Change messages

SDK/CPP/private/frame_impl.cpp

@@ -50,9 +50,9 @@ voltu::PointCloudPtr FrameImpl::getPointCloud(voltu::PointCloudFormat cloudfmt,
 	return nullptr;
 }
 
-std::vector<std::string> FrameImpl::getMessages()
+std::vector<std::vector<std::string>> FrameImpl::getMessages()
 {
-	std::vector<std::string> msgs;
+	std::vector<std::vector<std::string>> allmsgs;
 
 	for (const auto &fs : framesets_)
 	{
@@ -61,12 +61,13 @@ std::vector<std::string> FrameImpl::getMessages()
 			if (f.hasChannel(ftl::codecs::Channel::Messages))
 			{
 				const auto &m = f.get<std::vector<std::string>>(ftl::codecs::Channel::Messages);
+				auto &msgs = allmsgs.emplace_back();
 				msgs.insert(msgs.end(), m.begin(), m.end());
 			}
 		}
 	}
 
-	return msgs;
+	return allmsgs;
 }
 
 void FrameImpl::pushFrameSet(const std::shared_ptr<ftl::data::FrameSet> &fs)

SDK/CPP/private/frame_impl.hpp

@@ -20,7 +20,7 @@ public:
 
 	voltu::PointCloudPtr getPointCloud(voltu::PointCloudFormat cloudfmt, voltu::PointFormat pointfmt) override;
 
-	std::vector<std::string> getMessages() override;
+	std::vector<std::vector<std::string>> getMessages() override;
 
 	int64_t getTimestamp() override;
 

SDK/CPP/public/include/voltu/types/frame.hpp

@@ -26,7 +26,7 @@ public:
 
 	PY_API PY_RV_LIFETIME_PARENT virtual voltu::PointCloudPtr getPointCloud(voltu::PointCloudFormat cloudfmt, voltu::PointFormat pointfmt) = 0;
 
-	PY_API virtual std::vector<std::string> getMessages() = 0;
+	PY_API virtual std::vector<std::vector<std::string>> getMessages() = 0;
 
 	PY_API virtual int64_t getTimestamp() = 0;
 };

SDK/CPP/public/include/voltu/voltu.hpp

@@ -8,7 +8,7 @@
 
 // Bump these for each release
 #define VOLTU_VERSION_MAJOR 0    // For API incompatible changes
-#define VOLTU_VERSION_MINOR 2    // For binary compatibility and extensions
+#define VOLTU_VERSION_MINOR 3    // For binary compatibility and extensions
 #define VOLTU_VERSION_PATCH 0    // Binary compatible internal fixes
 
 #define VOLTU_VERSION ((VOLTU_VERSION_MAJOR*10000) + (VOLTU_VERSION_MINOR*100) + VOLTU_VERSION_PATCH)

SDK/CPP/public/samples/fusion_evaluator/main.cpp

@@ -102,11 +102,13 @@ int main(int argc, char **argv)
 		break;
 	}
 
-	std::vector<std::string> msgs = frame->getMessages();
-	for (const auto &s : msgs)
+	std::vector<std::vector<std::string>> msgs = frame->getMessages();
+	if (msgs.size() > 0) {
+		for (const auto &s : msgs[0])
 		{
 			cout << s << endl;
 		}
+	}
 
 	cv::waitKey(-1);
 

components/operators/src/analysis/evaluation/gt_analysis.cpp

@@ -113,6 +113,8 @@ bool GTAnalysis::apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, cudaStream_t
 			);
 		}
 
+		cudaStreamSynchronize(stream);
+
 		cudaMemcpy(&err, output_, sizeof(err), cudaMemcpyDeviceToHost);
 		msgs.push_back(" ");
 		if (use_disp) 	{ report(msgs, err, o, npixels, "px", 1.0); }

components/operators/src/fusion/carving/carver.cu

@@ -74,8 +74,7 @@ __global__ void reverse_check_kernel(
 
 	float d = depth_in[y*pitch4+x];
 
-	// TODO: Externally provide the error coefficient
-	const float err_coef = 0.0005f; //depthErrorCoef(ointrin);
+	const float err_coef = depthErrorCoef(ointrin);
 
 	int ox = 0;
 	int oy = 0;
@@ -95,7 +94,7 @@ __global__ void reverse_check_kernel(
 			// TODO: Threshold comes from depth error characteristics
 			// If the value is significantly further then carve. Depth error
 			// is not always easy to calculate, depends on source.
-			// FIXME: Use length between 3D points, not depth
+			// FIXME: Use length between 3D points, not depth?
 			if (!(d2 < ointrin.maxDepth && d2 - campos.z > d2*d2*err_coef)) {
 				match = fabsf(campos.z - d2) < d2*d2*err_coef; break;
 			}