From 2655a0ddb1a33da4b962c4eebe85b25b2c0fdecf Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Thu, 19 Sep 2019 12:07:19 +0300
Subject: [PATCH] WIP refactor channel rendering
---
applications/reconstruct/src/ilw.cpp | 1 -
components/renderers/cpp/src/splat_render.cpp | 30 ++++++++++++-------
2 files changed, 20 insertions(+), 11 deletions(-)
diff --git a/applications/reconstruct/src/ilw.cpp b/applications/reconstruct/src/ilw.cpp
index e74c535fb..90b3a1bee 100644
--- a/applications/reconstruct/src/ilw.cpp
+++ b/applications/reconstruct/src/ilw.cpp
@@ -49,7 +49,6 @@ bool ILW::_phase0(ftl::rgbd::FrameSet &fs, cudaStream_t stream) {
ftl::cuda::point_cloud(t, f.createTexture<float>(Channel::Depth), s->parameters(), pose, stream);
}
- // Upload camera data?
return true;
}
diff --git a/components/renderers/cpp/src/splat_render.cpp b/components/renderers/cpp/src/splat_render.cpp
index 55ddbe490..c878a4913 100644
--- a/components/renderers/cpp/src/splat_render.cpp
+++ b/components/renderers/cpp/src/splat_render.cpp
@@ -140,15 +140,26 @@ bool Splatter::render(ftl::rgbd::VirtualSource *src, ftl::rgbd::Frame &out, cuda
}
// Normalise attribute contributions
- //for (auto &f : scene_->frames) {
- ftl::cuda::dibr_normalise(
- temp_.createTexture<float4>(Channel::Colour),
- out.createTexture<uchar4>(Channel::Colour),
- temp_.createTexture<float>(Channel::Contribution),
- stream
- );
- //}
+ ftl::cuda::dibr_normalise(
+ temp_.createTexture<float4>(Channel::Colour),
+ out.createTexture<uchar4>(Channel::Colour),
+ temp_.createTexture<float>(Channel::Contribution),
+ stream
+ );
+
+ Channel chan = src->getChannel();
+ if (chan == Channel::Depth) {
+ temp_.get<GpuMat>(Channel::Depth).convertTo(out.get<GpuMat>(Channel::Depth), CV_32F, 1.0f / 1000.0f, cvstream);
+ } else if (chan == Channel::Energy) {
+ cv::cuda::swap(temp_.get<GpuMat>(Channel::Energy), out.create<GpuMat>(Channel::Energy));
+ } else if (chan == Channel::Right) {
+ Eigen::Affine3f transform(Eigen::Translation3f(camera.baseline,0.0f,0.0f));
+ Eigen::Matrix4f matrix = src->getPose().cast<float>() * transform.matrix();
+ params.m_viewMatrix = MatrixConversion::toCUDA(matrix.inverse());
+ params.m_viewMatrixInverse = MatrixConversion::toCUDA(matrix);
+ }
+ /*
//ftl::cuda::dibr(depth1_, colour1_, normal1_, depth2_, colour_tmp_, depth3_, scene_->cameraCount(), params, stream);
// Step 1: Put all points into virtual view to gather them
@@ -165,8 +176,6 @@ bool Splatter::render(ftl::rgbd::VirtualSource *src, ftl::rgbd::Frame &out, cuda
//ftl::cuda::int_to_float(depth1_, depth2_, 1.0f / 1000.0f, stream);
temp_.get<GpuMat>(Channel::Depth).convertTo(out.get<GpuMat>(Channel::Depth), CV_32F, 1.0f / 1000.0f, cvstream);
- //src->writeFrames(ts, colour1_, depth2_, stream);
- //src->write(scene_.timestamp, output_, stream);
} else {
temp_.get<GpuMat>(Channel::Depth).convertTo(out.get<GpuMat>(Channel::Depth), CV_32F, 1.0f / 1000.0f, cvstream);
//ftl::cuda::int_to_float(depth1_, depth2_, 1.0f / 1000.0f, stream);
@@ -210,6 +219,7 @@ bool Splatter::render(ftl::rgbd::VirtualSource *src, ftl::rgbd::Frame &out, cuda
//}
}
//}
+ */
//ftl::cuda::median_filter(depth1_, depth2_, stream);
//ftl::cuda::splat_points(depth1_, depth2_, params, stream);
--
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