From f992385c97335c6585d9d1d83f0a6ff99167990f Mon Sep 17 00:00:00 2001
From: Sebastian Hahta <joseha@utu.fi>
Date: Fri, 1 Nov 2019 13:52:11 +0200
Subject: [PATCH] optical flow error message
---
.../src/algorithms/fixstars_sgm.cpp | 54 +++++++------------
components/rgbd-sources/src/offilter.cpp | 5 ++
2 files changed, 25 insertions(+), 34 deletions(-)
diff --git a/components/rgbd-sources/src/algorithms/fixstars_sgm.cpp b/components/rgbd-sources/src/algorithms/fixstars_sgm.cpp
index 9052f3540..f96ebcd81 100644
--- a/components/rgbd-sources/src/algorithms/fixstars_sgm.cpp
+++ b/components/rgbd-sources/src/algorithms/fixstars_sgm.cpp
@@ -168,20 +168,6 @@ bool FixstarsSGM::updateOFDisparityFilter() {
void FixstarsSGM::compute(ftl::rgbd::Frame &frame, cv::cuda::Stream &stream)
{
- /*if (!frame.hasChannel(ftl::rgbd::kChanLeftGray))
- {
- auto &rgb = frame.getChannel<GpuMat>(ftl::rgbd::kChanLeft, stream);
- auto &gray = frame.setChannel<GpuMat>(ftl::rgbd::kChanLeftGray);
- cv::cuda::cvtColor(rgb, gray, cv::COLOR_BGR2GRAY, 0, stream);
- }
-
- if (!frame.hasChannel(ftl::rgbd::kChanRightGray))
- {
- auto &rgb = frame.getChannel<GpuMat>(ftl::rgbd::kChanRight, stream);
- auto &gray = frame.setChannel<GpuMat>(ftl::rgbd::kChanRightGray);
- cv::cuda::cvtColor(rgb, gray, cv::COLOR_BGR2GRAY, 0, stream);
- }*/
-
const auto &l = frame.get<GpuMat>(Channel::Left);
const auto &r = frame.get<GpuMat>(Channel::Right);
auto &disp = frame.create<GpuMat>(Channel::Disparity, Format<float>(l.size()));
@@ -202,41 +188,41 @@ void FixstarsSGM::compute(ftl::rgbd::Frame &frame, cv::cuda::Stream &stream)
stream.waitForCompletion();
ssgm_->execute(lbw_.data, rbw_.data, dispt_.data);
- GpuMat left_pixels(dispt_, cv::Rect(0, 0, max_disp_, dispt_.rows));
- left_pixels.setTo(0);
+ // GpuMat left_pixels(dispt_, cv::Rect(0, 0, max_disp_, dispt_.rows));
+ // left_pixels.setTo(0);
cv::cuda::threshold(dispt_, dispt_, 4096.0f, 0.0f, cv::THRESH_TOZERO_INV, stream);
- #ifdef HAVE_OPTFLOW
- if (use_off_) {
- frame.upload(Channel::Flow, stream);
- stream.waitForCompletion();
- off_.filter(dispt_, frame.get<GpuMat>(Channel::Flow), stream);
+ GpuMat dispt_scaled;
+ if (l.size() != size_)
+ {
+ scaleDisparity(l.size(), dispt_, dispt_scaled, stream);
+ }
+ else
+ {
+ dispt_scaled = dispt_;
}
- #endif
// TODO: filter could be applied after upscaling (to the upscaled disparity image)
if (use_filter_)
{
filter_->apply(
dispt_,
- (l.size() == size_) ? l : l_scaled,
+ l,
dispt_,
stream
);
}
-
- GpuMat dispt_scaled;
- if (l.size() != size_)
- {
- scaleDisparity(l.size(), dispt_, dispt_scaled, stream);
- }
- else
- {
- dispt_scaled = dispt_;
- }
-
+
dispt_scaled.convertTo(disp, CV_32F, 1.0f / 16.0f, stream);
+#ifdef HAVE_OPTFLOW
+ // TODO: Optical flow filter expects CV_32F
+ if (use_off_) {
+ frame.upload(Channel::Flow, stream);
+ stream.waitForCompletion();
+ off_.filter(disp, frame.get<GpuMat>(Channel::Flow), stream);
+ }
+#endif
}
void FixstarsSGM::setMask(Mat &mask) {
diff --git a/components/rgbd-sources/src/offilter.cpp b/components/rgbd-sources/src/offilter.cpp
index 832ed467a..4d0162a5a 100644
--- a/components/rgbd-sources/src/offilter.cpp
+++ b/components/rgbd-sources/src/offilter.cpp
@@ -41,6 +41,11 @@ void OFDisparityFilter::filter(ftl::rgbd::Frame &frame, cv::cuda::Stream &stream
void OFDisparityFilter::filter(cv::cuda::GpuMat &disp, cv::cuda::GpuMat &optflow, cv::cuda::Stream &stream)
{
+ if (disp.type != CV_32FC1) {
+ LOG(ERROR) << "Optical flow filter expects CV_32FC1 (TODO)";
+ return;
+ }
+
ftl::cuda::optflow_filter(disp, optflow, disp_old_, n_max_, threshold_, stream);
}
--
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