From dfa649c790534892586dfc0cb3ecaa4d0744d2a6 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Mon, 9 Nov 2020 11:33:13 +0200
Subject: [PATCH] More fusion app options
---
.../public/samples/fusion_evaluator/main.cpp | 24 ++++++++++++++++---
SDK/CPP/public/voltu_cv.cpp | 8 +++++--
components/operators/src/fusion/fusion.cpp | 9 +++++++
3 files changed, 36 insertions(+), 5 deletions(-)
diff --git a/SDK/CPP/public/samples/fusion_evaluator/main.cpp b/SDK/CPP/public/samples/fusion_evaluator/main.cpp
index d73bde963..691e0e290 100644
--- a/SDK/CPP/public/samples/fusion_evaluator/main.cpp
+++ b/SDK/CPP/public/samples/fusion_evaluator/main.cpp
@@ -16,6 +16,8 @@ int main(int argc, char **argv)
{
bool do_fusion = true;
bool do_eval = true;
+ int frameno = 0;
+ int sourceno = 0;
voltu::Channel display_channel = voltu::Channel::kColour;
std::list<std::string> paths;
@@ -23,23 +25,33 @@ int main(int argc, char **argv)
for (const auto &s : opts)
{
- cout << "ARGS " << s.first << " " << s.second << endl;
if (s.first == "--no-fusion")
{
do_fusion = false;
}
else if (s.first == "--display")
{
- cout << "DISPLAY = " << s.second << endl;
if (s.second == "\"normals\"")
{
display_channel = voltu::Channel::kNormals;
}
+ else if (s.second == "\"depth\"")
+ {
+ display_channel = voltu::Channel::kDepth;
+ }
}
else if (s.first == "--no-eval")
{
do_eval = false;
}
+ else if (s.first == "--frame")
+ {
+ frameno = std::stoi(s.second);
+ }
+ else if (s.first == "--source")
+ {
+ sourceno = std::stoi(s.second);
+ }
else if (s.first[0] != '-')
{
paths.push_back(s.first);
@@ -70,7 +82,11 @@ int main(int argc, char **argv)
return -1;
}
- //room->waitNextFrame(5000);
+ for (int i=0; i<frameno; ++i)
+ {
+ room->waitNextFrame(5000);
+ room->getFrame();
+ }
auto frame = room->getFrame();
auto pipe = vtu->createPipeline();
@@ -96,8 +112,10 @@ int main(int argc, char **argv)
return -1;
}
+ int srccount = 0;
for (auto img : imgset)
{
+ if (srccount++ < sourceno) continue;
cv::Mat m;
voltu::cv::visualise(img, m);
cv::imshow(string("Image-") + img->getName(), m);
diff --git a/SDK/CPP/public/voltu_cv.cpp b/SDK/CPP/public/voltu_cv.cpp
index 31cd29aa6..e9951dc37 100644
--- a/SDK/CPP/public/voltu_cv.cpp
+++ b/SDK/CPP/public/voltu_cv.cpp
@@ -49,8 +49,12 @@ void voltu::cv::visualise(voltu::ImagePtr img, ::cv::Mat &mat)
::cv::Mat tmp;
voltu::cv::convert(img, tmp);
- ::cv::normalize(tmp, tmp, 0, 255, ::cv::NORM_MINMAX);
- tmp.convertTo(tmp, CV_8U);
+ float maxdepth = 8.0f; // TODO: Get from intrinsics
+
+ //::cv::normalize(tmp, tmp, 0, 255, ::cv::NORM_MINMAX);
+ tmp.convertTo(tmp, CV_8U, 255.0f / maxdepth);
+ ::cv::Mat mask = tmp > 0;
+ ::cv::subtract(::cv::Scalar(255), tmp, tmp, mask);
//#if OPENCV_VERSION >= 40102
//cv::applyColorMap(tmp, mat, cv::COLORMAP_TURBO);
diff --git a/components/operators/src/fusion/fusion.cpp b/components/operators/src/fusion/fusion.cpp
index 606df89d6..b1b106342 100644
--- a/components/operators/src/fusion/fusion.cpp
+++ b/components/operators/src/fusion/fusion.cpp
@@ -38,6 +38,9 @@ bool Fusion::apply(ftl::rgbd::FrameSet &in, ftl::rgbd::FrameSet &out, cudaStream
for (size_t i=0; i<in.frames.size(); ++i) {
if (!in.hasFrame(i)) continue;
+
+ if (!in.frames[i].hasChannel(Channel::Colour) || !in.frames[i].hasChannel(Channel::Depth)) continue;
+
const GpuMat &col = in.frames[i].get<GpuMat>(Channel::Colour);
const GpuMat &d = in.frames[i].get<GpuMat>(Channel::Depth);
@@ -71,12 +74,16 @@ bool Fusion::apply(ftl::rgbd::FrameSet &in, ftl::rgbd::FrameSet &out, cudaStream
for (size_t i=0; i < in.frames.size(); ++i) {
if (!in.hasFrame(i)) continue;
+ if (!in.frames[i].hasChannel(Channel::Colour) || !in.frames[i].hasChannel(Channel::Depth)) continue;
+
auto &f = in.frames[i].cast<ftl::rgbd::Frame>();
for (size_t j=0; j < in.frames.size(); ++j) {
if (i == j) continue;
if (!in.hasFrame(j)) continue;
+ if (!in.frames[j].hasChannel(Channel::Colour) || !in.frames[j].hasChannel(Channel::Depth)) continue;
+
auto &ref = in.frames[j].cast<ftl::rgbd::Frame>();
auto transformR = MatrixConversion::toCUDA(ref.getPose().cast<float>().inverse() * f.getPose().cast<float>());
@@ -101,6 +108,7 @@ bool Fusion::apply(ftl::rgbd::FrameSet &in, ftl::rgbd::FrameSet &out, cudaStream
for (int iters=0; iters < mls_iters; ++iters) {
for (size_t i=0; i<in.frames.size(); ++i) {
if (!in.hasFrame(i)) continue;
+ if (!in.frames[i].hasChannel(Channel::Normals) || !in.frames[i].hasChannel(Channel::Depth)) continue;
auto &f1 = in.frames[i].cast<ftl::rgbd::Frame>();
@@ -120,6 +128,7 @@ bool Fusion::apply(ftl::rgbd::FrameSet &in, ftl::rgbd::FrameSet &out, cudaStream
for (size_t j=0; j<in.frames.size(); ++j) {
if (!in.hasFrame(j)) continue;
//if (i == j) continue;
+ if (!in.frames[j].hasChannel(Channel::Normals) || !in.frames[j].hasChannel(Channel::Depth)) continue;
//LOG(INFO) << "Running phase1";
--
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