From ef09155a7d6ca1e3909352d635095b89ceb8f304 Mon Sep 17 00:00:00 2001
From: Sebastian Hahta <joseha@utu.fi>
Date: Fri, 1 Nov 2019 11:45:22 +0200
Subject: [PATCH] parameters can be updated runtime
---
.../src/algorithms/fixstars_sgm.cpp | 131 ++++++++++++++++--
.../src/algorithms/fixstars_sgm.hpp | 5 +
2 files changed, 121 insertions(+), 15 deletions(-)
diff --git a/components/rgbd-sources/src/algorithms/fixstars_sgm.cpp b/components/rgbd-sources/src/algorithms/fixstars_sgm.cpp
index 732c4ffb5..8a55fbcbb 100644
--- a/components/rgbd-sources/src/algorithms/fixstars_sgm.cpp
+++ b/components/rgbd-sources/src/algorithms/fixstars_sgm.cpp
@@ -27,28 +27,66 @@ FixstarsSGM::FixstarsSGM(nlohmann::json &config) : Disparity(config) {
CHECK(P1_ >= 0);
CHECK(P2_ > P1_);
- use_filter_ = value("use_filter", false);
- if (use_filter_) {
- int radius = value("filter_radius", 25);
- int iter = value("filter_iter", 1);
- CHECK(radius > 0) << "filter_radius must be greater than 0";
- CHECK(iter > 0) << "filter_iter must be greater than 0";
+ updateBilateralFilter();
- filter_ = cv::cuda::createDisparityBilateralFilter(max_disp_ << 4, radius, iter);
- }
+ on("use_filter", [this](const ftl::config::Event&) {
+ updateBilateralFilter();
+ });
+
+ on("filter_radius", [this](const ftl::config::Event&) {
+ updateBilateralFilter();
+ });
+
+ on("filter_iter", [this](const ftl::config::Event&) {
+ updateBilateralFilter();
+ });
#ifdef HAVE_OPTFLOW
- use_off_ = value("use_off", false);
+ updateOFDisparityFilter();
- if (use_off_)
- {
- int off_size = value("off_size", 9);
- double off_threshold = value("off_threshold", 0.9);
- off_ = ftl::rgbd::OFDisparityFilter(size_, off_size, off_threshold);
- }
+ on("use_off", [this](const ftl::config::Event&) {
+ updateOFDisparityFilter();
+ });
+
+ on("use_off", [this](const ftl::config::Event&) {
+ updateOFDisparityFilter();
+ });
#endif
init(size_);
+
+ on("uniqueness", [this](const ftl::config::Event&) {
+ float uniqueness = value("uniqueness", uniqueness_);
+ if ((uniqueness >= 0.0) && (uniqueness <= 1.0)) {
+ uniqueness_ = uniqueness;
+ updateParameters();
+ }
+ else {
+ LOG(WARNING) << "invalid uniquness: " << uniqueness;
+ }
+ });
+
+ on("P1", [this](const ftl::config::Event&) {
+ int P1 = value("P1", P1_);
+ if (P1 <= P2_) {
+ P1_ = P1;
+ updateParameters();
+ }
+ else {
+ LOG(WARNING) << "invalid P1: " << P1 << ", (P1 <= P2), P2 is " << P2_;
+ }
+ });
+
+ on("P2", [this](const ftl::config::Event&) {
+ int P2 = value("P2", P2_);
+ if (P2 >= P1_) {
+ P2_ = P2;
+ updateParameters();
+ }
+ else {
+ LOG(WARNING) << "invalid P2: " << P2 << ", (P1 <= P2), P1 is " << P1_;
+ }
+ });
}
void FixstarsSGM::init(const cv::Size size) {
@@ -64,6 +102,69 @@ void FixstarsSGM::init(const cv::Size size) {
);
}
+bool FixstarsSGM::updateParameters() {
+ if (ssgm_ == nullptr) { return false; }
+ return this->ssgm_->updateParameters(
+ sgm::StereoSGM::Parameters(P1_, P2_, uniqueness_, true));
+}
+
+bool FixstarsSGM::updateBilateralFilter() {
+ bool enable = value("use_filter", false);
+ int radius = value("filter_radius", 25);
+ int iter = value("filter_iter", 1);
+
+ if (enable) {
+ if (radius <= 0) {
+ LOG(WARNING) << "filter_radius must be greater than 0";
+ enable = false;
+ }
+ if (iter <= 0) {
+ LOG(WARNING) << "filter_iter must be greater than 0";
+ enable = false;
+ }
+ }
+
+ if (enable) {
+ filter_ = cv::cuda::createDisparityBilateralFilter(max_disp_ << 4, radius, iter);
+ use_filter_ = true;
+ }
+ else {
+ use_filter_ = false;
+ }
+
+ return use_filter_;
+}
+
+#ifdef HAVE_OPTFLOW
+bool FixstarsSGM::updateOFDisparityFilter() {
+ bool enable = value("use_off", false);
+ int off_size = value("off_size", 9);
+ double off_threshold = value("off_threshold", 0.9);
+
+ if (enable) {
+ if (off_size <= 0) {
+ LOG(WARNING) << "bad off_size: " << off_size;
+ enable = false;
+ }
+
+ if (off_threshold <= 0.0) {
+ LOG(WARNING) << "bad off_threshold: " << off_threshold;
+ enable = false;
+ }
+ }
+
+ if (enable) {
+ off_ = ftl::rgbd::OFDisparityFilter(size_, off_size, off_threshold);
+ use_off_ = true;
+ }
+ else {
+ use_off_ = false;
+ }
+
+ return use_off_;
+}
+#endif
+
void FixstarsSGM::compute(ftl::rgbd::Frame &frame, cv::cuda::Stream &stream)
{
/*if (!frame.hasChannel(ftl::rgbd::kChanLeftGray))
diff --git a/components/rgbd-sources/src/algorithms/fixstars_sgm.hpp b/components/rgbd-sources/src/algorithms/fixstars_sgm.hpp
index d2c0c1d2a..90d330079 100644
--- a/components/rgbd-sources/src/algorithms/fixstars_sgm.hpp
+++ b/components/rgbd-sources/src/algorithms/fixstars_sgm.hpp
@@ -41,6 +41,11 @@ namespace ftl {
private:
void init(const cv::Size size);
+ bool updateParameters();
+ bool updateBilateralFilter();
+ #ifdef HAVE_OPTFLOW
+ bool updateOFDisparityFilter();
+ #endif
float uniqueness_;
int P1_;
--
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