From 25397b88342362902812bc2883aee78e17421bbf Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Sun, 23 Jun 2019 08:12:39 +0300
Subject: [PATCH] Alternative colour blend algorithms
---
.../reconstruct/include/ftl/voxel_hash.hpp | 23 +++++++++++++++----
.../reconstruct/src/scene_rep_hash_sdf.cu | 8 +++----
2 files changed, 23 insertions(+), 8 deletions(-)
diff --git a/applications/reconstruct/include/ftl/voxel_hash.hpp b/applications/reconstruct/include/ftl/voxel_hash.hpp
index fe1201659..7cfa44126 100644
--- a/applications/reconstruct/include/ftl/voxel_hash.hpp
+++ b/applications/reconstruct/include/ftl/voxel_hash.hpp
@@ -232,10 +232,10 @@ struct HashData {
//out.color = 0.5f * (v0.color + v1.color); //exponential running average
- float3 c0 = make_float3(v0.color.x, v0.color.y, v0.color.z);
- float3 c1 = make_float3(v1.color.x, v1.color.y, v1.color.z);
+ //float3 c0 = make_float3(v0.color.x, v0.color.y, v0.color.z);
+ //float3 c1 = make_float3(v1.color.x, v1.color.y, v1.color.z);
- float3 res = (c0.x+c0.y+c0.z == 0) ? c1 : 0.5f*c0 + 0.5f*c1;
+ //float3 res = (c0.x+c0.y+c0.z == 0) ? c1 : 0.5f*c0 + 0.5f*c1;
//float3 res = (c0+c1)/2;
//float3 res = (c0 * (float)v0.weight + c1 * (float)v1.weight) / ((float)v0.weight + (float)v1.weight);
//float3 res = c1;
@@ -243,7 +243,22 @@ struct HashData {
//out.color.x = (uchar)(res.x+0.5f); out.color.y = (uchar)(res.y+0.5f); out.color.z = (uchar)(res.z+0.5f);
// Nick: reduces colour flicker but not ideal..
- out.color = v1.color;
+ //out.color = v1.color;
+
+ // Option 3 (Nick): Use colour with minimum SDF since it should be closest to surface.
+ // Results in stable but pixelated output
+ //out.color = (v0.weight > 0 && (fabs(v0.sdf) < fabs(v1.sdf))) ? v0.color : v1.color;
+
+ // Option 4 (Nick): Merge colours based upon relative closeness
+ float3 c0 = make_float3(v0.color.x, v0.color.y, v0.color.z);
+ float3 c1 = make_float3(v1.color.x, v1.color.y, v1.color.z);
+ float factor = fabs(v0.sdf - v1.sdf) / 0.05f / 2.0f;
+ if (factor > 0.5f) factor = 0.5f;
+ float factor0 = (fabs(v0.sdf) < fabs(v1.sdf)) ? 1.0f - factor : factor;
+ float factor1 = 1.0f - factor0;
+ out.color.x = (v0.weight > 0) ? (uchar)(c0.x * factor0 + c1.x * factor1) : c1.x;
+ out.color.y = (v0.weight > 0) ? (uchar)(c0.y * factor0 + c1.y * factor1) : c1.y;
+ out.color.z = (v0.weight > 0) ? (uchar)(c0.z * factor0 + c1.z * factor1) : c1.z;
out.sdf = (v0.sdf * (float)v0.weight + v1.sdf * (float)v1.weight) / ((float)v0.weight + (float)v1.weight);
out.weight = min(c_hashParams.m_integrationWeightMax, (unsigned int)v0.weight + (unsigned int)v1.weight);
diff --git a/applications/reconstruct/src/scene_rep_hash_sdf.cu b/applications/reconstruct/src/scene_rep_hash_sdf.cu
index 6a3cd2bed..a4c87bcdd 100644
--- a/applications/reconstruct/src/scene_rep_hash_sdf.cu
+++ b/applications/reconstruct/src/scene_rep_hash_sdf.cu
@@ -565,10 +565,10 @@ __global__ void integrateDepthMapKernel(HashData hashData, DepthCameraData camer
uint idx = entry.ptr + i;
- if (entry.flags != cameraParams.flags & 0xFF) {
- entry.flags = cameraParams.flags & 0xFF;
- hashData.d_SDFBlocks[idx].color = make_uchar3(0,0,0);
- }
+ //if (entry.flags != cameraParams.flags & 0xFF) {
+ // entry.flags = cameraParams.flags & 0xFF;
+ //hashData.d_SDFBlocks[idx].color = make_uchar3(0,0,0);
+ //}
Voxel newVoxel;
//if (color.x == MINF) hashData.combineVoxelDepthOnly(hashData.d_SDFBlocks[idx], curr, newVoxel);
--
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