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

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

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")
 

components/common/cpp/src/config.cpp.in

 #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 = "";
 

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()) {
+		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;
 	}

components/renderers/cpp/src/display.cpp

@@ -19,6 +19,7 @@ Display::Display(nlohmann::json &config, std::string name) : config_(config) {
 #endif  // HAVE_VIZ
 
 #if defined HAVE_PCL
+	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);
@@ -74,6 +75,7 @@ Display::Display(nlohmann::json &config, std::string name) : config_(config) {
 				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

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) {