From f4e3a3656ab540934ba2078f2b76eccd10f839be Mon Sep 17 00:00:00 2001
From: Sebastian Hahta <joseha@utu.fi>
Date: Fri, 13 Sep 2019 15:20:36 +0300
Subject: [PATCH] fix build
---
components/rgbd-sources/include/ftl/offilter.hpp | 3 +--
components/rgbd-sources/src/algorithms/offilter.cu | 13 +++++--------
components/rgbd-sources/src/offilter.cpp | 2 +-
3 files changed, 7 insertions(+), 11 deletions(-)
diff --git a/components/rgbd-sources/include/ftl/offilter.hpp b/components/rgbd-sources/include/ftl/offilter.hpp
index 194ee20fb..c5e7a9cf7 100644
--- a/components/rgbd-sources/include/ftl/offilter.hpp
+++ b/components/rgbd-sources/include/ftl/offilter.hpp
@@ -13,12 +13,11 @@ namespace rgbd {
class OFDisparityFilter {
public:
- OFDisparityFilter() : n_max_(0), threshold_(0.0), size_(0, 0) {} // TODO: invalid state
+ OFDisparityFilter() : n_max_(0), threshold_(0.0) {}
OFDisparityFilter(cv::Size size, int n_frames, float threshold);
void filter(ftl::rgbd::Frame &frame, cv::cuda::Stream &stream);
private:
- int n_;
int n_max_;
float threshold_;
diff --git a/components/rgbd-sources/src/algorithms/offilter.cu b/components/rgbd-sources/src/algorithms/offilter.cu
index 546f94c11..6feee5ae1 100644
--- a/components/rgbd-sources/src/algorithms/offilter.cu
+++ b/components/rgbd-sources/src/algorithms/offilter.cu
@@ -21,19 +21,16 @@ __global__ void temporal_median_filter_kernel(
cv::cuda::PtrStepSz<int16_t> optflow,
cv::cuda::PtrStepSz<float> history,
int n_max,
- int16_t threshold // fixed point 10.5
- uint granularity // 4 for Turing
+ int16_t threshold, // fixed point 10.5
+ float granularity // 4 for Turing
)
{
float sorted[max_history]; // TODO: dynamic shared memory
for (STRIDE_Y(y, disp.rows)) {
for (STRIDE_X(x, disp.cols)) {
- int flowx = optflow(y, 2 * x);
- int flowy = optflow(y, 2 * x + 1);
-
int flowx = optflow(round(y / granularity), 2 * round(x / granularity));
- int flowy = optflow(round(y/ granularity), 2 * round(x / granularity) + 1);
+ int flowy = optflow(round(y / granularity), 2 * round(x / granularity) + 1);
if ((abs(flowx) + abs(flowy)) > threshold)
{
@@ -83,8 +80,8 @@ void optflow_filter(cv::cuda::GpuMat &disp, const cv::cuda::GpuMat &optflow,
// TODO: dynamic shared memory
temporal_median_filter_kernel<<<grid, threads, 0, cv::cuda::StreamAccessor::getStream(stream)>>>
( disp, optflow, history, n,
- round(threshold * (1 << 5)) // TODO: documentation; 10.5 format
- 4, // TODO: (4 pixels granularity for Turing)
+ round(threshold * (1 << 5)), // TODO: documentation; 10.5 format
+ 4 // TODO: (4 pixels granularity for Turing)
);
cudaSafeCall(cudaGetLastError());
diff --git a/components/rgbd-sources/src/offilter.cpp b/components/rgbd-sources/src/offilter.cpp
index 2fb6d1623..bdf6f40a5 100644
--- a/components/rgbd-sources/src/offilter.cpp
+++ b/components/rgbd-sources/src/offilter.cpp
@@ -15,7 +15,7 @@ using std::vector;
template<typename T> static bool inline isValidDisparity(T d) { return (0.0 < d) && (d < 256.0); } // TODO
OFDisparityFilter::OFDisparityFilter(Size size, int n_frames, float threshold) :
- n_(0), n_max_(n_frames + 1), threshold_(threshold)
+ n_max_(n_frames + 1), threshold_(threshold)
{
CHECK((n_max_ > 1) && (n_max_ >= 32)) << "History length must be between 0 and 31!";
disp_old_ = cv::cuda::GpuMat(cv::Size(size.width * n_max_, size.height), CV_32FC1);
--
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