Skip to content
Snippets Groups Projects

Resolve stream reset and EndFrame problems

Merged Resolve stream reset and EndFrame problems
bug/streamreset into master
Merged Nicolas Pope requested to merge bug/streamreset into master
Compare
and
13 files
+ 108
− 93
Compare changes
  • Side-by-side
  • Inline
Files
13
applications/reconstruct2/src/main.cpp
+ 27
− 23
@@ -53,6 +53,32 @@ static void run(ftl::Configurable *root) {
Feed *feed = ftl::create<Feed>(root, "feed", net);
std::string group_name = root->value("group", std::string("Reconstruction"));
feed->set("uri", root->value("uri", std::string("ftl://ftlab.utu.fi/reconstruction")));
feed->setPipelineCreator([](ftl::operators::Graph *pipeline) {
LOG(INFO) << "Using reconstruction pipeline creator";
pipeline->append<ftl::operators::DepthChannel>("depth")->value("enabled", false); // Ensure there is a depth channel
pipeline->append<ftl::operators::DisparityBilateralFilter>("bilateral_filter")->value("enabled", false);
pipeline->append<ftl::operators::DisparityToDepth>("calculate_depth")->value("enabled", false);
pipeline->append<ftl::operators::ColourChannels>("colour"); // Convert BGR to BGRA
pipeline->append<ftl::operators::ClipScene>("clipping")->value("enabled", false);
pipeline->append<ftl::operators::DetectAndTrack>("facedetection")->value("enabled", false);
pipeline->append<ftl::operators::ArUco>("aruco")->value("enabled", false);
//pipeline_->append<ftl::operators::HFSmoother>("hfnoise"); // Remove high-frequency noise
pipeline->append<ftl::operators::Normals>("normals"); // Estimate surface normals
//pipeline_->append<ftl::operators::SmoothChannel>("smoothing"); // Generate a smoothing channel
//pipeline_->append<ftl::operators::ScanFieldFill>("filling"); // Generate a smoothing channel
pipeline->append<ftl::operators::CrossSupport>("cross");
pipeline->append<ftl::operators::DiscontinuityMask>("discontinuity");
pipeline->append<ftl::operators::CrossSupport>("cross2")->value("discon_support", true);
pipeline->append<ftl::operators::BorderMask>("border_mask")->value("enabled", false);
pipeline->append<ftl::operators::CullDiscontinuity>("remove_discontinuity")->set("enabled", false);
//pipeline_->append<ftl::operators::AggreMLS>("mls"); // Perform MLS (using smoothing channel)
pipeline->append<ftl::operators::VisCrossSupport>("viscross")->value("enabled", false);
pipeline->append<ftl::operators::MultiViewMLS>("mvmls");
pipeline->append<ftl::operators::Poser>("poser")->value("enabled", false);
});
// Add sources here
if (root->getConfig().contains("sources")) {
for (const auto &s : root->getConfig()["sources"]) {
@@ -85,29 +111,7 @@ static void run(ftl::Configurable *root) {
});
auto *filter = feed->filter({Channel::Colour, Channel::Depth});
feed->set("uri", root->value("uri", std::string("ftl://ftlab.utu.fi/reconstruction")));
feed->setPipelineCreator([](ftl::operators::Graph *pipeline) {
pipeline->append<ftl::operators::DepthChannel>("depth"); // Ensure there is a depth channel
pipeline->append<ftl::operators::DisparityBilateralFilter>("bilateral_filter")->value("enabled", false);
pipeline->append<ftl::operators::DisparityToDepth>("calculate_depth")->value("enabled", false);
pipeline->append<ftl::operators::ColourChannels>("colour"); // Convert BGR to BGRA
pipeline->append<ftl::operators::ClipScene>("clipping")->value("enabled", false);
pipeline->append<ftl::operators::DetectAndTrack>("facedetection")->value("enabled", false);
pipeline->append<ftl::operators::ArUco>("aruco")->value("enabled", false);
//pipeline_->append<ftl::operators::HFSmoother>("hfnoise"); // Remove high-frequency noise
pipeline->append<ftl::operators::Normals>("normals"); // Estimate surface normals
//pipeline_->append<ftl::operators::SmoothChannel>("smoothing"); // Generate a smoothing channel
//pipeline_->append<ftl::operators::ScanFieldFill>("filling"); // Generate a smoothing channel
pipeline->append<ftl::operators::CrossSupport>("cross");
pipeline->append<ftl::operators::DiscontinuityMask>("discontinuity");
pipeline->append<ftl::operators::CrossSupport>("cross2")->value("discon_support", true);
pipeline->append<ftl::operators::BorderMask>("border_mask")->value("enabled", false);
pipeline->append<ftl::operators::CullDiscontinuity>("remove_discontinuity")->set("enabled", false);
//pipeline_->append<ftl::operators::AggreMLS>("mls"); // Perform MLS (using smoothing channel)
pipeline->append<ftl::operators::VisCrossSupport>("viscross")->value("enabled", false);
pipeline->append<ftl::operators::MultiViewMLS>("mvmls");
pipeline->append<ftl::operators::Poser>("poser")->value("enabled", false);
});
//feed->lowLatencyMode();
feed->startStreaming(filter);