From 1f61b5272310b708fc17871af90aad78308c1e16 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nicolas.pope@utu.fi>
Date: Fri, 6 Dec 2019 11:55:42 +0200
Subject: [PATCH] Implements #263 reconstruction scaling
---
applications/reconstruct/src/reconstruction.cpp | 3 ++-
components/renderers/cpp/include/ftl/render/tri_render.hpp | 2 ++
components/renderers/cpp/src/tri_render.cpp | 4 ++--
3 files changed, 6 insertions(+), 3 deletions(-)
diff --git a/applications/reconstruct/src/reconstruction.cpp b/applications/reconstruct/src/reconstruction.cpp
index c9ce1bf89..be99d1581 100644
--- a/applications/reconstruct/src/reconstruction.cpp
+++ b/applications/reconstruct/src/reconstruction.cpp
@@ -107,5 +107,6 @@ void Reconstruction::render(ftl::rgbd::VirtualSource *vs, ftl::rgbd::Frame &out)
// transform.setIdentity();
//}
- renderer_->render(vs, out, transform);
+ Eigen::Affine3d sm = Eigen::Affine3d(Eigen::Scaling(double(value("scale", 1.0f))));
+ renderer_->render(vs, out, sm.matrix() * transform);
}
\ No newline at end of file
diff --git a/components/renderers/cpp/include/ftl/render/tri_render.hpp b/components/renderers/cpp/include/ftl/render/tri_render.hpp
index dbe797797..27b6db318 100644
--- a/components/renderers/cpp/include/ftl/render/tri_render.hpp
+++ b/components/renderers/cpp/include/ftl/render/tri_render.hpp
@@ -42,6 +42,8 @@ class Triangular : public ftl::render::Renderer {
ftl::render::SplatParams params_;
cudaStream_t stream_;
float3 light_pos_;
+ Eigen::Matrix4d transform_;
+ float scale_;
cv::cuda::GpuMat env_image_;
ftl::cuda::TextureObject<uchar4> env_tex_;
diff --git a/components/renderers/cpp/src/tri_render.cpp b/components/renderers/cpp/src/tri_render.cpp
index d1cf0c8a1..567a9d139 100644
--- a/components/renderers/cpp/src/tri_render.cpp
+++ b/components/renderers/cpp/src/tri_render.cpp
@@ -228,8 +228,8 @@ void Triangular::__reprojectChannel(ftl::rgbd::Frame &output, ftl::codecs::Chann
cv::cuda::cvtColor(tmp,col, cv::COLOR_BGR2BGRA);
}
- auto transform = MatrixConversion::toCUDA(t.cast<float>().inverse() * s->getPose().cast<float>().inverse()) * params_.m_viewMatrixInverse;
- auto transformR = MatrixConversion::toCUDA(t.cast<float>().inverse() * s->getPose().cast<float>().inverse()).getFloat3x3();
+ auto transform = MatrixConversion::toCUDA(s->getPose().cast<float>().inverse() * t.cast<float>().inverse()) * params_.m_viewMatrixInverse;
+ auto transformR = MatrixConversion::toCUDA(s->getPose().cast<float>().inverse()).getFloat3x3();
if (mesh_) {
ftl::cuda::reproject(
--
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