From 2b2a64f9da85503ca3d01ba31e0cecca97e768fe Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Tue, 10 Dec 2019 12:03:32 +0200
Subject: [PATCH] Remove bad matches
---
components/operators/src/correspondence.cu | 56 ++++++++++++----------
1 file changed, 32 insertions(+), 24 deletions(-)
diff --git a/components/operators/src/correspondence.cu b/components/operators/src/correspondence.cu
index 5af30cc99..f6015c5ea 100644
--- a/components/operators/src/correspondence.cu
+++ b/components/operators/src/correspondence.cu
@@ -119,13 +119,13 @@ __global__ void corresponding_point_kernel(
//float bestdepth = 0.0f;
short2 bestScreen = make_short2(-1,-1);
- float bestdepth = 0.0f;
+ //float bestdepth = 0.0f;
//float bestdepth2 = 0.0f;
float bestweight = 0.0f;
float bestcolour = 0.0f;
//float bestdweight = 0.0f;
float totalcolour = 0.0f;
- int count = 0;
+ //int count = 0;
//float contrib = 0.0f;
const float3 camPosOrigin = pose * cam1.screenToCam(x,y,depth1);
@@ -138,8 +138,11 @@ __global__ void corresponding_point_kernel(
float2 linePos;
linePos.x = lineOrigin.x - ((COR_STEPS/2));
linePos.y = lineOrigin.y - (((COR_STEPS/2)) * lineM);
- float depthPos = depth1 - (float((COR_STEPS/2)) * depthM);
- float depthPos2 = camPosOrigin.z - (float((COR_STEPS/2)) * depthM2);
+ //float depthPos = depth1 - (float((COR_STEPS/2)) * depthM);
+ float depthPos2 = camPosOrigin.z - (float((COR_STEPS/2)) * depthM2);
+
+ uint badMask = 0;
+ int bestStep = 0;
// Project to p2 using cam2
@@ -153,48 +156,53 @@ __global__ void corresponding_point_kernel(
const float cweight = ftl::cuda::colourWeighting(colour1, colour2, params.colour_smooth);
// Generate a depth correspondence value
- const float depth2 = d2.tex2D(int(linePos.x+0.5f), int(linePos.y+0.5f));
+ const float depth2 = d2.tex2D(int(linePos.x+0.5f), int(linePos.y+0.5f));
+
+ // Record which correspondences are invalid
+ badMask |= (depth2 <= cam2.minDepth || depth2 >= cam2.maxDepth) ? 1 << i : 0;
- if (FUNCTION == 1) {
+ //if (FUNCTION == 1) {
weight *= ftl::cuda::weighting(fabs(depth2 - depthPos2), cweight*params.spatial_smooth);
- } else {
- const float dweight = ftl::cuda::weighting(fabs(depth2 - depthPos2), params.spatial_smooth);
- weight *= weightFunction<FUNCTION>(params, dweight, cweight);
- }
+ //} else {
+ // const float dweight = ftl::cuda::weighting(fabs(depth2 - depthPos2), params.spatial_smooth);
+ // weight *= weightFunction<FUNCTION>(params, dweight, cweight);
+ //}
//const float dweight = ftl::cuda::weighting(fabs(depth_adjust), 10.0f*params.range);
//weight *= weightFunction<FUNCTION>(params, dweight, cweight);
- ++count;
- //contrib += weight;
+ //++count;
+
bestcolour = max(cweight, bestcolour);
- //bestdweight = max(dweight, bestdweight);
totalcolour += cweight;
- bestdepth = (weight > bestweight) ? depthPos : bestdepth;
- //bestdepth2 = (weight > bestweight) ? camPos.z : bestdepth2;
- //bestScreen = (weight > bestweight) ? make_short2(screen.x+0.5f, screen.y+0.5f) : bestScreen;
+
+ //bestdepth = (weight > bestweight) ? depthPos : bestdepth;
+ bestStep = (weight > bestweight) ? i : bestStep;
+
bestweight = max(bestweight, weight);
- //bestweight = weight;
- //bestdepth = depth_adjust;
- //bestScreen = make_short2(screen.x+0.5f, screen.y+0.5f);
- //}
+
- depthPos += depthM;
+ //depthPos += depthM;
depthPos2 += depthM2;
linePos.x += 1.0f;
linePos.y += lineM;
}
- const float avgcolour = totalcolour/(float)count;
+ //const float avgcolour = totalcolour/(float)count;
const float confidence = bestcolour / totalcolour; //bestcolour - avgcolour;
-
+ const float bestadjust = float(bestStep-(COR_STEPS/2))*depthM;
+
+ // Detect matches to boundaries, and discard those
+ uint stepMask = 1 << bestStep;
+ if ((stepMask & (badMask << 1)) || (stepMask & (badMask >> 1))) bestweight = 0.0f;
+
//Mask m(mask.tex2D(x,y));
//if (bestweight > 0.0f) {
float old = conf.tex2D(x,y);
if (bestweight * confidence > old) {
- d1(x,y) = (0.4f*(bestdepth-depth1)) + depth1;
+ d1(x,y) = (0.4f*bestadjust) + depth1;
//d2(bestScreen.x, bestScreen.y) = bestdepth2;
//screenOut(x,y) = bestScreen;
conf(x,y) = bestweight * confidence;
--
GitLab