do not use width&height from params

applications/reconstruct/src/ilw/discontinuity.cu

@@ -5,11 +5,12 @@
 using ftl::cuda::Mask;
 
 template <int RADIUS>
-__global__ void discontinuity_kernel(ftl::cuda::TextureObject<int> mask_out, ftl::cuda::TextureObject<float> depth, ftl::rgbd::Camera params) {
+__global__ void discontinuity_kernel(ftl::cuda::TextureObject<int> mask_out, ftl::cuda::TextureObject<float> depth,
+										const cv::Size size, const double minDepth, const double maxDepth) {
 	const unsigned int x = blockIdx.x*blockDim.x + threadIdx.x;
 	const unsigned int y = blockIdx.y*blockDim.y + threadIdx.y;
 
-	if (x < params.width && y < params.height) {
+	if (x < size.width && y < size.height) {
 		Mask mask(0);
 
 		const float d = depth.tex2D((int)x, (int)y);
@@ -17,7 +18,7 @@ __global__ void discontinuity_kernel(ftl::cuda::TextureObject<int> mask_out, ftl
 		// Calculate depth between 0.0 and 1.0
 		//float p = (d - params.minDepth) / (params.maxDepth - params.minDepth);
 
-		if (d >= params.minDepth && d <= params.maxDepth) {
+		if (d >= minDepth && d <= maxDepth) {
 			/* Orts-Escolano S. et al. 2016. Holoportation: Virtual 3D teleportation in real-time. */
 			// Is there a discontinuity nearby?
 			for (int u=-RADIUS; u<=RADIUS; ++u) {
@@ -32,16 +33,19 @@ __global__ void discontinuity_kernel(ftl::cuda::TextureObject<int> mask_out, ftl
 	}
 }
 
-void ftl::cuda::discontinuity(ftl::cuda::TextureObject<int> &mask_out, ftl::cuda::TextureObject<float> &depth, const ftl::rgbd::Camera &params, uint discon, cudaStream_t stream) {
-	const dim3 gridSize((params.width + T_PER_BLOCK - 1)/T_PER_BLOCK, (params.height + T_PER_BLOCK - 1)/T_PER_BLOCK);
+void ftl::cuda::discontinuity(ftl::cuda::TextureObject<int> &mask_out, ftl::cuda::TextureObject<float> &depth,
+								const cv::Size size, const double minDepth, const double maxDepth,
+								uint discon, cudaStream_t stream) {
+			
+	const dim3 gridSize((size.width + T_PER_BLOCK - 1)/T_PER_BLOCK, (size.height + T_PER_BLOCK - 1)/T_PER_BLOCK);
 	const dim3 blockSize(T_PER_BLOCK, T_PER_BLOCK);
 
 	switch (discon) {
-    case 5 :	discontinuity_kernel<5><<<gridSize, blockSize, 0, stream>>>(mask_out, depth, params); break;
-	case 4 :	discontinuity_kernel<4><<<gridSize, blockSize, 0, stream>>>(mask_out, depth, params); break;
-	case 3 :	discontinuity_kernel<3><<<gridSize, blockSize, 0, stream>>>(mask_out, depth, params); break;
-	case 2 :	discontinuity_kernel<2><<<gridSize, blockSize, 0, stream>>>(mask_out, depth, params); break;
-	case 1 :	discontinuity_kernel<1><<<gridSize, blockSize, 0, stream>>>(mask_out, depth, params); break;
+	case 5 :	discontinuity_kernel<5><<<gridSize, blockSize, 0, stream>>>(mask_out, depth, size, minDepth, maxDepth); break;
+	case 4 :	discontinuity_kernel<4><<<gridSize, blockSize, 0, stream>>>(mask_out, depth, size, minDepth, maxDepth); break;
+	case 3 :	discontinuity_kernel<3><<<gridSize, blockSize, 0, stream>>>(mask_out, depth, size, minDepth, maxDepth); break;
+	case 2 :	discontinuity_kernel<2><<<gridSize, blockSize, 0, stream>>>(mask_out, depth, size, minDepth, maxDepth); break;
+	case 1 :	discontinuity_kernel<1><<<gridSize, blockSize, 0, stream>>>(mask_out, depth, size, minDepth, maxDepth); break;
 	default:	break;
 	}
 	cudaSafeCall( cudaGetLastError() );

applications/reconstruct/src/ilw/ilw_cuda.hpp

@@ -29,7 +29,9 @@ static const uint kILWFlag_ColourConfidenceOnly = 0x0008;
 void discontinuity(
 	ftl::cuda::TextureObject<int> &mask_out,
 	ftl::cuda::TextureObject<float> &depth,
-	const ftl::rgbd::Camera &params,
+	const cv::Size size,
+	const double minDepth,
+	const double maxDepth,
 	uint discon, cudaStream_t stream
 );
 

components/operators/src/mask.cpp

@@ -22,7 +22,9 @@ bool DiscontinuityMask::apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, ftl::
 		out.createTexture<int>(Channel::Mask, ftl::rgbd::Format<int>(in.get<cv::cuda::GpuMat>(Channel::Depth).size())),
 		in.createTexture<uchar4>(Channel::Support1),
 		in.createTexture<float>(Channel::Depth),
-		s->parameters(), radius, threshold, stream
+		in.get<cv::cuda::GpuMat>(Channel::Depth).size(),
+		s->parameters().minDepth, s->parameters().maxDepth,
+		radius, threshold, stream
 	);
 
 	return true;

components/operators/src/mask.cu

@@ -4,16 +4,21 @@
 
 using ftl::cuda::Mask;
 
-__global__ void discontinuity_kernel(ftl::cuda::TextureObject<int> mask_out, ftl::cuda::TextureObject<uchar4> support, ftl::cuda::TextureObject<float> depth, ftl::rgbd::Camera params, float threshold, int radius) {
+__global__ void discontinuity_kernel(ftl::cuda::TextureObject<int> mask_out,
+										ftl::cuda::TextureObject<uchar4> support,
+										ftl::cuda::TextureObject<float> depth, 
+										const cv::Size size, const double minDepth, const double maxDepth,
+										float threshold, int radius) {
+	
 	const unsigned int x = blockIdx.x*blockDim.x + threadIdx.x;
 	const unsigned int y = blockIdx.y*blockDim.y + threadIdx.y;
 
-	if (x < params.width && y < params.height) {
+	if (x < size.width && y < size.height) {
 		Mask mask(0);
 
 		const float d = depth.tex2D((int)x, (int)y);
 
-		if (d >= params.minDepth && d <= params.maxDepth) {
+		if (d >= minDepth && d <= maxDepth) {
 			/* Orts-Escolano S. et al. 2016. Holoportation: Virtual 3D teleportation in real-time. */
 
 			// If colour cross support region terminates within the requested
@@ -43,11 +48,15 @@ __global__ void discontinuity_kernel(ftl::cuda::TextureObject<int> mask_out, ftl
 	}
 }
 
-void ftl::cuda::discontinuity(ftl::cuda::TextureObject<int> &mask_out, ftl::cuda::TextureObject<uchar4> &support, ftl::cuda::TextureObject<float> &depth, const ftl::rgbd::Camera &params, int discon, float thresh, cudaStream_t stream) {
-	const dim3 gridSize((params.width + T_PER_BLOCK - 1)/T_PER_BLOCK, (params.height + T_PER_BLOCK - 1)/T_PER_BLOCK);
+void ftl::cuda::discontinuity(	ftl::cuda::TextureObject<int> &mask_out, ftl::cuda::TextureObject<uchar4> &support,
+								ftl::cuda::TextureObject<float> &depth,
+								const cv::Size size, const double minDepth, const double maxDepth,
+								int discon, float thresh, cudaStream_t stream) {
+	
+	const dim3 gridSize((size.width + T_PER_BLOCK - 1)/T_PER_BLOCK, (size.height + T_PER_BLOCK - 1)/T_PER_BLOCK);
 	const dim3 blockSize(T_PER_BLOCK, T_PER_BLOCK);
 
-    discontinuity_kernel<<<gridSize, blockSize, 0, stream>>>(mask_out, support, depth, params, thresh, discon);
+	discontinuity_kernel<<<gridSize, blockSize, 0, stream>>>(mask_out, support, depth, size, minDepth, maxDepth, thresh, discon);
 	cudaSafeCall( cudaGetLastError() );
 
 #ifdef _DEBUG
@@ -55,8 +64,6 @@ void ftl::cuda::discontinuity(ftl::cuda::TextureObject<int> &mask_out, ftl::cuda
 #endif
 }
 
-
-
 __global__ void cull_discontinuity_kernel(ftl::cuda::TextureObject<int> mask, ftl::cuda::TextureObject<float> depth) {
 	const unsigned int x = blockIdx.x*blockDim.x + threadIdx.x;
 	const unsigned int y = blockIdx.y*blockDim.y + threadIdx.y;

components/operators/src/mask_cuda.hpp

@@ -44,7 +44,9 @@ void discontinuity(
 		ftl::cuda::TextureObject<int> &mask,
 		ftl::cuda::TextureObject<uchar4> &support,
 		ftl::cuda::TextureObject<float> &depth,
-		const ftl::rgbd::Camera &params,
+		const cv::Size size,
+		const double minDepth,
+		const double maxDepth,
 		int radius, float threshold,
 		cudaStream_t stream);
 

components/rgbd-sources/src/sources/stereovideo/stereovideo.cpp

@@ -130,12 +130,12 @@ void StereoVideoSource::init(const string &file) {
 	pipeline_input_->append<ftl::operators::NVOpticalFlow>("optflow");
 	#endif
 
-	depth_size_ = cv::Size(	host_->value("width", color_size_.width),
-							host_->value("height", color_size_.height));
-
 	pipeline_depth_ = ftl::config::create<ftl::operators::Graph>(host_, "disparity");
-	pipeline_depth_->append<ftl::operators::FixstarsSGM>("algorithm");
 
+	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
@@ -207,24 +207,27 @@ bool StereoVideoSource::compute(int n, int b) {
 	}
 
 	if (chan == Channel::Depth) {
-		// stereo algorithms assume input same size as output, resize if
-		// necessary
+		// stereo algorithms assume input same size as output
 		bool resize = (depth_size_ != color_size_);
-		if (resize) {
+
 		cv::cuda::GpuMat& left = frame.get<cv::cuda::GpuMat>(Channel::Left);
 		cv::cuda::GpuMat& right = frame.get<cv::cuda::GpuMat>(Channel::Right);
+
+		if (left.empty() || right.empty()) {
+			return false;
+		}
+
+		if (resize) {
 			std::swap(fullres_left_, left);
 			std::swap(fullres_right_, right);
-			cv::cuda::resize(fullres_left_, left, depth_size_, 0.0, 0.0, cv::INTER_CUBIC, stream_);
-			cv::cuda::resize(fullres_right_, right, depth_size_, 0.0, 0.0, cv::INTER_CUBIC, stream_);
+			cv::cuda::resize(fullres_left_, left, depth_size_, 0, 0, cv::INTER_CUBIC, stream_);
+			cv::cuda::resize(fullres_right_, right, depth_size_, 0, 0, cv::INTER_CUBIC, stream_);
 		}
 
 		pipeline_depth_->apply(frame, frame, host_, cv::cuda::StreamAccessor::getStream(stream_));
 		stream_.waitForCompletion();
 		
 		if (resize) {
-			cv::cuda::GpuMat &left = frame.get<cv::cuda::GpuMat>(Channel::Left);
-			cv::cuda::GpuMat &right = frame.get<cv::cuda::GpuMat>(Channel::Right);
 			std::swap(fullres_left_, left);
 			std::swap(fullres_right_, right);
 		}