diff --git a/applications/vision/src/main.cpp b/applications/vision/src/main.cpp
index 14be06f2c5f21f065a0e63a7d3b553b2a46dd289..e6d14d05707067233c2e98a93aa6c506c9e959e2 100644
--- a/applications/vision/src/main.cpp
+++ b/applications/vision/src/main.cpp
@@ -143,7 +143,14 @@ static void run(const string &file) {
// Send RGB+Depth images for local rendering
if (prgb.rows > 0) display.render(prgb, pdepth, source->getParameters());
- if (config["display"]["right"]) cv::imshow("Right: ", source->getRight());
+ if (config["display"]["right"]) {
+ Mat rgbr = source->getRight().clone();
+ cv::namedWindow("Right: ", cv::WINDOW_KEEPRATIO);
+ cv::line(rgbr, cv::Point(0, rgbr.rows/2), cv::Point(rgbr.cols-1, rgbr.rows/2), cv::Scalar(0,0,255), 1);
+ cv::line(rgbr, cv::Point(rgbr.cols/2, 0), cv::Point(rgbr.cols/2, rgbr.rows-1), cv::Scalar(0,0,255), 1);
+ cv::imshow("Right: ", rgbr);
+ }
+
display.wait(1);
// Wait for both pipelines to complete
diff --git a/cmake/git_version.cmake b/cmake/git_version.cmake
index f44754522e8d88c22d05a59050f888b7e954a160..471ae6adcf9a38ff81793ebc26576dc24172b646 100644
--- a/cmake/git_version.cmake
+++ b/cmake/git_version.cmake
@@ -11,19 +11,19 @@ if (Git_FOUND)
ERROR_QUIET
OUTPUT_STRIP_TRAILING_WHITESPACE)
- string(REGEX REPLACE "^v([0-9]+)\\..*" "\\1" ftl_VERSION_MAJOR "${VERSION}")
- string(REGEX REPLACE "^v[0-9]+\\.([0-9]+).*" "\\1" ftl_VERSION_MINOR "${VERSION}")
- string(REGEX REPLACE "^v[0-9]+\\.[0-9]+\\.([0-9]+).*" "\\1" ftl_VERSION_PATCH "${VERSION}")
- string(REGEX REPLACE "^v[0-9]+\\.[0-9]+\\.[0-9]+-([0-9]+).*" "\\1" ftl_VERSION_COMMITS "${VERSION}")
- string(REGEX REPLACE "^v[0-9]+\\.[0-9]+\\.[0-9]+-[0-9]+-(.*)" "\\1" ftl_VERSION_SHA1 "${VERSION}")
- set(FTL_VERSION "\"${ftl_VERSION_MAJOR}.${ftl_VERSION_MINOR}.${ftl_VERSION_PATCH}\"")
+ #string(REGEX REPLACE "^v([0-9]+)\\..*" "\\1" ftl_VERSION_MAJOR "${VERSION}")
+ #string(REGEX REPLACE "^v[0-9]+\\.([0-9]+).*" "\\1" ftl_VERSION_MINOR "${VERSION}")
+ #string(REGEX REPLACE "^v[0-9]+\\.[0-9]+\\.([0-9]+).*" "\\1" ftl_VERSION_PATCH "${VERSION}")
+ #string(REGEX REPLACE "^v[0-9]+\\.[0-9]+\\.[0-9]+-([0-9]+).*" "\\1" ftl_VERSION_COMMITS "${VERSION}")
+ #string(REGEX REPLACE "^v[0-9]+\\.[0-9]+\\.[0-9]+-[0-9]+-(.*)" "\\1" ftl_VERSION_SHA1 "${VERSION}")
+ #set(FTL_VERSION "\"${ftl_VERSION_MAJOR}.${ftl_VERSION_MINOR}.${ftl_VERSION_PATCH}\"")
else()
-
- set(ftl_VERSION_MAJOR "0")
- set(ftl_VERSION_MINOR "0")
- set(ftl_VERSION_PATCH "0")
- set(FTL_VERSION "\"${ftl_VERSION_MAJOR}.${ftl_VERSION_MINOR}.${ftl_VERSION_PATCH}\"")
+ set(VERSION "unknown")
+ #set(ftl_VERSION_MAJOR "0")
+ #set(ftl_VERSION_MINOR "0")
+ #set(ftl_VERSION_PATCH "0")
+ #set(FTL_VERSION "\"${ftl_VERSION_MAJOR}.${ftl_VERSION_MINOR}.${ftl_VERSION_PATCH}\"")
message(WARNING "Version could not be obtained from git")
diff --git a/components/common/cpp/src/config.cpp.in b/components/common/cpp/src/config.cpp.in
index c0a62b67b1d3fcdcaf62e6c3802d3fa897b54229..15d1bbc11f7254a0eef6852d449a6110b6841607 100644
--- a/components/common/cpp/src/config.cpp.in
+++ b/components/common/cpp/src/config.cpp.in
@@ -1,10 +1,10 @@
#include <ftl/config.h>
const char *FTL_VERSION_LONG = "@VERSION@";
-const char *FTL_VERSION = @FTL_VERSION@;
-const int FTL_VERSION_MAJOR = @ftl_VERSION_MAJOR@;
-const int FTL_VERSION_MINOR = @ftl_VERSION_MINOR@;
-const int FTL_VERSION_PATCH = @ftl_VERSION_PATCH@;
-const int FTL_VERSION_COMMITS = @ftl_VERSION_COMMITS@;
-const char *FTL_VERSION_SHA1 = "@ftl_VERSION_SHA1@";
+const char *FTL_VERSION = "";
+const int FTL_VERSION_MAJOR = 0;
+const int FTL_VERSION_MINOR = 0;
+const int FTL_VERSION_PATCH = 0;
+const int FTL_VERSION_COMMITS = 0;
+const char *FTL_VERSION_SHA1 = "";
diff --git a/components/common/cpp/src/configuration.cpp b/components/common/cpp/src/configuration.cpp
index a2674dcb08d101b73a4835dde91d31b97f6865e8..45b40da01e6d2fd6d720ca1f19fea6ceda6ac564 100644
--- a/components/common/cpp/src/configuration.cpp
+++ b/components/common/cpp/src/configuration.cpp
@@ -115,10 +115,15 @@ static bool mergeConfig(const string &path) {
ifstream i;
i.open(path);
if (i.is_open()) {
- json t;
- i >> t;
- config.merge_patch(t);
- return true;
+ try {
+ json t;
+ i >> t;
+ config.merge_patch(t);
+ return true;
+ } catch (json::parse_error& e) {
+ LOG(ERROR) << "Parse error in loading config: " << e.what();
+ return false;
+ }
} else {
return false;
}
diff --git a/components/renderers/cpp/src/display.cpp b/components/renderers/cpp/src/display.cpp
index 8841c1ad0992dea0eff22b8f608f1953242eda6d..9760b4a7241da5e48924522058df855b04adff07 100644
--- a/components/renderers/cpp/src/display.cpp
+++ b/components/renderers/cpp/src/display.cpp
@@ -19,61 +19,63 @@ Display::Display(nlohmann::json &config, std::string name) : config_(config) {
#endif // HAVE_VIZ
#if defined HAVE_PCL
- pclviz_ = pcl::visualization::PCLVisualizer::Ptr(new pcl::visualization::PCLVisualizer ("FTL Cloud: " + name));
- pclviz_->setBackgroundColor (255, 255, 255);
- pclviz_->addCoordinateSystem (1.0);
- pclviz_->setShowFPS(true);
- pclviz_->initCameraParameters ();
-
- pclviz_->registerPointPickingCallback(
- [](const pcl::visualization::PointPickingEvent& event, void* viewer_void) {
- if (event.getPointIndex () == -1) return;
- float x, y, z;
- event.getPoint(x, y, z);
- LOG(INFO) << "( " << x << ", " << y << ", " << z << ")";
- }, (void*) &pclviz_);
-
- pclviz_->registerKeyboardCallback (
- [](const pcl::visualization::KeyboardEvent &event, void* viewer_void) {
- auto viewer = *static_cast<pcl::visualization::PCLVisualizer::Ptr*>(viewer_void);
- pcl::visualization::Camera cam;
- viewer->getCameraParameters(cam);
-
- Eigen::Vector3f pos(cam.pos[0], cam.pos[1], cam.pos[2]);
- Eigen::Vector3f focal(cam.focal[0], cam.focal[1], cam.focal[2]);
- Eigen::Vector3f dir = focal - pos; //.normalize();
- dir.normalize();
-
- const float speed = 40.0f;
-
- if (event.getKeySym() == "Up") {
- pos += speed*dir;
- focal += speed*dir;
- } else if (event.getKeySym() == "Down") {
- pos -= speed*dir;
- focal -= speed*dir;
- } else if (event.getKeySym() == "Left") {
- Eigen::Matrix3f m = Eigen::AngleAxisf(-0.5f*M_PI, Eigen::Vector3f::UnitY()).toRotationMatrix();
- dir = m*dir;
- pos += speed*dir;
- focal += speed*dir;
- } else if (event.getKeySym() == "Right") {
- Eigen::Matrix3f m = Eigen::AngleAxisf(0.5f*M_PI, Eigen::Vector3f::UnitY()).toRotationMatrix();
- dir = m*dir;
- pos += speed*dir;
- focal += speed*dir;
- }
-
-
- cam.pos[0] = pos[0];
- cam.pos[1] = pos[1];
- cam.pos[2] = pos[2];
- cam.focal[0] = focal[0];
- cam.focal[1] = focal[1];
- cam.focal[2] = focal[2];
- viewer->setCameraParameters(cam);
-
- }, (void*)&pclviz_);
+ if (config.value("points", false)) {
+ pclviz_ = pcl::visualization::PCLVisualizer::Ptr(new pcl::visualization::PCLVisualizer ("FTL Cloud: " + name));
+ pclviz_->setBackgroundColor (255, 255, 255);
+ pclviz_->addCoordinateSystem (1.0);
+ pclviz_->setShowFPS(true);
+ pclviz_->initCameraParameters ();
+
+ pclviz_->registerPointPickingCallback(
+ [](const pcl::visualization::PointPickingEvent& event, void* viewer_void) {
+ if (event.getPointIndex () == -1) return;
+ float x, y, z;
+ event.getPoint(x, y, z);
+ LOG(INFO) << "( " << x << ", " << y << ", " << z << ")";
+ }, (void*) &pclviz_);
+
+ pclviz_->registerKeyboardCallback (
+ [](const pcl::visualization::KeyboardEvent &event, void* viewer_void) {
+ auto viewer = *static_cast<pcl::visualization::PCLVisualizer::Ptr*>(viewer_void);
+ pcl::visualization::Camera cam;
+ viewer->getCameraParameters(cam);
+
+ Eigen::Vector3f pos(cam.pos[0], cam.pos[1], cam.pos[2]);
+ Eigen::Vector3f focal(cam.focal[0], cam.focal[1], cam.focal[2]);
+ Eigen::Vector3f dir = focal - pos; //.normalize();
+ dir.normalize();
+
+ const float speed = 40.0f;
+
+ if (event.getKeySym() == "Up") {
+ pos += speed*dir;
+ focal += speed*dir;
+ } else if (event.getKeySym() == "Down") {
+ pos -= speed*dir;
+ focal -= speed*dir;
+ } else if (event.getKeySym() == "Left") {
+ Eigen::Matrix3f m = Eigen::AngleAxisf(-0.5f*M_PI, Eigen::Vector3f::UnitY()).toRotationMatrix();
+ dir = m*dir;
+ pos += speed*dir;
+ focal += speed*dir;
+ } else if (event.getKeySym() == "Right") {
+ Eigen::Matrix3f m = Eigen::AngleAxisf(0.5f*M_PI, Eigen::Vector3f::UnitY()).toRotationMatrix();
+ dir = m*dir;
+ pos += speed*dir;
+ focal += speed*dir;
+ }
+
+
+ cam.pos[0] = pos[0];
+ cam.pos[1] = pos[1];
+ cam.pos[2] = pos[2];
+ cam.focal[0] = focal[0];
+ cam.focal[1] = focal[1];
+ cam.focal[2] = focal[2];
+ viewer->setCameraParameters(cam);
+
+ }, (void*)&pclviz_);
+ }
#endif // HAVE_PCL
active_ = true;
@@ -210,7 +212,7 @@ bool Display::render(const cv::Mat &rgb, const cv::Mat &depth, const ftl::rgbd::
#if defined HAVE_PCL
bool Display::render(pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr pc) {
pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGB> rgb(pc);
- if (!pclviz_->updatePointCloud<pcl::PointXYZRGB> (pc, rgb, "reconstruction")) {
+ if (pclviz_ && !pclviz_->updatePointCloud<pcl::PointXYZRGB> (pc, rgb, "reconstruction")) {
pclviz_->addPointCloud<pcl::PointXYZRGB> (pc, rgb, "reconstruction");
pclviz_->setCameraPosition(-878.0, -71.0, -2315.0, -0.1, -0.99, 0.068, 0.0, -1.0, 0.0);
pclviz_->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2, "reconstruction");
@@ -242,7 +244,7 @@ bool Display::render(const cv::Mat &img, style_t s) {
void Display::wait(int ms) {
if (config_["points"]) {
#if defined HAVE_PCL
- pclviz_->spinOnce(20);
+ if (pclviz_) pclviz_->spinOnce(20);
#elif defined HAVE_VIZ
window_->spinOnce(1, true);
#endif // HAVE_VIZ
@@ -258,7 +260,7 @@ void Display::wait(int ms) {
bool Display::active() const {
#if defined HAVE_PCL
- return active_ && !pclviz_->wasStopped();
+ return active_ && (!pclviz_ || !pclviz_->wasStopped());
#elif defined HAVE_VIZ
return active_ && !window_->wasStopped();
#else
diff --git a/components/rgbd-sources/src/algorithms/fixstars_sgm.cpp b/components/rgbd-sources/src/algorithms/fixstars_sgm.cpp
index 24d1435cd67d14208992d74649f3334136488466..012dffa12947b067f0f09b83d605fa756b75b329 100644
--- a/components/rgbd-sources/src/algorithms/fixstars_sgm.cpp
+++ b/components/rgbd-sources/src/algorithms/fixstars_sgm.cpp
@@ -12,7 +12,9 @@ using cv::Mat;
FixstarsSGM::FixstarsSGM(nlohmann::json &config) : Disparity(config) {
ssgm_ = nullptr;
use_filter_ = config.value("use_filter", false);
- filter_ = cv::cuda::createDisparityBilateralFilter(max_disp_, config.value("filter_radius", 25), config.value("filter_iter", 1));
+ // note: (max_disp_ << 4) libsgm subpixel accuracy.
+ // What is the impact in the filter? (possible artifacts)
+ filter_ = cv::cuda::createDisparityBilateralFilter(max_disp_ << 4, config.value("filter_radius", 25), config.value("filter_iter", 1));
}
void FixstarsSGM::compute(const cv::Mat &l, const cv::Mat &r, cv::Mat &disp) {
@@ -20,7 +22,7 @@ void FixstarsSGM::compute(const cv::Mat &l, const cv::Mat &r, cv::Mat &disp) {
Mat right_disp;
Mat lbw, rbw;
- cv::cvtColor(l, lbw, cv::COLOR_BGR2GRAY);
+ cv::cvtColor(l, lbw, cv::COLOR_BGR2GRAY);
cv::cvtColor(r, rbw, cv::COLOR_BGR2GRAY);
if (!ssgm_) {
@@ -54,4 +56,4 @@ void FixstarsSGM::compute(const cv::Mat &l, const cv::Mat &r, cv::Mat &disp) {
}
disp.convertTo(disp, CV_32F, 1.0f/16.0f);
-}
\ No newline at end of file
+}