From e36fcf832a93037e090a56b3e7b928fdbde15fad Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Mon, 9 Nov 2020 10:54:25 +0200
Subject: [PATCH] Change messages
---
SDK/CPP/private/frame_impl.cpp | 7 ++++---
SDK/CPP/private/frame_impl.hpp | 2 +-
SDK/CPP/public/include/voltu/types/frame.hpp | 2 +-
SDK/CPP/public/include/voltu/voltu.hpp | 2 +-
SDK/CPP/public/samples/fusion_evaluator/main.cpp | 10 ++++++----
.../operators/src/analysis/evaluation/gt_analysis.cpp | 2 ++
components/operators/src/fusion/carving/carver.cu | 5 ++---
7 files changed, 17 insertions(+), 13 deletions(-)
diff --git a/SDK/CPP/private/frame_impl.cpp b/SDK/CPP/private/frame_impl.cpp
index 0b0779b6a..a91ad3e6a 100644
--- a/SDK/CPP/private/frame_impl.cpp
+++ b/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)
diff --git a/SDK/CPP/private/frame_impl.hpp b/SDK/CPP/private/frame_impl.hpp
index 1b6074a8a..eb5caa5a6 100644
--- a/SDK/CPP/private/frame_impl.hpp
+++ b/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;
diff --git a/SDK/CPP/public/include/voltu/types/frame.hpp b/SDK/CPP/public/include/voltu/types/frame.hpp
index 4209cc80c..30b7c4ddc 100644
--- a/SDK/CPP/public/include/voltu/types/frame.hpp
+++ b/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;
};
diff --git a/SDK/CPP/public/include/voltu/voltu.hpp b/SDK/CPP/public/include/voltu/voltu.hpp
index a2c4c0a14..d3e1413b4 100644
--- a/SDK/CPP/public/include/voltu/voltu.hpp
+++ b/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)
diff --git a/SDK/CPP/public/samples/fusion_evaluator/main.cpp b/SDK/CPP/public/samples/fusion_evaluator/main.cpp
index 7eebe3461..06d7567ab 100644
--- a/SDK/CPP/public/samples/fusion_evaluator/main.cpp
+++ b/SDK/CPP/public/samples/fusion_evaluator/main.cpp
@@ -102,10 +102,12 @@ int main(int argc, char **argv)
break;
}
- std::vector<std::string> msgs = frame->getMessages();
- for (const auto &s : msgs)
- {
- cout << s << endl;
+ 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);
diff --git a/components/operators/src/analysis/evaluation/gt_analysis.cpp b/components/operators/src/analysis/evaluation/gt_analysis.cpp
index b80d2beba..23c8b25ba 100644
--- a/components/operators/src/analysis/evaluation/gt_analysis.cpp
+++ b/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); }
diff --git a/components/operators/src/fusion/carving/carver.cu b/components/operators/src/fusion/carving/carver.cu
index 1fc2013e0..497cf848e 100644
--- a/components/operators/src/fusion/carving/carver.cu
+++ b/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;
}
--
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