From e2f8c986dc8bbcef092b4ed30570f9e3bbf98b9f Mon Sep 17 00:00:00 2001
From: Sebastian Hahta <joseha@utu.fi>
Date: Fri, 29 Nov 2019 14:07:48 +0200
Subject: [PATCH] camera params to depth resolution
---
components/rgbd-sources/src/source.cpp | 16 -------
.../src/sources/stereovideo/stereovideo.cpp | 45 +++++++++----------
2 files changed, 22 insertions(+), 39 deletions(-)
diff --git a/components/rgbd-sources/src/source.cpp b/components/rgbd-sources/src/source.cpp
index 13cdd5487..c757ddc84 100644
--- a/components/rgbd-sources/src/source.cpp
+++ b/components/rgbd-sources/src/source.cpp
@@ -308,22 +308,6 @@ void Source::notify(int64_t ts, cv::cuda::GpuMat &c1, cv::cuda::GpuMat &c2) {
impl_->params_ = impl_->params_.scaled(max_width, max_height);
}
- // Should channel 1 be scaled?
- if (c1.cols < max_width || c1.rows < max_height) {
- LOG(WARNING) << "Resizing on GPU";
- cv::cuda::resize(c1, c1, cv::Size(max_width, max_height));
- }
-
- // Should channel 2 be scaled?
- if (!c2.empty() && (c2.cols < max_width || c2.rows < max_height)) {
- LOG(WARNING) << "Resizing on GPU";
- if (c2.type() == CV_32F) {
- cv::cuda::resize(c2, c2, cv::Size(max_width, max_height), 0.0, 0.0, cv::INTER_NEAREST);
- } else {
- cv::cuda::resize(c2, c2, cv::Size(max_width, max_height));
- }
- }
-
if (callback_) callback_(ts, c1, c2);
}
diff --git a/components/rgbd-sources/src/sources/stereovideo/stereovideo.cpp b/components/rgbd-sources/src/sources/stereovideo/stereovideo.cpp
index b4f365101..c2ecf8ff1 100644
--- a/components/rgbd-sources/src/sources/stereovideo/stereovideo.cpp
+++ b/components/rgbd-sources/src/sources/stereovideo/stereovideo.cpp
@@ -71,7 +71,28 @@ void StereoVideoSource::init(const string &file) {
color_size_ = cv::Size(lsrc_->width(), lsrc_->height());
frames_ = std::vector<Frame>(2);
- calib_ = ftl::create<Calibrate>(host_, "calibration", color_size_, stream_);
+ pipeline_input_ = ftl::config::create<ftl::operators::Graph>(host_, "input");
+ #ifdef HAVE_OPTFLOW
+ pipeline_input_->append<ftl::operators::NVOpticalFlow>("optflow");
+ #endif
+
+ pipeline_depth_ = ftl::config::create<ftl::operators::Graph>(host_, "disparity");
+ depth_size_ = cv::Size( pipeline_depth_->value("width", color_size_.width),
+ pipeline_depth_->value("height", color_size_.height));
+
+ pipeline_depth_->append<ftl::operators::FixstarsSGM>("algorithm");
+ #ifdef HAVE_OPTFLOW
+ pipeline_depth_->append<ftl::operators::OpticalFlowTemporalSmoothing>("optflow_filter");
+ #endif
+ pipeline_depth_->append<ftl::operators::DisparityBilateralFilter>("bilateral_filter");
+ pipeline_depth_->append<ftl::operators::DisparityToDepth>("calculate_depth");
+ pipeline_depth_->append<ftl::operators::ColourChannels>("colour"); // Convert BGR to BGRA
+ pipeline_depth_->append<ftl::operators::Normals>("normals"); // Estimate surface normals
+ pipeline_depth_->append<ftl::operators::CrossSupport>("cross");
+ pipeline_depth_->append<ftl::operators::DiscontinuityMask>("discontinuity_mask");
+ pipeline_depth_->append<ftl::operators::AggreMLS>("mls"); // Perform MLS (using smoothing channel)
+
+ calib_ = ftl::create<Calibrate>(host_, "calibration", depth_size_, stream_);
if (!calib_->isCalibrated()) LOG(WARNING) << "Cameras are not calibrated!";
// Generate camera parameters from camera matrix
@@ -125,28 +146,6 @@ void StereoVideoSource::init(const string &file) {
mask_l_gpu.download(mask_l);
mask_l_ = (mask_l == 0);
- pipeline_input_ = ftl::config::create<ftl::operators::Graph>(host_, "input");
- #ifdef HAVE_OPTFLOW
- pipeline_input_->append<ftl::operators::NVOpticalFlow>("optflow");
- #endif
-
- pipeline_depth_ = ftl::config::create<ftl::operators::Graph>(host_, "disparity");
-
- depth_size_ = cv::Size( pipeline_depth_->value("width", color_size_.width),
- pipeline_depth_->value("height", color_size_.height));
-
- pipeline_depth_->append<ftl::operators::FixstarsSGM>("algorithm");
- #ifdef HAVE_OPTFLOW
- pipeline_depth_->append<ftl::operators::OpticalFlowTemporalSmoothing>("optflow_filter");
- #endif
- pipeline_depth_->append<ftl::operators::DisparityBilateralFilter>("bilateral_filter");
- pipeline_depth_->append<ftl::operators::DisparityToDepth>("calculate_depth");
- pipeline_depth_->append<ftl::operators::ColourChannels>("colour"); // Convert BGR to BGRA
- pipeline_depth_->append<ftl::operators::Normals>("normals"); // Estimate surface normals
- pipeline_depth_->append<ftl::operators::CrossSupport>("cross");
- pipeline_depth_->append<ftl::operators::DiscontinuityMask>("discontinuity_mask");
- pipeline_depth_->append<ftl::operators::AggreMLS>("mls"); // Perform MLS (using smoothing channel)
-
LOG(INFO) << "StereoVideo source ready...";
ready_ = true;
}
--
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