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Commit 1aa0f290 authored by Nicolas Pope's avatar Nicolas Pope
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Fix for point cloud resolution

parent a4c70388
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2 merge requests!195Renderer improvements,!193Tweaks to improve reconstruct
This commit is part of merge request !193. Comments created here will be created in the context of that merge request.
...@@ -131,7 +131,7 @@ using ftl::cuda::warpSum; ...@@ -131,7 +131,7 @@ using ftl::cuda::warpSum;
const uint2 screenPos = params.camera.camToScreen<uint2>(camPos); const uint2 screenPos = params.camera.camToScreen<uint2>(camPos);
const unsigned int cx = screenPos.x; const unsigned int cx = screenPos.x;
const unsigned int cy = screenPos.y; const unsigned int cy = screenPos.y;
if (d > params.camera.minDepth && d < params.camera.maxDepth && cx < depth.width() && cy < depth.height()) { if (d > params.camera.minDepth && d < params.camera.maxDepth && cx < depth_out.width() && cy < depth_out.height()) {
// Transform estimated point to virtual cam space and output z // Transform estimated point to virtual cam space and output z
atomicMin(&depth_out(cx,cy), d * 100000.0f); atomicMin(&depth_out(cx,cy), d * 100000.0f);
} }
...@@ -155,7 +155,7 @@ void ftl::cuda::dibr_merge(TextureObject<float4> &points, TextureObject<int> &de ...@@ -155,7 +155,7 @@ void ftl::cuda::dibr_merge(TextureObject<float4> &points, TextureObject<int> &de
} }
void ftl::cuda::dibr_merge(TextureObject<float> &depth, TextureObject<int> &depth_out, const float4x4 &transform, const ftl::rgbd::Camera &cam, SplatParams params, cudaStream_t stream) { void ftl::cuda::dibr_merge(TextureObject<float> &depth, TextureObject<int> &depth_out, const float4x4 &transform, const ftl::rgbd::Camera &cam, SplatParams params, cudaStream_t stream) {
const dim3 gridSize((depth.width() + T_PER_BLOCK - 1)/T_PER_BLOCK, (depth.height() + T_PER_BLOCK - 1)/T_PER_BLOCK); const dim3 gridSize((depth_out.width() + T_PER_BLOCK - 1)/T_PER_BLOCK, (depth_out.height() + T_PER_BLOCK - 1)/T_PER_BLOCK);
const dim3 blockSize(T_PER_BLOCK, T_PER_BLOCK); const dim3 blockSize(T_PER_BLOCK, T_PER_BLOCK);
dibr_merge_kernel<<<gridSize, blockSize, 0, stream>>>(depth, depth_out, transform, cam, params); dibr_merge_kernel<<<gridSize, blockSize, 0, stream>>>(depth, depth_out, transform, cam, params);
......
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