diff --git a/applications/reconstruct/src/main.cpp b/applications/reconstruct/src/main.cpp
index 3db5d6603fad4dc7b93106d3974dcec8d8ff9704..c8cc100b7e64d5a59f0a24a6d6bd808d60d01586 100644
--- a/applications/reconstruct/src/main.cpp
+++ b/applications/reconstruct/src/main.cpp
@@ -75,8 +75,10 @@ static Eigen::Affine3d create_rotation_matrix(float ax, float ay, float az) {
return rz * rx * ry;
}
-// TODO: Remove this class (requires more general solution). Also does not
-// process disconnections/reconnections/types etc. correctly.
+// TODO: * Remove this class (requires more general solution). Also does not
+// process disconnections/reconnections/types etc. correctly.
+// * Update when new options become available.
+
class ConfigProxy {
private:
vector<ftl::UUID> peers_;
@@ -99,20 +101,25 @@ class ConfigProxy {
auto config = json_t::parse(net_->call<string>(peers_[0], "get_cfg", uris_[0] + "/" + uri));
auto *proxy = ftl::create<ftl::Configurable>(root, name);
- for (auto &itm : config.get<json::object_t>()) {
- auto key = itm.first;
- auto value = itm.second;
- if (*key.begin() == '$') { continue; }
-
- proxy->set(key, value);
- proxy->on(key, [this, uri, key, value, proxy](const ftl::config::Event&) {
- for (size_t i = 0; i < uris_.size(); i++) {
- // TODO: check that config exists?
- auto peer = peers_[i];
- std::string name = uris_[i] + "/" + uri + "/" + key;
- net_->send(peer, "update_cfg", name, proxy->getConfig()[key].dump());
- }
- });
+ try {
+ for (auto &itm : config.get<json::object_t>()) {
+ auto key = itm.first;
+ auto value = itm.second;
+ if (*key.begin() == '$') { continue; }
+
+ proxy->set(key, value);
+ proxy->on(key, [this, uri, key, value, proxy](const ftl::config::Event&) {
+ for (size_t i = 0; i < uris_.size(); i++) {
+ // TODO: check that config exists?
+ auto peer = peers_[i];
+ std::string name = uris_[i] + "/" + uri + "/" + key;
+ net_->send(peer, "update_cfg", name, proxy->getConfig()[key].dump());
+ }
+ });
+ }
+ }
+ catch (nlohmann::detail::type_error) {
+ LOG(ERROR) << "Failed to add config proxy for: " << uri << "/" << name;
}
}
};
@@ -166,7 +173,7 @@ static void run(ftl::Configurable *root) {
LOG(ERROR) << "No sources configured!";
return;
}
-
+
ConfigProxy *configproxy = nullptr;
if (net->numberOfPeers() > 0) {
configproxy = new ConfigProxy(net); // TODO delete
@@ -174,6 +181,8 @@ static void run(ftl::Configurable *root) {
configproxy->add(disparity, "source/disparity/algorithm", "algorithm");
configproxy->add(disparity, "source/disparity/bilateral_filter", "bilateral_filter");
configproxy->add(disparity, "source/disparity/optflow_filter", "optflow_filter");
+ configproxy->add(disparity, "source/disparity/mls", "mls");
+ configproxy->add(disparity, "source/disparity/cross", "cross");
}
// Create scene transform, intended for axis aligning the walls and floor
@@ -289,7 +298,7 @@ static void run(ftl::Configurable *root) {
// TODO: Write pose+calibration+config packets
auto sources = group->sources();
- for (int i=0; i<sources.size(); ++i) {
+ for (size_t i=0; i<sources.size(); ++i) {
//writeSourceProperties(writer, i, sources[i]);
sources[i]->inject(Channel::Calibration, sources[i]->parameters(), Channel::Left, sources[i]->getCapabilities());
sources[i]->inject(sources[i]->getPose());
diff --git a/components/operators/CMakeLists.txt b/components/operators/CMakeLists.txt
index f177aa59124c5e08a0321712ace7e9528eb3d7db..d7db869cbe25bd5fa0d9860bc0b1219471b5c410 100644
--- a/components/operators/CMakeLists.txt
+++ b/components/operators/CMakeLists.txt
@@ -10,7 +10,6 @@ set(OPERSRC
src/filling.cu
src/disparity/disp2depth.cu
src/disparity/disparity_to_depth.cpp
- src/disparity/fixstars_sgm.cpp
src/disparity/bilateral_filter.cpp
src/segmentation.cu
src/segmentation.cpp
@@ -20,6 +19,11 @@ set(OPERSRC
src/antialiasing.cu
)
+
+if (LIBSGM_FOUND)
+ list(APPEND OPERSRC src/disparity/fixstars_sgm.cpp)
+endif (LIBSGM_FOUND)
+
if (HAVE_OPTFLOW)
list(APPEND OPERSRC
src/nvopticalflow.cpp
diff --git a/components/operators/include/ftl/operators/disparity.hpp b/components/operators/include/ftl/operators/disparity.hpp
index fa280871d15912a2eee8c384f0535ebbdfdcbc47..0c26c904fbfa8e2dce0d209347b612f6bb719b63 100644
--- a/components/operators/include/ftl/operators/disparity.hpp
+++ b/components/operators/include/ftl/operators/disparity.hpp
@@ -7,16 +7,18 @@
#include <opencv2/cudaoptflow.hpp>
#endif
+#ifdef HAVE_LIBSGM
#include <libsgm.h>
+#endif
namespace ftl {
namespace operators {
+#ifdef HAVE_LIBSGM
/*
* FixstarsSGM https://github.com/fixstars/libSGM
*
* Requires modified version https://gitlab.utu.fi/joseha/libsgm
- *
*/
class FixstarsSGM : public ftl::operators::Operator {
public:
@@ -41,6 +43,7 @@ class FixstarsSGM : public ftl::operators::Operator {
int max_disp_;
float uniqueness_;
};
+#endif
class DisparityBilateralFilter : public::ftl::operators::Operator {
public:
diff --git a/components/operators/include/ftl/operators/mask.hpp b/components/operators/include/ftl/operators/mask.hpp
index ef9758e39bea32a07498b32f76fdb67810fe6cfa..579b1f6fe83daf7402041fe139116abe09ee3234 100644
--- a/components/operators/include/ftl/operators/mask.hpp
+++ b/components/operators/include/ftl/operators/mask.hpp
@@ -14,12 +14,12 @@ namespace operators {
*/
class DiscontinuityMask : public ftl::operators::Operator {
public:
- explicit DiscontinuityMask(ftl::Configurable*);
- ~DiscontinuityMask();
+ explicit DiscontinuityMask(ftl::Configurable*);
+ ~DiscontinuityMask();
inline Operator::Type type() const override { return Operator::Type::OneToOne; }
- bool apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, ftl::rgbd::Source *src, cudaStream_t stream) override;
+ bool apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, ftl::rgbd::Source *src, cudaStream_t stream) override;
};
@@ -28,12 +28,12 @@ class DiscontinuityMask : public ftl::operators::Operator {
*/
class CullDiscontinuity : public ftl::operators::Operator {
public:
- explicit CullDiscontinuity(ftl::Configurable*);
- ~CullDiscontinuity();
+ explicit CullDiscontinuity(ftl::Configurable*);
+ ~CullDiscontinuity();
inline Operator::Type type() const override { return Operator::Type::OneToOne; }
- bool apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, ftl::rgbd::Source *src, cudaStream_t stream) override;
+ bool apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, ftl::rgbd::Source *src, cudaStream_t stream) override;
};
diff --git a/components/operators/src/smoothing.cpp b/components/operators/src/smoothing.cpp
index a4b23ab7c46fae80a13c5c4a4dd761dd81b6d822..2eafe7977a827cd0a1e90017f749fd1245ce1b68 100644
--- a/components/operators/src/smoothing.cpp
+++ b/components/operators/src/smoothing.cpp
@@ -253,6 +253,11 @@ bool AggreMLS::apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, ftl::rgbd::Sou
return false;
}
+ if (!in.hasChannel(Channel::Support1)) {
+ LOG(ERROR) << "Required support channel missing for MLS";
+ return false;
+ }
+
auto size = in.get<GpuMat>(Channel::Depth).size();
centroid_horiz_.create(size.height, size.width);
normals_horiz_.create(size.height, size.width);
diff --git a/components/rgbd-sources/src/sources/stereovideo/stereovideo.cpp b/components/rgbd-sources/src/sources/stereovideo/stereovideo.cpp
index 003984d8a5fdc9c4e799f77882d9bd13456c91be..84d1e574b8e7aff91c774a1035c75280cd8ac03c 100644
--- a/components/rgbd-sources/src/sources/stereovideo/stereovideo.cpp
+++ b/components/rgbd-sources/src/sources/stereovideo/stereovideo.cpp
@@ -8,7 +8,14 @@
#include "ftl/operators/opticalflow.hpp"
#endif
+
+#include "ftl/operators/smoothing.hpp"
+#include "ftl/operators/colours.hpp"
+#include "ftl/operators/normals.hpp"
+#include "ftl/operators/filling.hpp"
+#include "ftl/operators/segmentation.hpp"
#include "ftl/operators/disparity.hpp"
+#include "ftl/operators/mask.hpp"
#include "ftl/threads.hpp"
#include "calibrate.hpp"
@@ -132,6 +139,11 @@ void StereoVideoSource::init(const string &file) {
#endif
pipeline_depth_->append<ftl::operators::DisparityBilateralFilter>("bilateral_filter");
pipeline_depth_->append<ftl::operators::DisparityToDepth>("calculate_depth");
+ pipeline_depth_->append<ftl::operators::ColourChannels>("colour"); // Convert BGR to BGRA
+ pipeline_depth_->append<ftl::operators::Normals>("normals"); // Estimate surface normals
+ pipeline_depth_->append<ftl::operators::CrossSupport>("cross");
+ pipeline_depth_->append<ftl::operators::DiscontinuityMask>("discontinuity_mask");
+ pipeline_depth_->append<ftl::operators::AggreMLS>("mls"); // Perform MLS (using smoothing channel)
LOG(INFO) << "StereoVideo source ready...";
ready_ = true;