From 15a0357305e7d0ef9b0a42d4794535da1e53d4ab Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Tue, 10 Dec 2019 10:21:00 +0200
Subject: [PATCH] Adapt window size
---
components/operators/src/correspondence.cu | 12 ++++++++++--
components/operators/src/mvmls.cpp | 6 +++++-
2 files changed, 15 insertions(+), 3 deletions(-)
diff --git a/components/operators/src/correspondence.cu b/components/operators/src/correspondence.cu
index 35f414f28..5af30cc99 100644
--- a/components/operators/src/correspondence.cu
+++ b/components/operators/src/correspondence.cu
@@ -227,14 +227,22 @@ void ftl::cuda::correspondence(
//printf("COR SIZE %d,%d\n", p1.width(), p1.height());
- switch (func) {
+ /*switch (func) {
case 0: corresponding_point_kernel<16,0><<<gridSize, blockSize, 0, stream>>>(d1, d2, c1, c2, screen, conf, mask, pose2, cam1, cam2, params); break;
case 1: corresponding_point_kernel<16,1><<<gridSize, blockSize, 0, stream>>>(d1, d2, c1, c2, screen, conf, mask, pose2, cam1, cam2, params); break;
case 2: corresponding_point_kernel<16,2><<<gridSize, blockSize, 0, stream>>>(d1, d2, c1, c2, screen, conf, mask, pose2, cam1, cam2, params); break;
case 3: corresponding_point_kernel<16,3><<<gridSize, blockSize, 0, stream>>>(d1, d2, c1, c2, screen, conf, mask, pose2, cam1, cam2, params); break;
case 4: corresponding_point_kernel<16,4><<<gridSize, blockSize, 0, stream>>>(d1, d2, c1, c2, screen, conf, mask, pose2, cam1, cam2, params); break;
case 5: corresponding_point_kernel<16,5><<<gridSize, blockSize, 0, stream>>>(d1, d2, c1, c2, screen, conf, mask, pose2, cam1, cam2, params); break;
- }
+ }*/
+
+ switch (func) {
+ case 32: corresponding_point_kernel<32,1><<<gridSize, blockSize, 0, stream>>>(d1, d2, c1, c2, screen, conf, mask, pose2, cam1, cam2, params); break;
+ case 16: corresponding_point_kernel<16,1><<<gridSize, blockSize, 0, stream>>>(d1, d2, c1, c2, screen, conf, mask, pose2, cam1, cam2, params); break;
+ case 8: corresponding_point_kernel<8,1><<<gridSize, blockSize, 0, stream>>>(d1, d2, c1, c2, screen, conf, mask, pose2, cam1, cam2, params); break;
+ case 4: corresponding_point_kernel<4,1><<<gridSize, blockSize, 0, stream>>>(d1, d2, c1, c2, screen, conf, mask, pose2, cam1, cam2, params); break;
+ case 2: corresponding_point_kernel<2,1><<<gridSize, blockSize, 0, stream>>>(d1, d2, c1, c2, screen, conf, mask, pose2, cam1, cam2, params); break;
+ }
cudaSafeCall( cudaGetLastError() );
}
diff --git a/components/operators/src/mvmls.cpp b/components/operators/src/mvmls.cpp
index 87a23090c..822b6e09b 100644
--- a/components/operators/src/mvmls.cpp
+++ b/components/operators/src/mvmls.cpp
@@ -24,7 +24,8 @@ bool MultiViewMLS::apply(ftl::rgbd::FrameSet &in, ftl::rgbd::FrameSet &out, cuda
int iters = config()->value("mls_iterations", 3);
int radius = config()->value("mls_radius",5);
//bool aggre = config()->value("aggregation", true);
- int win = config()->value("cost_function",1);
+ //int win = config()->value("cost_function",1);
+ int win = config()->value("window_size",16);
bool do_corr = config()->value("merge_corresponding", true);
bool do_aggr = config()->value("merge_mls", false);
bool cull_zero = config()->value("cull_no_confidence", false);
@@ -139,6 +140,9 @@ bool MultiViewMLS::apply(ftl::rgbd::FrameSet &in, ftl::rgbd::FrameSet &out, cuda
);*/
}
}
+
+ // Reduce window size for next iteration
+ win = max(win>>1, 4);
}
// Find best source for every pixel
--
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