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Commit e1a74c20 authored by Sebastian Hahta's avatar Sebastian Hahta
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config

parent b8b97626
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1 merge request!161feature/vision operator
Pipeline #16272 passed
#pragma once
#include <ftl/operators/disparity.hpp> #include <ftl/operators/disparity.hpp>
using cv::cuda::GpuMat; using cv::cuda::GpuMat;
...@@ -32,6 +30,6 @@ bool DisparityBilateralFilter::apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out ...@@ -32,6 +30,6 @@ bool DisparityBilateralFilter::apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out
disp_in.convertTo(disp_int_, CV_16SC1, scale_, cvstream); disp_in.convertTo(disp_int_, CV_16SC1, scale_, cvstream);
filter_->apply(disp_int_, rgb, disp_int_result_, cvstream); filter_->apply(disp_int_, rgb, disp_int_result_, cvstream);
disp_int_result_.convertTo(disp_out, 1.0/scale_, cvstream); disp_int_result_.convertTo(disp_out, disp_in.type(), 1.0/scale_, cvstream);
return true; return true;
} }
\ No newline at end of file
...@@ -119,12 +119,12 @@ void StereoVideoSource::init(const string &file) { ...@@ -119,12 +119,12 @@ void StereoVideoSource::init(const string &file) {
mask_l_gpu.download(mask_l); mask_l_gpu.download(mask_l);
mask_l_ = (mask_l == 0); mask_l_ = (mask_l == 0);
pipeline_input_ = ftl::config::create<ftl::operators::Graph>(host_, "pipeline_input"); pipeline_input_ = ftl::config::create<ftl::operators::Graph>(host_, "input");
#ifdef HAVE_OPTFLOW #ifdef HAVE_OPTFLOW
pipeline_input_->append<ftl::operators::NVOpticalFlow>("optflow"); pipeline_input_->append<ftl::operators::NVOpticalFlow>("optflow");
#endif #endif
pipeline_depth_ = ftl::config::create<ftl::operators::Graph>(host_, "pipeline_disparity"); pipeline_depth_ = ftl::config::create<ftl::operators::Graph>(host_, "disparity");
pipeline_depth_->append<ftl::operators::FixstarsSGM>("algorithm"); pipeline_depth_->append<ftl::operators::FixstarsSGM>("algorithm");
pipeline_depth_->append<ftl::operators::DisparityBilateralFilter>("bilateral_filter"); pipeline_depth_->append<ftl::operators::DisparityBilateralFilter>("bilateral_filter");
pipeline_depth_->append<ftl::operators::DisparitySmoothingOF>("optflow_filter"); pipeline_depth_->append<ftl::operators::DisparitySmoothingOF>("optflow_filter");
......
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