graph*)> pipe_creator_;
 
 	std::vector<std::string> netcams_;
 	ftl::Handler<const std::vector<std::string> &> new_sources_cb_;

components/streams/src/feed.cpp

@@ -444,22 +444,31 @@ void Feed::_createPipeline(uint32_t fsid) {
 	LOG(INFO) << "Creating pipeline";
 	auto *p = _addPipeline(fsid);
 
-	p->append<ftl::operators::DepthChannel>("depth")->value("enabled", false);
-	p->append<ftl::operators::ClipScene>("clipping")->value("enabled", false);
-	p->append<ftl::operators::ColourChannels>("colour");  // Convert BGR to BGRA
-	p->append<ftl::operators::DetectAndTrack>("facedetection")->value("enabled", false);
-	p->append<ftl::operators::ArUco>("aruco")->value("enabled", false);
-	//p->append<ftl::operators::HFSmoother>("hfnoise");
-	p->append<ftl::operators::CrossSupport>("cross");
-	p->append<ftl::operators::PixelWeights>("weights");
-	p->append<ftl::operators::CullWeight>("remove_weights")->value("enabled", false);
-	p->append<ftl::operators::DegradeWeight>("degrade");
-	p->append<ftl::operators::VisCrossSupport>("viscross")->set("enabled", false);
-	p->append<ftl::operators::BorderMask>("border_mask");
-	p->append<ftl::operators::CullDiscontinuity>("remove_discontinuity");
-	p->append<ftl::operators::MultiViewMLS>("mvmls")->value("enabled", false);
-	p->append<ftl::operators::Poser>("poser")->value("enabled", true);
-	p->append<ftl::operators::GTAnalysis>("gtanalyse");
+	if (pipe_creator_) {
+		pipe_creator_(p);
+	} else {
+		p->append<ftl::operators::DepthChannel>("depth")->value("enabled", false);
+		p->append<ftl::operators::ClipScene>("clipping")->value("enabled", false);
+		p->append<ftl::operators::ColourChannels>("colour");  // Convert BGR to BGRA
+		p->append<ftl::operators::DetectAndTrack>("facedetection")->value("enabled", false);
+		p->append<ftl::operators::ArUco>("aruco")->value("enabled", false);
+		//p->append<ftl::operators::HFSmoother>("hfnoise");
+		p->append<ftl::operators::CrossSupport>("cross");
+		p->append<ftl::operators::PixelWeights>("weights");
+		p->append<ftl::operators::CullWeight>("remove_weights")->value("enabled", false);
+		p->append<ftl::operators::DegradeWeight>("degrade");
+		p->append<ftl::operators::VisCrossSupport>("viscross")->set("enabled", false);
+		p->append<ftl::operators::BorderMask>("border_mask");
+		p->append<ftl::operators::CullDiscontinuity>("remove_discontinuity");
+		p->append<ftl::operators::MultiViewMLS>("mvmls")->value("enabled", false);
+		p->append<ftl::operators::Poser>("poser")->value("enabled", true);
+		p->append<ftl::operators::GTAnalysis>("gtanalyse");
+	}
+}
+
+void Feed::setPipelineCreator(const std::function<void(ftl::operators::Graph*)> &cb) {
+	UNIQUE_LOCK(mtx_, lk);
+	pipe_creator_ = cb;
 }
 
 void Feed::removeFilter(Feed::Filter* filter) {