void GlobalQueue<T>::pull( ChunkInfo<T> * result ) {
CHECK( initialized );
DVLOG(5) << "pull";
// blocking request for an address of an entry in the global queue
A_Entry loc;
D_A_Entry qdesc( &loc );
A_D_A_Entry desc_addr = make_global( &qdesc );
Grappa_call_on( HOME_NODE, GlobalQueue<T>::pull_reserve_am_g, &desc_addr ); // FIXME: call_on deprecated
size_t resv_msg_bytes = Grappa_sizeof_message( &desc_addr );
/* wait for element: this is designed to block forever if there are no more items shared in this queue
* for the rest of the program. */
qdesc.wait();
CHECK( loc.pointer() != NULL ) << "Invalid global address. Pull is always blocking";
Grappa::Metrics::global_queue_stats.record_pull_reserve_request( resv_msg_bytes );
// get the element of the queue, which will point to data
Descriptor< ChunkInfo<T> > cdesc( result );
pull_entry_args<T> entry_args;
entry_args.target = loc;
entry_args.descriptor = make_global( &cdesc );
Grappa_call_on( loc.core(), pull_entry_request_g_am, &entry_args ); // FIXME: call_on deprecated
size_t entry_msg_bytes = Grappa_sizeof_message( &entry_args );
Grappa::Metrics::global_queue_stats.record_pull_entry_request( entry_msg_bytes );
cdesc.wait();
}
TEST(TestCalibration, Calibration)
{
tdv::ImageReader readerL("../../res/OpenCVBook_StereoDataL/", tdv::ImageReader::Directory);
tdv::ImageReader readerR("../../res/OpenCVBook_StereoDataR/", tdv::ImageReader::Directory);
tdv::Calibration calib(13);
calib.input(readerL.output(), readerR.output());
calib.chessPattern(tdv::ChessboardPattern(tdv::Dim(9, 6)));
for (size_t i=0; i<13; i++)
{
readerL.update();
readerR.update();
calib.update();
}
// p M1
// $1 = {{534.73022340234274, 0, 335.14036440321371}, {0, 534.73022340234274, 240.20358200823657}, {0,
// 0, 1}}
// (gdb) p D1
// $2 = {-0.27548644140618689, -0.0074741447321146201, 0, 0, 0.19877104747410226}
// (gdb) p M2
// $3 = {{534.73022340234274, 0, 334.01685399468971}, {0, 534.73022340234274, 241.57913691145697}, {0,
// 0, 1}}
// (gdb) p D2
// $4 = {-0.28088283603968645, 0.093133149965471215, 0, 0, -0.014268852873648923}
// (gdb) p T
// $5 = {-3.338521775036563, 0.04875726580427088, -0.10610701997669005}
// (gdb) p E
// $6 = {{0.00052298343399445103, 0.10522183916666465, 0.05063656492846199}, {-0.034564465155821761,
// -0.059921868662649605, 3.3394911303200199}, {-0.032337732207657177, -3.3382054064188389,
// -0.058684316420089928}}
// (gdb) p F
// $7 = {{-2.5604703173677883e-08, -5.1515474183824866e-06, -7.9654502412560401e-05}, {
// 1.6922388227714652e-06, 2.9337098672527604e-06, -0.088699079381738072}, {0.00044633859910145731,
// 0.088405574779886281, 1}}
tdv::CamerasDesc cdesc(calib.camerasDesc());
EXPECT_EQ(-0.27548644140618689, cdesc.leftCamera().distortion()[0]);
tdv::RectificationCV rect;
rect.camerasDesc(cdesc);
rect.leftImgInput(readerL.output());
rect.rightImgInput(readerR.output());
readerL.reset();
readerR.reset();
readerL.update();
readerR.update();
rect.update();
tdv::FloatImage limg, rimg;
ASSERT_TRUE(rect.leftImgOutput()->read(&limg));
ASSERT_TRUE(rect.rightImgOutput()->read(&rimg));
cvShowImage("L", limg.cpuMem());
cvShowImage("R", rimg.cpuMem());
cvWaitKey(0);
tdv::ThunderSpec spec;
spec.camerasDesc("default") = cdesc;
tdv::ThunderLangWriter wrt;
wrt.write("calib.tl", spec);
}
