From dff369754e1f3f01164a8dab2fc64e107250ecb1 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Wed, 30 Oct 2019 11:20:14 +0200
Subject: [PATCH] Add check for empty channel2
---
applications/reconstruct/src/ilw/ilw.cpp | 2 +-
components/renderers/cpp/src/tri_render.cpp | 2 +-
components/rgbd-sources/include/ftl/rgbd/frame.hpp | 2 +-
components/rgbd-sources/src/source.cpp | 2 +-
components/rgbd-sources/src/sources/virtual/virtual.cpp | 3 +--
5 files changed, 5 insertions(+), 6 deletions(-)
diff --git a/applications/reconstruct/src/ilw/ilw.cpp b/applications/reconstruct/src/ilw/ilw.cpp
index 93fd75a18..dfa43267e 100644
--- a/applications/reconstruct/src/ilw/ilw.cpp
+++ b/applications/reconstruct/src/ilw/ilw.cpp
@@ -144,7 +144,7 @@ ILW::~ILW() {
bool ILW::process(ftl::rgbd::FrameSet &fs) {
if (!enabled_) return false;
- fs.upload(Channel::Colour + Channel::Depth, stream_);
+ //fs.upload(Channel::Colour + Channel::Depth, stream_);
_phase0(fs, stream_);
params_.range = value("search_range", 0.05f);
diff --git a/components/renderers/cpp/src/tri_render.cpp b/components/renderers/cpp/src/tri_render.cpp
index a14aa6b16..cfd81347c 100644
--- a/components/renderers/cpp/src/tri_render.cpp
+++ b/components/renderers/cpp/src/tri_render.cpp
@@ -357,7 +357,7 @@ bool Triangular::render(ftl::rgbd::VirtualSource *src, ftl::rgbd::Frame &out) {
SHARED_LOCK(scene_->mtx, lk);
if (!src->isReady()) return false;
- scene_->upload(Channel::Colour + Channel::Depth, stream_);
+ //scene_->upload(Channel::Colour + Channel::Depth, stream_);
const auto &camera = src->parameters();
//cudaSafeCall(cudaSetDevice(scene_->getCUDADevice()));
diff --git a/components/rgbd-sources/include/ftl/rgbd/frame.hpp b/components/rgbd-sources/include/ftl/rgbd/frame.hpp
index b08673c97..52bbe9022 100644
--- a/components/rgbd-sources/include/ftl/rgbd/frame.hpp
+++ b/components/rgbd-sources/include/ftl/rgbd/frame.hpp
@@ -256,7 +256,7 @@ ftl::cuda::TextureObject<T> &Frame::createTexture(ftl::codecs::Channel c) {
//LOG(INFO) << "Creating texture object";
m.tex = ftl::cuda::TextureObject<T>(m.gpu);
} else if (m.tex.cvType() != ftl::traits::OpenCVType<T>::value || m.tex.width() != m.gpu.cols || m.tex.height() != m.gpu.rows || m.tex.devicePtr() != m.gpu.data) {
- LOG(INFO) << "Recreating texture object for '" << ftl::codecs::name(c) << "'";
+ LOG(INFO) << "Recreating texture object for '" << ftl::codecs::name(c) << "'.";
m.tex.free();
m.tex = ftl::cuda::TextureObject<T>(m.gpu);
}
diff --git a/components/rgbd-sources/src/source.cpp b/components/rgbd-sources/src/source.cpp
index 089ec6568..6bfecc74c 100644
--- a/components/rgbd-sources/src/source.cpp
+++ b/components/rgbd-sources/src/source.cpp
@@ -313,7 +313,7 @@ void Source::notify(int64_t ts, cv::cuda::GpuMat &c1, cv::cuda::GpuMat &c2) {
}
// Should channel 2 be scaled?
- if (c2.cols < max_width || c2.rows < max_height) {
+ if (!c2.empty() && (c2.cols < max_width || c2.rows < max_height)) {
if (c2.type() == CV_32F) {
cv::cuda::resize(c2, c2, cv::Size(max_width, max_height), 0.0, 0.0, cv::INTER_NEAREST);
} else {
diff --git a/components/rgbd-sources/src/sources/virtual/virtual.cpp b/components/rgbd-sources/src/sources/virtual/virtual.cpp
index fbead5415..a1d1040c6 100644
--- a/components/rgbd-sources/src/sources/virtual/virtual.cpp
+++ b/components/rgbd-sources/src/sources/virtual/virtual.cpp
@@ -103,8 +103,7 @@ class VirtualImpl : public ftl::rgbd::detail::Source {
cv::cuda::swap(frame.get<cv::cuda::GpuMat>(host_->getChannel()), depth_);
}
- auto cb = host_->callback();
- if (cb) cb(timestamp_, rgb_, depth_);
+ host_->notify(timestamp_, rgb_, depth_);
}
return true;
}
--
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