From 11198d704e89d8d1fe241ada86dfe179322c16b2 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Sat, 5 Oct 2019 18:10:59 +0300
Subject: [PATCH] Random experiment with motion contribs
---
applications/reconstruct/src/ilw/ilw.cu | 10 +++++++---
1 file changed, 7 insertions(+), 3 deletions(-)
diff --git a/applications/reconstruct/src/ilw/ilw.cu b/applications/reconstruct/src/ilw/ilw.cu
index c0b14dd8a..5c2dc836a 100644
--- a/applications/reconstruct/src/ilw/ilw.cu
+++ b/applications/reconstruct/src/ilw/ilw.cu
@@ -51,6 +51,10 @@ __global__ void correspondence_energy_vector_kernel(
//const float3 world1 = make_float3(p1.tex2D(x, y));
const float depth1 = d1.tex2D(x,y); //(pose1_inv * world1).z; // Initial starting depth
if (depth1 < cam1.minDepth || depth1 > cam1.maxDepth) return;
+
+ // TODO: Temporary hack to ensure depth1 is present
+ const float4 temp = vout.tex2D(x,y);
+ vout(x,y) = make_float4(depth1, 0.0f, temp.z, temp.w);
const float3 world1 = pose1 * cam1.screenToCam(x,y,depth1);
@@ -219,9 +223,9 @@ __global__ void move_points_kernel(
//if (pn.x == MINF) continue;
if (vecn.x == 0.0f) continue;
- const float s = ftl::cuda::weighting(fabs(vec0.x - vecn.x), params.range);
- contrib += vecn.w * s;
- delta += vecn.w * s * vecn.z;
+ const float s = ftl::cuda::weighting(fabs(vec0.z - vecn.z), params.range);
+ contrib += (vecn.w+0.01f) * s;
+ delta += (vecn.w+0.01f) * s * ((vecn.w == 0.0f) ? vecn.x : vecn.z);
}
}
--
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