Merge branch 'feature/missingcolour' into 'master'

Add show bad colour option

See merge request nicolas.pope/ftl!172

components/renderers/cpp/src/splatter.cu

@@ -441,9 +441,11 @@ __global__ void dibr_normalise_kernel(
     const unsigned int y = blockIdx.y*blockDim.y + threadIdx.y;
 
     if (x < in.width() && y < in.height()) {
+		const float contrib = contribs.tex2D((int)x,(int)y);
         const A a = in.tex2D((int)x,(int)y);
         //const float4 normal = normals.tex2D((int)x,(int)y);
-        const float contrib = contribs.tex2D((int)x,(int)y);
+
+		//out(x,y) = (contrib == 0.0f) ? make<B>(a) : make<B>(a / contrib);
 
         if (contrib > 0.0f) {
             out(x,y) = make<B>(a / contrib);
@@ -464,3 +466,39 @@ void ftl::cuda::dibr_normalise(TextureObject<A> &in, TextureObject<B> &out, Text
 template void ftl::cuda::dibr_normalise<float4,uchar4>(TextureObject<float4> &in, TextureObject<uchar4> &out, TextureObject<float> &contribs, cudaStream_t stream);
 template void ftl::cuda::dibr_normalise<float,float>(TextureObject<float> &in, TextureObject<float> &out, TextureObject<float> &contribs, cudaStream_t stream);
 template void ftl::cuda::dibr_normalise<float4,float4>(TextureObject<float4> &in, TextureObject<float4> &out, TextureObject<float> &contribs, cudaStream_t stream);
+
+
+// ===== Show bad colour normalise =============================================
+
+__global__ void show_missing_colour_kernel(
+        TextureObject<float> depth,
+        TextureObject<uchar4> out,
+		TextureObject<float> contribs,
+		uchar4 bad_colour,
+		ftl::rgbd::Camera cam) {
+    const unsigned int x = blockIdx.x*blockDim.x + threadIdx.x;
+    const unsigned int y = blockIdx.y*blockDim.y + threadIdx.y;
+
+    if (x < out.width() && y < out.height()) {
+		const float contrib = contribs.tex2D((int)x,(int)y);
+		const float d = depth.tex2D(x,y);
+
+		if (contrib < 0.0000001f && d > cam.minDepth && d < cam.maxDepth) {
+			out(x,y) = bad_colour;
+		}
+    }
+}
+
+void ftl::cuda::show_missing_colour(
+		TextureObject<float> &depth,
+		TextureObject<uchar4> &out,
+		TextureObject<float> &contribs,
+		uchar4 bad_colour,
+		const ftl::rgbd::Camera &cam,
+		cudaStream_t stream) {
+    const dim3 gridSize((out.width() + T_PER_BLOCK - 1)/T_PER_BLOCK, (out.height() + T_PER_BLOCK - 1)/T_PER_BLOCK);
+    const dim3 blockSize(T_PER_BLOCK, T_PER_BLOCK);
+
+    show_missing_colour_kernel<<<gridSize, blockSize, 0, stream>>>(depth, out, contribs, bad_colour, cam);
+    cudaSafeCall( cudaGetLastError() );
+}

components/renderers/cpp/src/splatter_cuda.hpp

@@ -97,6 +97,14 @@ namespace cuda {
 		ftl::cuda::TextureObject<float> &contribs,
 		cudaStream_t stream);
 
+	void show_missing_colour(
+		ftl::cuda::TextureObject<float> &depth,
+		ftl::cuda::TextureObject<uchar4> &out,
+		ftl::cuda::TextureObject<float> &contribs,
+		uchar4 bad_colour,
+		const ftl::rgbd::Camera &cam,
+		cudaStream_t stream);
+
 	void show_mask(
         ftl::cuda::TextureObject<uchar4> &colour,
 		ftl::cuda::TextureObject<int> &mask,

components/renderers/cpp/src/tri_render.cpp

@@ -603,6 +603,17 @@ bool Triangular::render(ftl::rgbd::VirtualSource *src, ftl::rgbd::Frame &out) {
 
 	// Reprojection of colours onto surface
 	_renderChannel(out, Channel::Colour, Channel::Colour, stream_);
+
+	if (value("show_bad_colour", false)) {
+		ftl::cuda::show_missing_colour(
+			out.getTexture<float>(Channel::Depth),
+			out.getTexture<uchar4>(Channel::Colour),
+			temp_.getTexture<float>(Channel::Contribution),
+			make_uchar4(255,0,0,0),
+			camera,
+			stream_
+		);
+	}
 	
 	if (chan == Channel::Depth)
 	{