From df49b853a5a74985d51fe7bd8afe0c7687b6e021 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Mon, 16 Mar 2020 09:11:04 +0200
Subject: [PATCH] Fixes for bad HDR conversion
---
SDK/C/include/ftl/ftl.h | 3 ++-
SDK/C/src/streams.cpp | 21 +++++++++++++++------
SDK/Python/blender_script.py | 10 ++++++----
3 files changed, 23 insertions(+), 11 deletions(-)
diff --git a/SDK/C/include/ftl/ftl.h b/SDK/C/include/ftl/ftl.h
index 33ff215da..2820e2436 100644
--- a/SDK/C/include/ftl/ftl.h
+++ b/SDK/C/include/ftl/ftl.h
@@ -93,7 +93,8 @@ enum ftlImageFormat_t {
FTLIMAGE_BGRA,
FTLIMAGE_RGBA,
FTLIMAGE_RGB,
- FTLIMAGE_BGR
+ FTLIMAGE_BGR,
+ FTLIMAGE_RGB_FLOAT // Used by Blender
};
#ifdef __cplusplus
diff --git a/SDK/C/src/streams.cpp b/SDK/C/src/streams.cpp
index cef412617..94b1fb014 100644
--- a/SDK/C/src/streams.cpp
+++ b/SDK/C/src/streams.cpp
@@ -133,9 +133,17 @@ ftlError_t ftlImageWrite(
case FTLIMAGE_RGB : tmp = cv::Mat(intrin.height, intrin.width, CV_8UC3, const_cast<void*>(data), pitch);
cv::cvtColor(tmp, tmp2, cv::COLOR_RGB2BGRA);
break;
+ case FTLIMAGE_RGB_FLOAT : tmp = cv::Mat(intrin.height, intrin.width, CV_32FC3, const_cast<void*>(data), pitch);
+ tmp.convertTo(tmp2, CV_8UC3, 255.0f);
+ cv::cvtColor(tmp2, tmp2, cv::COLOR_RGB2BGRA);
+ break;
default : return FTLERROR_STREAM_BAD_IMAGE_TYPE;
}
+ double minVal, maxVal;
+ cv::minMaxLoc(tmp, &minVal, &maxVal);
+ LOG(INFO) << "MIN MAX " << minVal << " - " << maxVal;
+
if (tmp2.empty()) return FTLERROR_STREAM_NO_DATA;
cv::flip(tmp2, tmp2, 0); // Flip to get opencv form.
img.upload(tmp2);
@@ -278,26 +286,27 @@ ftlError_t ftlDestroyStream(ftlStream_t stream) {
if (!stream) return FTLERROR_STREAM_INVALID_STREAM;
if (!stream->stream) return FTLERROR_STREAM_INVALID_STREAM;
- ftl::pool.push([stream](int id) {
- //ftlError_t err = FTLERROR_OK;
+ //ftl::pool.push([stream](int id) {
+ ftlError_t err = FTLERROR_OK;
if (stream->has_fresh_data) {
try {
cudaSetDevice(0);
stream->sender->post(stream->video_fs);
} catch (const std::exception &e) {
- //err = FTLERROR_STREAM_ENCODE_FAILED;
+ err = FTLERROR_STREAM_ENCODE_FAILED;
}
}
if (!stream->stream->end()) {
- //err = FTLERROR_STREAM_FILE_CREATE_FAILED;
+ err = FTLERROR_STREAM_FILE_CREATE_FAILED;
}
if (stream->sender) delete stream->sender;
delete stream->stream;
stream->sender = nullptr;
stream->stream = nullptr;
delete stream;
- });
- return FTLERROR_OK;
+ //});
+ //return FTLERROR_OK;
+ return err;
}
diff --git a/SDK/Python/blender_script.py b/SDK/Python/blender_script.py
index ce8504839..8af70b4bd 100644
--- a/SDK/Python/blender_script.py
+++ b/SDK/Python/blender_script.py
@@ -195,7 +195,8 @@ def render():
pix = np.array(pixels.pixels[:])
# sRGB conversion
- pix2 = np.zeros(pix.shape[:], dtype=np.float)
+ #pix2 = np.zeros(pix.shape[:], dtype=np.float)
+ pix2 = np.copy(pix)
np.copyto(pix2, 1.055*(pix**(1.0/2.4)) - 0.055, where=pix <= 1)
np.copyto(pix2, pix * 12.92, where=pix <= 0.0031308)
@@ -204,12 +205,13 @@ def render():
im = pix2.reshape((pixels.size[1], pixels.size[0], pixels.channels))
+ im2 = (im[:,:,0:3]).astype(np.float32)
depthim = (np.array(pixels.pixels[:]).reshape((pixels.size[1], pixels.size[0], pixels.channels))[:,:,3]).astype(np.float32)
# set invalid depth values to 0.0
depthim[depthim >= _d_max] = 0.0
- return (im[:,:,0:3]*255.0).astype(np.uint8), depthim
+ return im2, depthim
def render_stereo(camera, baseline=0.15):
bpy.context.scene.camera = camera
@@ -262,9 +264,9 @@ resolution_y_in_px = scale * bpy.context.scene.render.resolution_y
err = ftlIntrinsicsWriteLeft(c_void_p(stream), c_int(0), c_int(int(image.intrinsics.width)), c_int(int(image.intrinsics.height)), c_float(image.intrinsics.fx), c_float(image.intrinsics.cx), c_float(image.intrinsics.cy), c_float(image.intrinsics.baseline), c_float(image.intrinsics.min_depth), c_float(image.intrinsics.max_depth))
err = ftlIntrinsicsWriteRight(c_void_p(stream), c_int(0), c_int(int(image.intrinsics.width)), c_int(int(image.intrinsics.height)), c_float(image.intrinsics.fx), c_float(image.intrinsics.cx), c_float(image.intrinsics.cy), c_float(image.intrinsics.baseline), c_float(image.intrinsics.min_depth), c_float(image.intrinsics.max_depth))
print(err)
-err = ftlImageWrite(stream, 0, 0, 3, 0, image.imL.ctypes.data_as(c_void_p))
+err = ftlImageWrite(stream, 0, 0, 5, 0, image.imL.ctypes.data_as(c_void_p))
print(err)
-err = ftlImageWrite(stream, 0, 2, 3, 0, image.imR.ctypes.data_as(c_void_p))
+err = ftlImageWrite(stream, 0, 2, 5, 0, image.imR.ctypes.data_as(c_void_p))
print(err)
err = ftlImageWrite(stream, 0, 22, 0, 0, image.depthL.ctypes.data_as(c_void_p))
print(err)
--
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