From 124b5ab03d25038fa151c83b69a0e7d39ae8ab4c Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nicolas.pope@utu.fi>
Date: Thu, 8 Aug 2019 16:06:21 +0300
Subject: [PATCH] Implement #147 clipping
---
.../include/ftl/voxel_hash_params.hpp | 4 +-
applications/reconstruct/src/voxel_scene.cpp | 16 ++++----
config/config_nick.jsonc | 38 ++++++++++++++++---
3 files changed, 43 insertions(+), 15 deletions(-)
diff --git a/applications/reconstruct/include/ftl/voxel_hash_params.hpp b/applications/reconstruct/include/ftl/voxel_hash_params.hpp
index 480e16d47..5e13ec21c 100644
--- a/applications/reconstruct/include/ftl/voxel_hash_params.hpp
+++ b/applications/reconstruct/include/ftl/voxel_hash_params.hpp
@@ -28,8 +28,8 @@ struct __align__(16) HashParams {
unsigned int m_integrationWeightSample;
unsigned int m_integrationWeightMax;
- int3 m_minBounds;
- int3 m_maxBounds;
+ float3 m_minBounds;
+ float3 m_maxBounds;
float m_spatialSmoothing;
float m_colourSmoothing;
float m_confidenceThresh;
diff --git a/applications/reconstruct/src/voxel_scene.cpp b/applications/reconstruct/src/voxel_scene.cpp
index 5d392d4f7..2dca32316 100644
--- a/applications/reconstruct/src/voxel_scene.cpp
+++ b/applications/reconstruct/src/voxel_scene.cpp
@@ -295,14 +295,14 @@ HashParams SceneRep::_parametersFromConfig() {
params.m_flags = 0;
params.m_flags |= (value("clipping", false)) ? ftl::voxhash::kFlagClipping : 0;
params.m_flags |= (value("mls", false)) ? ftl::voxhash::kFlagMLS : 0;
- params.m_maxBounds = make_int3(
- value("bbox_x_max", 2.0f) / (params.m_virtualVoxelSize*SDF_BLOCK_SIZE),
- value("bbox_y_max", 2.0f) / (params.m_virtualVoxelSize*SDF_BLOCK_SIZE),
- value("bbox_z_max", 2.0f) / (params.m_virtualVoxelSize*SDF_BLOCK_SIZE));
- params.m_minBounds = make_int3(
- value("bbox_x_min", -2.0f) / (params.m_virtualVoxelSize*SDF_BLOCK_SIZE),
- value("bbox_y_min", -2.0f) / (params.m_virtualVoxelSize*SDF_BLOCK_SIZE),
- value("bbox_z_min", -2.0f) / (params.m_virtualVoxelSize*SDF_BLOCK_SIZE));
+ params.m_maxBounds = make_float3(
+ value("bbox_x_max", 2.0f),
+ value("bbox_y_max", 2.0f),
+ value("bbox_z_max", 2.0f));
+ params.m_minBounds = make_float3(
+ value("bbox_x_min", -2.0f),
+ value("bbox_y_min", -2.0f),
+ value("bbox_z_min", -2.0f));
return params;
}
diff --git a/config/config_nick.jsonc b/config/config_nick.jsonc
index 5e3a29a40..2dac067a2 100644
--- a/config/config_nick.jsonc
+++ b/config/config_nick.jsonc
@@ -150,13 +150,13 @@
"confidenceThreshold": 0.0,
"mls": true,
"voxels": false,
- "clipping": false,
- "bbox_x_max": 1.5,
- "bbox_x_min": -1.5,
+ "clipping": true,
+ "bbox_x_max": 0.6,
+ "bbox_x_min": -0.6,
"bbox_y_max": 3.0,
"bbox_y_min": -3.0,
- "bbox_z_max": 2.5,
- "bbox_z_min": 0.0,
+ "bbox_z_max": 3.5,
+ "bbox_z_min": 2.0,
"cudaDevice": 1
},
"rs": {
@@ -507,6 +507,34 @@
"stream": {}
},
+ "reconstruction_snap10": {
+ "net": {
+ "peers": [],
+ "listen": "tcp://*:9002"
+ },
+ "sources": [
+ {"uri":"file:///home/nick/Pictures/FTL/snaptest10.tar.gz#0", "index": "camera0"},
+ {"uri":"file:///home/nick/Pictures/FTL/snaptest10.tar.gz#1", "index": "camera1"},
+ {"uri":"file:///home/nick/Pictures/FTL/snaptest10.tar.gz#2", "index": "camera2"},
+ {"uri":"file:///home/nick/Pictures/FTL/snaptest10.tar.gz#3", "index": "camera3"},
+ {"uri":"file:///home/nick/Pictures/FTL/snaptest10.tar.gz#4", "index": "camera4"}
+ ],
+ "display": { "$ref": "#displays/left" },
+ "virtual": { "$ref": "#virtual_cams/default" },
+ "voxelhash": { "$ref": "#hash_conf/default" },
+ "merge": {
+ "$id": "ftl://blah/blah",
+ "targetsource" : "ftl://utu.fi/node3#vision_default/source",
+ "register": false,
+ "chain": false,
+ "maxerror": 100,
+ "iterations" : 10,
+ "delay" : 500,
+ "patternsize" : [9, 6]
+ },
+ "stream": {}
+ },
+
"reconstruction_lab": {
"net": {
"peers": ["tcp://ftl-node-4:9001",
--
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