From 00a66f780bca744da26437232e41f9f9ce0c4b96 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Tue, 29 Oct 2019 20:22:23 +0200
Subject: [PATCH] Code tidy again
---
.../cpp/include/ftl/render/tri_render.hpp | 23 ++-----------
components/renderers/cpp/src/tri_render.cpp | 32 ++++++-------------
2 files changed, 12 insertions(+), 43 deletions(-)
diff --git a/components/renderers/cpp/include/ftl/render/tri_render.hpp b/components/renderers/cpp/include/ftl/render/tri_render.hpp
index 6d03fd4a8..57dc68a7b 100644
--- a/components/renderers/cpp/include/ftl/render/tri_render.hpp
+++ b/components/renderers/cpp/include/ftl/render/tri_render.hpp
@@ -10,12 +10,8 @@ namespace ftl {
namespace render {
/**
- * Render the voxel hash structure by generating image points for surface
- * voxels and expanding those into interpolated splats. This is a two pass
- * algorithm with the option of completing the second pass on a separate GPU.
- * It also possible to only complete the first pass and perform the second step
- * on a separate machine or at a later time, the advantage being to save local
- * processing resources and that the first pass result may compress better.
+ * Generate triangles between connected points and render those. Colour is done
+ * by weighted reprojection to the original source images.
*/
class Triangular : public ftl::render::Renderer {
public:
@@ -30,15 +26,6 @@ class Triangular : public ftl::render::Renderer {
private:
int device_;
- /*ftl::cuda::TextureObject<int> depth1_;
- ftl::cuda::TextureObject<int> depth3_;
- ftl::cuda::TextureObject<uchar4> colour1_;
- ftl::cuda::TextureObject<float4> colour_tmp_;
- ftl::cuda::TextureObject<float> depth2_;
- ftl::cuda::TextureObject<uchar4> colour2_;
- ftl::cuda::TextureObject<float4> normal1_;*/
- //SplatParams params_;
-
ftl::rgbd::Frame temp_;
ftl::rgbd::Frame accum_;
ftl::rgbd::FrameSet *scene_;
@@ -47,7 +34,7 @@ class Triangular : public ftl::render::Renderer {
float norm_filter_;
bool backcull_;
cv::Scalar background_;
- bool splat_;
+ bool mesh_;
float3 light_dir_;
uchar4 light_diffuse_;
uchar4 light_ambient_;
@@ -55,10 +42,6 @@ class Triangular : public ftl::render::Renderer {
cudaStream_t stream_;
float3 light_pos_;
- //template <typename T>
- //void __blendChannel(ftl::rgbd::Frame &, ftl::codecs::Channel in, ftl::codecs::Channel out, cudaStream_t);
- //void _blendChannel(ftl::rgbd::Frame &, ftl::codecs::Channel in, ftl::codecs::Channel out, cudaStream_t);
-
template <typename T>
void __reprojectChannel(ftl::rgbd::Frame &, ftl::codecs::Channel in, ftl::codecs::Channel out, cudaStream_t);
void _reprojectChannel(ftl::rgbd::Frame &, ftl::codecs::Channel in, ftl::codecs::Channel out, cudaStream_t);
diff --git a/components/renderers/cpp/src/tri_render.cpp b/components/renderers/cpp/src/tri_render.cpp
index 972e97fc9..4492716f9 100644
--- a/components/renderers/cpp/src/tri_render.cpp
+++ b/components/renderers/cpp/src/tri_render.cpp
@@ -103,9 +103,9 @@ Triangular::Triangular(nlohmann::json &config, ftl::rgbd::FrameSet *fs) : ftl::r
backcull_ = value("back_cull", true);
});
- splat_ = value("splatting", true);
- on("splatting", [this](const ftl::config::Event &e) {
- splat_ = value("splatting", true);
+ mesh_ = value("meshing", true);
+ on("meshing", [this](const ftl::config::Event &e) {
+ mesh_ = value("meshing", true);
});
background_ = parseCVColour(value("background", std::string("#4c4c4c")));
@@ -212,7 +212,7 @@ void Triangular::__reprojectChannel(ftl::rgbd::Frame &output, ftl::codecs::Chann
auto poseInv = MatrixConversion::toCUDA(s->getPose().cast<float>().inverse());
- if (splat_) {
+ if (mesh_) {
ftl::cuda::reproject(
f.createTexture<T>(in),
f.createTexture<float>(Channel::Depth), // TODO: Use depth?
@@ -472,43 +472,33 @@ bool Triangular::render(ftl::rgbd::VirtualSource *src, ftl::rgbd::Frame &out) {
}
// Create and render triangles for depth
- if (splat_) {
+ if (mesh_) {
_mesh(stream_);
} else {
_dibr(stream_);
}
- // Generate normals
+ // Generate normals for final virtual image
ftl::cuda::normals(accum_.createTexture<float4>(Channel::Normals, Format<float4>(camera.width, camera.height)),
temp_.createTexture<float4>(Channel::Normals),
temp_.getTexture<int>(Channel::Depth2),
1, 0.02f,
params_.camera, params_.m_viewMatrix.getFloat3x3(), params_.m_viewMatrixInverse.getFloat3x3(), stream_);
+ // Reprojection of colours onto surface
_renderChannel(out, Channel::Colour, Channel::Colour, stream_);
if (chan == Channel::Depth)
{
- //LOG(INFO) << "Copying depth";
+ // Just convert int depth to float depth
temp_.get<GpuMat>(Channel::Depth2).convertTo(out.get<GpuMat>(Channel::Depth), CV_32F, 1.0f / 1000.0f, cvstream);
- //LOG(INFO) << "DEPTH COPIED";
} else if (chan == Channel::Normals) {
- //out.create<GpuMat>(Channel::Normals, Format<uchar4>(camera.width, camera.height));
-
- // Render normal attribute
- //_renderChannel(out, Channel::Normals, Channel::Normals, stream_);
-
- // Convert normal to single float value
-
+ // Visualise normals to RGBA
out.create<GpuMat>(Channel::Normals, Format<uchar4>(camera.width, camera.height)).setTo(cv::Scalar(0,0,0,0), cvstream);
ftl::cuda::normal_visualise(accum_.getTexture<float4>(Channel::Normals), out.createTexture<uchar4>(Channel::Normals),
light_pos_,
light_diffuse_,
light_ambient_, stream_);
-
- // Put in output as single float
- //cv::cuda::swap(temp_.get<GpuMat>(Channel::Colour), out.get<GpuMat>(Channel::Normals));
- //out.resetTexture(Channel::Normals);
}
//else if (chan == Channel::Contribution)
//{
@@ -556,7 +546,3 @@ bool Triangular::render(ftl::rgbd::VirtualSource *src, ftl::rgbd::Frame &out) {
cudaSafeCall(cudaStreamSynchronize(stream_));
return true;
}
-
-//void Triangular::setOutputDevice(int device) {
-// device_ = device;
-//}
--
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