Frame Class

components/rgbd-sources/include/ftl/rgbd/frame.hpp

+#pragma once
+
+#include <ftl/rgbd/detail/source.hpp>
+#include <ftl/configuration.hpp>
+#include <opencv2/core.hpp>
+
+// https://stackoverflow.com/a/31718095/
+static uint32_t msbDeBruijn32(uint32_t v)
+{
+	static const int MultiplyDeBruijnBitPosition[32] =
+	{
+		0, 9, 1, 10, 13, 21, 2, 29, 11, 14, 16, 18, 22, 25, 3, 30,
+		8, 12, 20, 28, 15, 17, 24, 7, 19, 27, 23, 6, 26, 5, 4, 31
+	};
+
+	v |= v >> 1; // first round down to one less than a power of 2
+	v |= v >> 2;
+	v |= v >> 4;
+	v |= v >> 8;
+	v |= v >> 16;
+
+	return MultiplyDeBruijnBitPosition[(uint32_t)(v * 0x07C4ACDDU) >> 27];
+}
+
+namespace ftl {
+namespace rgbd {
+
+class Frame {
+public:
+	/* @todo	REMOVE HARDCODED CHANNEL COUNT!
+	 */
+	Frame() : channels_(11), available_(11, false) {}
+
+	/* @brief	Reset all channels without releasing memory
+	 */
+	void reset()
+	{
+		std::fill(available_.begin(), available_.end(), false);
+	}
+
+	/* @brief	Is there valid data in channel
+	 */
+	bool hasChannel(const ftl::rgbd::channel_t& channel)
+	{
+		return available_[msbDeBruijn32(channel)];
+	}
+
+	/* @brief	Get reference to the channel GpuMat
+	 */
+	cv::cuda::GpuMat& getChannel(const ftl::rgbd::channel_t& channel)
+	{
+		return channels_[msbDeBruijn32(channel)];
+	}
+
+private:
+	std::vector<cv::cuda::GpuMat> channels_;
+	std::vector<bool> available_;
+};
+
+}
+}
\ No newline at end of file

components/rgbd-sources/include/ftl/rgbd/source.hpp

@@ -12,6 +12,7 @@
 #include <string>
 
 #include <ftl/cuda_common.hpp>
+#include <ftl/rgbd/frame.hpp>
 
 namespace ftl {
 

components/rgbd-sources/src/stereovideo.cpp

@@ -58,7 +58,7 @@ void StereoVideoSource::init(const string &file)
 	}
 
 	cv::Size size = cv::Size(lsrc_->width(), lsrc_->height());
-	frames_ = std::vector<StereoVideoSource::Frame>(2); // triple-buffering for optical flow
+	frames_ = std::vector<Frame>(2);
 
 #ifdef HAVE_OPTFLOW
 	// TODO make optional, can be calculated at later step
@@ -173,9 +173,12 @@ bool StereoVideoSource::capture(int64_t ts) {
 bool StereoVideoSource::retrieve() {
 	auto &frame = frames_[0];
 	frame.reset();
-	lsrc_->get(frame.left, frame.right, calib_, stream2_);
+	cv::cuda::GpuMat& left = frame.getChannel(ftl::rgbd::kChanLeft);
+	cv::cuda::GpuMat& right = frame.getChannel(ftl::rgbd::kChanRight);
+	lsrc_->get(left, right, calib_, stream2_);
 
 #ifdef HAVE_OPTFLOW
+/*
 	if (nvof_)
 	{
 		cv::cuda::cvtColor(frame.left, frame.left_gray, cv::COLOR_BGR2GRAY, 0, stream2_);
@@ -190,6 +193,7 @@ bool StereoVideoSource::retrieve() {
 			frame.optflow_ready = true;
 		}
 	}
+*/
 #endif
 
 	stream2_.waitForCompletion();
@@ -204,24 +208,31 @@ void StereoVideoSource::swap() {
 
 bool StereoVideoSource::compute(int n, int b) {
 	auto &frame = frames_[1];
+	cv::cuda::GpuMat& left = frame.getChannel(ftl::rgbd::kChanLeft);
+	cv::cuda::GpuMat& right = frame.getChannel(ftl::rgbd::kChanRight);
+	cv::cuda::GpuMat& depth = frame.getChannel(ftl::rgbd::kChanDepth);
+	cv::cuda::GpuMat& disp = frame.getChannel(ftl::rgbd::kChanDisparity);
+
 	const ftl::rgbd::channel_t chan = host_->getChannel();
-	if (frame.left.empty() || frame.right.empty()) return false;
+	if (left.empty() || right.empty()) return false;
+
+
 
 	if (chan == ftl::rgbd::kChanDepth) {
-		if (frame.depth.empty()) frame.depth = cv::cuda::GpuMat(frame.left.size(), CV_32FC1);
-		if (frame.disp.empty()) frame.disp = cv::cuda::GpuMat(frame.left.size(), CV_32FC1);
-		disp_->compute(frame.left, frame.right, frame.disp, stream_);
-		ftl::cuda::disparity_to_depth(frame.disp, frame.depth, params_, stream_);
-		frame.left.download(rgb_, stream_);
-		frame.depth.download(depth_, stream_);
+		if (depth.empty()) depth = cv::cuda::GpuMat(left.size(), CV_32FC1);
+		if (disp.empty()) disp = cv::cuda::GpuMat(left.size(), CV_32FC1);
+		disp_->compute(left, right, disp, stream_);
+		ftl::cuda::disparity_to_depth(disp, depth, params_, stream_);
+		left.download(rgb_, stream_);
+		depth.download(depth_, stream_);
 
 		stream_.waitForCompletion();  // TODO:(Nick) Move to getFrames
 	} else if (chan == ftl::rgbd::kChanRight) {
-		frame.left.download(rgb_, stream_);
-		frame.right.download(depth_, stream_);
+		left.download(rgb_, stream_);
+		right.download(depth_, stream_);
 		stream_.waitForCompletion();  // TODO:(Nick) Move to getFrames
 	} else {
-		frame.left.download(rgb_, stream_);
+		left.download(rgb_, stream_);
 		stream_.waitForCompletion();  // TODO:(Nick) Move to getFrames
 	}
 

components/rgbd-sources/src/stereovideo.hpp

@@ -45,33 +45,6 @@ class StereoVideoSource : public detail::Source {
 	cv::cuda::Stream stream_;
 	cv::cuda::Stream stream2_;
 
-	// possibly should be made available for other users as well
-	// (should be called StereoVideoFrame)
-	class Frame {
-	public:
-		bool left_gray_ready;
-		bool right_gray_ready;
-		bool optflow_ready;
-
-		cv::cuda::GpuMat left;
-		cv::cuda::GpuMat right;
-		cv::cuda::GpuMat left_gray;
-		cv::cuda::GpuMat right_gray;
-		cv::cuda::GpuMat disp;
-		cv::cuda::GpuMat depth;
-		cv::cuda::GpuMat optflow;
-		cv::cuda::GpuMat optflow_; // original lower res optical flow
-
-		Frame() { reset(); }
-
-		void reset()
-		{
-			left_gray_ready = false;
-			right_gray_ready = false;
-			optflow_ready = false;
-		}
-	};
-
 	std::vector<Frame> frames_;
 
 	cv::Mat mask_l_;