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Commit 0a73985b authored by Nicolas Pope's avatar Nicolas Pope
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WIP improve depth ray correspondence

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1 merge request!122Implements #183 depth ray correspondences
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applications/reconstruct/src/ilw/ilw.cpp
+ 3
− 0
View file @ 0a73985b
......@@ -217,10 +217,13 @@ bool ILW::_phase2(ftl::rgbd::FrameSet &fs, float rate, cudaStream_t stream) {
for (size_t i=0; i<fs.frames.size(); ++i) {
auto &f = fs.frames[i];
auto pose = MatrixConversion::toCUDA(fs.sources[i]->getPose().cast<float>()); //.inverse());
ftl::cuda::move_points(
f.getTexture<float4>(Channel::Points),
f.getTexture<float4>(Channel::EnergyVector),
fs.sources[i]->parameters(),
pose,
rate,
motion_window_,
stream
......
applications/reconstruct/src/ilw/ilw.cu
+ 60
− 40
View file @ 0a73985b
......@@ -27,6 +27,8 @@ __device__ inline float warpSum(float e) {
//#define COR_WIN_RADIUS 17
//#define COR_WIN_SIZE (COR_WIN_RADIUS * COR_WIN_RADIUS)
#define WINDOW_RADIUS 2
template<int COR_STEPS>
__global__ void correspondence_energy_vector_kernel(
TextureObject<float4> p1,
......@@ -57,7 +59,7 @@ __global__ void correspondence_energy_vector_kernel(
float bestdepth;
int count = 0;
const float step_interval = 0.05f / COR_STEPS;
const float step_interval = 0.05f / (COR_STEPS / 2);
// Project to p2 using cam2
// Each thread takes a possible correspondence and calculates a weighting
......@@ -72,28 +74,37 @@ __global__ void correspondence_energy_vector_kernel(
if (screen.x >= cam2.width || screen.y >= cam2.height) continue;
// Now do correspondence evaluation at "screen" location in camera 2
const float3 world2 = make_float3(p2.tex2D((int)screen.x, (int)screen.y));
if ((params.flags & ftl::cuda::kILWFlag_IgnoreBad) && world2.x == MINF) continue;
const uchar4 colour2 = c2.tex2D((int)screen.x, (int)screen.y);
// Determine degree of correspondence
float cost = 1.0f - ftl::cuda::spatialWeighting(world1, world2, params.spatial_smooth);
// Point is too far away to even count
if (world2.x != MINF && cost == 1.0f) continue;
// Mix ratio of colour and distance costs
const float ccost = 1.0f - ftl::cuda::colourWeighting(colour1, colour2, params.colour_smooth);
if ((params.flags & ftl::cuda::kILWFlag_SkipBadColour) && ccost == 1.0f) continue;
cost = params.cost_ratio * (ccost) + (1.0f - params.cost_ratio) * cost;
//cost /= 2.0f;
++count;
avgcost += cost;
if (world2.x != MINF && cost < bestcost) {
bestdepth = depth_adjust;
bestcost = cost;
}
// Small window around suggested point
//for (int u=-WINDOW_RADIUS; u<=WINDOW_RADIUS; ++u) {
//for (int v=-WINDOW_RADIUS; v<=WINDOW_RADIUS; ++v) {
const int u = 0;
const int v = 0;
// Now do correspondence evaluation at "screen" location in camera 2
const float3 world2 = make_float3(p2.tex2D((int)screen.x+u, (int)screen.y+v));
if ((params.flags & ftl::cuda::kILWFlag_IgnoreBad) && world2.x == MINF) continue;
const uchar4 colour2 = c2.tex2D((int)screen.x+u, (int)screen.y+v);
// Determine degree of correspondence
float cost = 1.0f - ftl::cuda::spatialWeighting(worldPos, world2, params.spatial_smooth);
// Point is too far away to even count
if (world2.x != MINF && cost == 1.0f) continue;
// Mix ratio of colour and distance costs
const float ccost = 1.0f - ftl::cuda::colourWeighting(colour1, colour2, params.colour_smooth);
if ((params.flags & ftl::cuda::kILWFlag_SkipBadColour) && ccost == 1.0f) continue;
cost = params.cost_ratio * (ccost) + (1.0f - params.cost_ratio) * cost;
//cost /= 2.0f;
++count;
avgcost += cost;
if (world2.x != MINF && cost < bestcost) {
bestdepth = depth_adjust;
bestcost = cost;
}
//}
//}
}
count = warpSum(count);
......@@ -104,18 +115,22 @@ __global__ void correspondence_energy_vector_kernel(
// FIXME: Multiple threads in warp could match this.
if (best && mincost < 1.0f) {
float3 tvecA = pose1 * cam1.screenToCam(x, y, bestdepth);
//float3 tvecA = pose1 * cam1.screenToCam(x, y, bestdepth);
//float3 tvecB = pose1 * world1;
//if (params.flags & ftl::cuda::kILWFlag_RestrictZ) {
// tvecA.x = tvecB.x;
// tvecA.y = tvecB.y;
//}
tvecA = tvecA - world1;
vout(x,y) = make_float4(
tvecA.x, // * (1.0f - mincost) * confidence,
tvecA.y, // * (1.0f - mincost) * confidence,
tvecA.z, // * (1.0f - mincost) * confidence,
(1.0f - mincost) * confidence);
//tvecA = tvecA - world1;
float4 old = vout.tex2D(x,y);
if ((1.0f - mincost) * confidence > old.w) {
vout(x,y) = make_float4(
depth1, // * (1.0f - mincost) * confidence,
0.0f, // * (1.0f - mincost) * confidence,
bestdepth-depth1, // * (1.0f - mincost) * confidence,
(1.0f - mincost) * confidence);
}
//eout(x,y) = max(eout(x,y), (length(bestpoint-world1) / 0.04f) * 7.0f);
//eout(x,y) = max(eout(x,y), (1.0f - mincost) * 7.0f);
......@@ -166,16 +181,19 @@ __global__ void move_points_kernel(
ftl::cuda::TextureObject<float4> p,
ftl::cuda::TextureObject<float4> ev,
ftl::rgbd::Camera camera,
float4x4 pose,
float rate) {
const unsigned int x = blockIdx.x*blockDim.x + threadIdx.x;
const unsigned int y = blockIdx.y*blockDim.y + threadIdx.y;
const float4 vec0 = ev.tex2D((int)x,(int)y);
if (x < p.width() && y < p.height()) {
const float4 world = p(x,y);
if (world.x == MINF) return;
float4 vec = make_float4(0.0f, 0.0f, 0.0f, 0.0f); //ev.tex2D((int)x,(int)y);
float delta = 0.0f; //make_float4(0.0f, 0.0f, 0.0f, 0.0f); //ev.tex2D((int)x,(int)y);
float contrib = 0.0f;
// Calculate screen space distortion with neighbours
......@@ -185,14 +203,15 @@ __global__ void move_points_kernel(
const float3 pn = make_float3(p.tex2D((int)x+u,(int)y+v));
if (pn.x == MINF) continue;
const float s = ftl::cuda::spatialWeighting(pn, make_float3(world), 0.01f);
const float s = ftl::cuda::spatialWeighting(pn, make_float3(world), 0.04f);
contrib += vecn.w * s;
vec += vecn.w * s * vecn;
delta += vecn.w * s * vecn.z;
}
}
if (vec.w > 0.0f) {
p(x,y) = world + rate * (vec / contrib);
if (contrib > 0.0f) {
const float3 newworld = pose * camera.screenToCam(x, y, vec0.x + rate * (delta / contrib));
p(x,y) = make_float4(newworld, world.w); //world + rate * (vec / contrib);
}
}
}
......@@ -202,6 +221,7 @@ void ftl::cuda::move_points(
ftl::cuda::TextureObject<float4> &p,
ftl::cuda::TextureObject<float4> &v,
const ftl::rgbd::Camera &camera,
const float4x4 &pose,
float rate,
int radius,
cudaStream_t stream) {
......@@ -210,11 +230,11 @@ void ftl::cuda::move_points(
const dim3 blockSize(T_PER_BLOCK, T_PER_BLOCK);
switch (radius) {
case 9 : move_points_kernel<9><<<gridSize, blockSize, 0, stream>>>(p,v,camera,rate); break;
case 5 : move_points_kernel<5><<<gridSize, blockSize, 0, stream>>>(p,v,camera,rate); break;
case 3 : move_points_kernel<3><<<gridSize, blockSize, 0, stream>>>(p,v,camera,rate); break;
case 1 : move_points_kernel<1><<<gridSize, blockSize, 0, stream>>>(p,v,camera,rate); break;
case 0 : move_points_kernel<0><<<gridSize, blockSize, 0, stream>>>(p,v,camera,rate); break;
case 9 : move_points_kernel<9><<<gridSize, blockSize, 0, stream>>>(p,v,camera, pose,rate); break;
case 5 : move_points_kernel<5><<<gridSize, blockSize, 0, stream>>>(p,v,camera, pose,rate); break;
case 3 : move_points_kernel<3><<<gridSize, blockSize, 0, stream>>>(p,v,camera, pose,rate); break;
case 1 : move_points_kernel<1><<<gridSize, blockSize, 0, stream>>>(p,v,camera, pose,rate); break;
case 0 : move_points_kernel<0><<<gridSize, blockSize, 0, stream>>>(p,v,camera, pose,rate); break;
}
cudaSafeCall( cudaGetLastError() );
......
applications/reconstruct/src/ilw/ilw_cuda.hpp
+ 1
− 0
View file @ 0a73985b
......@@ -40,6 +40,7 @@ void move_points(
ftl::cuda::TextureObject<float4> &p,
ftl::cuda::TextureObject<float4> &v,
const ftl::rgbd::Camera &camera,
const float4x4 &pose,
float rate,
int radius,
cudaStream_t stream
......
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