Adapt window size

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() );
 }

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