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Commit 0e2b6c64 authored by Sebastian Hahta's avatar Sebastian Hahta
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move rendering code to another method

parent 1d180b7f
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1 merge request!110Feature/121/vr
Pipeline #14375 failed
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components/renderers/cpp/include/ftl/render/splat_render.hpp
+ 3
− 1
View file @ 0e2b6c64
......@@ -22,9 +22,11 @@ class Splatter : public ftl::render::Renderer {
~Splatter();
bool render(ftl::rgbd::VirtualSource *src, ftl::rgbd::Frame &out, cudaStream_t stream=0) override;
//void setOutputDevice(int);
protected:
void renderChannel(SplatParams &params, ftl::rgbd::Frame &out, const ftl::rgbd::Channel &channel, cudaStream_t stream);
private:
int device_;
/*ftl::cuda::TextureObject<int> depth1_;
......
components/renderers/cpp/src/splat_render.cpp
+ 72
− 65
View file @ 0e2b6c64
......@@ -19,6 +19,75 @@ Splatter::~Splatter() {
}
void Splatter::renderChannel(
SplatParams &params, ftl::rgbd::Frame &out,
const Channel &channel, cudaStream_t stream)
{
// Render each camera into virtual view
for (size_t i=0; i < scene_->frames.size(); ++i) {
auto &f = scene_->frames[i];
auto *s = scene_->sources[i];
if (f.empty(Channel::Depth + Channel::Colour)) {
LOG(ERROR) << "Missing required channel";
continue;
}
// Needs to create points channel first?
if (!f.hasChannel(Channel::Points)) {
//LOG(INFO) << "Creating points... " << s->parameters().width;
auto &t = f.createTexture<float4>(Channel::Points, Format<float4>(f.get<GpuMat>(Channel::Colour).size()));
auto pose = MatrixConversion::toCUDA(s->getPose().cast<float>()); //.inverse());
ftl::cuda::point_cloud(t, f.createTexture<float>(Channel::Depth), s->parameters(), pose, stream);
//LOG(INFO) << "POINTS Added";
}
ftl::cuda::dibr_merge(
f.createTexture<float4>(Channel::Points),
temp_.getTexture<int>(Channel::Depth),
params, stream
);
//LOG(INFO) << "DIBR DONE";
}
// TODO: Add the depth splatting step..
temp_.createTexture<float4>(Channel::Colour);
temp_.createTexture<float>(Channel::Contribution);
// Accumulate attribute contributions for each pixel
for (auto &f : scene_->frames) {
// Convert colour from BGR to BGRA if needed
if (f.get<GpuMat>(Channel::Colour).type() == CV_8UC3) {
// Convert to 4 channel colour
auto &col = f.get<GpuMat>(Channel::Colour);
GpuMat tmp(col.size(), CV_8UC4);
cv::cuda::swap(col, tmp);
cv::cuda::cvtColor(tmp,col, cv::COLOR_BGR2BGRA);
}
ftl::cuda::dibr_attribute(
f.createTexture<uchar4>(Channel::Colour),
f.createTexture<float4>(Channel::Points),
temp_.getTexture<int>(Channel::Depth),
temp_.getTexture<float4>(Channel::Colour),
temp_.getTexture<float>(Channel::Contribution),
params, stream
);
}
// Normalise attribute contributions
ftl::cuda::dibr_normalise(
temp_.createTexture<float4>(Channel::Colour),
out.createTexture<uchar4>(channel),
temp_.createTexture<float>(Channel::Contribution),
stream
);
}
bool Splatter::render(ftl::rgbd::VirtualSource *src, ftl::rgbd::Frame &out, cudaStream_t stream) {
SHARED_LOCK(scene_->mtx, lk);
if (!src->isReady()) return false;
......@@ -86,69 +155,7 @@ bool Splatter::render(ftl::rgbd::VirtualSource *src, ftl::rgbd::Frame &out, cuda
temp_.createTexture<int>(Channel::Depth);
// Render each camera into virtual view
for (size_t i=0; i<scene_->frames.size(); ++i) {
auto &f = scene_->frames[i];
auto *s = scene_->sources[i];
if (f.empty(Channel::Depth + Channel::Colour)) {
LOG(ERROR) << "Missing required channel";
continue;
}
// Needs to create points channel first?
if (!f.hasChannel(Channel::Points)) {
//LOG(INFO) << "Creating points... " << s->parameters().width;
auto &t = f.createTexture<float4>(Channel::Points, Format<float4>(f.get<GpuMat>(Channel::Colour).size()));
auto pose = MatrixConversion::toCUDA(s->getPose().cast<float>()); //.inverse());
ftl::cuda::point_cloud(t, f.createTexture<float>(Channel::Depth), s->parameters(), pose, stream);
//LOG(INFO) << "POINTS Added";
}
ftl::cuda::dibr_merge(
f.createTexture<float4>(Channel::Points),
temp_.getTexture<int>(Channel::Depth),
params, stream
);
//LOG(INFO) << "DIBR DONE";
}
// TODO: Add the depth splatting step..
temp_.createTexture<float4>(Channel::Colour);
temp_.createTexture<float>(Channel::Contribution);
// Accumulate attribute contributions for each pixel
for (auto &f : scene_->frames) {
// Convert colour from BGR to BGRA if needed
if (f.get<GpuMat>(Channel::Colour).type() == CV_8UC3) {
// Convert to 4 channel colour
auto &col = f.get<GpuMat>(Channel::Colour);
GpuMat tmp(col.size(), CV_8UC4);
cv::cuda::swap(col, tmp);
cv::cuda::cvtColor(tmp,col, cv::COLOR_BGR2BGRA);
}
ftl::cuda::dibr_attribute(
f.createTexture<uchar4>(Channel::Colour),
f.createTexture<float4>(Channel::Points),
temp_.getTexture<int>(Channel::Depth),
temp_.getTexture<float4>(Channel::Colour),
temp_.getTexture<float>(Channel::Contribution),
params, stream
);
}
// Normalise attribute contributions
ftl::cuda::dibr_normalise(
temp_.createTexture<float4>(Channel::Colour),
out.createTexture<uchar4>(Channel::Colour),
temp_.createTexture<float>(Channel::Contribution),
stream
);
renderChannel(params, out, Channel::Colour, stream);
Channel chan = src->getChannel();
if (chan == Channel::Depth) {
......@@ -160,8 +167,8 @@ bool Splatter::render(ftl::rgbd::VirtualSource *src, ftl::rgbd::Frame &out, cuda
Eigen::Matrix4f matrix = src->getPose().cast<float>() * transform.matrix();
params.m_viewMatrix = MatrixConversion::toCUDA(matrix.inverse());
params.m_viewMatrixInverse = MatrixConversion::toCUDA(matrix);
// TODO: Repeat rendering process...
renderChannel(params, out, Channel::Right, stream);
}
return true;
......
components/renderers/cpp/src/splatter_cuda.hpp
+ 18
− 14
View file @ 0e2b6c64
......@@ -6,22 +6,26 @@
namespace ftl {
namespace cuda {
void dibr_merge(ftl::cuda::TextureObject<float4> &points, ftl::cuda::TextureObject<int> &depth, ftl::render::SplatParams params, cudaStream_t stream);
void dibr_merge(
ftl::cuda::TextureObject<float4> &points,
ftl::cuda::TextureObject<int> &depth,
ftl::render::SplatParams params,
cudaStream_t stream);
void dibr_attribute(
ftl::cuda::TextureObject<uchar4> &colour_in, // Original colour image
ftl::cuda::TextureObject<float4> &points, // Original 3D points
ftl::cuda::TextureObject<int> &depth_in, // Virtual depth map
ftl::cuda::TextureObject<float4> &colour_out, // Accumulated output
//TextureObject<float4> normal_out,
ftl::cuda::TextureObject<float> &contrib_out,
ftl::render::SplatParams &params, cudaStream_t stream);
void dibr_attribute(
ftl::cuda::TextureObject<uchar4> &colour_in, // Original colour image
ftl::cuda::TextureObject<float4> &points, // Original 3D points
ftl::cuda::TextureObject<int> &depth_in, // Virtual depth map
ftl::cuda::TextureObject<float4> &colour_out, // Accumulated output
//TextureObject<float4> normal_out,
ftl::cuda::TextureObject<float> &contrib_out,
ftl::render::SplatParams &params, cudaStream_t stream);
void dibr_normalise(
ftl::cuda::TextureObject<float4> &colour_in,
ftl::cuda::TextureObject<uchar4> &colour_out,
ftl::cuda::TextureObject<float> &contribs,
cudaStream_t stream);
void dibr_normalise(
ftl::cuda::TextureObject<float4> &colour_in,
ftl::cuda::TextureObject<uchar4> &colour_out,
ftl::cuda::TextureObject<float> &contribs,
cudaStream_t stream);
}
}
......
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