Merge branch 'master' of gitlab.utu.fi:nicolas.pope/ftl

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()); 

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

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:

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;
 
 };
 

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);

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;