From 2a7a44a23553681d83c117c529a043ca1938ae1d Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Sat, 28 Sep 2019 10:19:15 +0300
Subject: [PATCH] Add cost ratio
---
applications/reconstruct/src/ilw/ilw.cu | 19 ++++++++++++-------
1 file changed, 12 insertions(+), 7 deletions(-)
diff --git a/applications/reconstruct/src/ilw/ilw.cu b/applications/reconstruct/src/ilw/ilw.cu
index c8fceaca5..65fa54763 100644
--- a/applications/reconstruct/src/ilw/ilw.cu
+++ b/applications/reconstruct/src/ilw/ilw.cu
@@ -64,16 +64,19 @@ __global__ void correspondence_energy_vector_kernel(
const uchar4 colour2 = c2.tex2D(screen2.x+u, screen2.y+v);
if (world2.x == MINF) continue;
- ++count;
-
// Determine degree of correspondence
- float cost = 1.0f - ftl::cuda::spatialWeighting(world1, world2, 0.04f);
- cost *= 1.0f - ftl::cuda::colourWeighting(colour1, colour2, 50.0f);
+ float cost = 1.0f - ftl::cuda::spatialWeighting(world1, world2, 0.04f);
+ // Point is too far away to even count
+ if (cost == 1.0f) continue;
+
+ // Mix ratio of colour and distance costs
+ cost = 0.75f * (1.0f - ftl::cuda::colourWeighting(colour1, colour2, 50.0f)) + 0.25 * cost;
//cost /= 2.0f;
+ ++count;
+ avgcost += cost;
if (cost < bestcost) {
bestpoint = world2;
- avgcost += cost;
bestcost = cost;
}
}
@@ -91,9 +94,11 @@ __global__ void correspondence_energy_vector_kernel(
(bestpoint.z - world1.z),
mincost);
- //eout(x,y) = max(eout(x,y), length(bestpoint-world1) * 10.0f);
+ //eout(x,y) = max(eout(x,y), (length(bestpoint-world1) / 0.04f) * 7.0f);
//eout(x,y) = max(eout(x,y), (1.0f - mincost) * 7.0f);
- eout(x,y) = max(eout(x, y), confidence * 7.0f);
+ //eout(x,y) = max(eout(x, y), (1.0f - mincost) * confidence * (length(bestpoint-world1) / 0.04f) * 12.0f);
+ //eout(x,y) = max(eout(x, y), (1.0f - mincost) * confidence * 12.0f);
+ eout(x,y) = max(eout(x, y), confidence * 12.0f);
} else if (mincost >= 1.0f && lane == 0) {
//vout(x,y) = make_float4(0.0f);
//eout(x,y) = 0.0f;
--
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