From 2c919df06b93e0111cd13a92fbcd8b5c04b57855 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Fri, 4 Oct 2019 21:48:46 +0300
Subject: [PATCH] Ray step version
---
applications/reconstruct/src/ilw/ilw.cu | 13 +++++++++----
1 file changed, 9 insertions(+), 4 deletions(-)
diff --git a/applications/reconstruct/src/ilw/ilw.cu b/applications/reconstruct/src/ilw/ilw.cu
index aa8456545..30b404ffc 100644
--- a/applications/reconstruct/src/ilw/ilw.cu
+++ b/applications/reconstruct/src/ilw/ilw.cu
@@ -59,17 +59,22 @@ __global__ void correspondence_energy_vector_kernel(
float bestdepth;
int count = 0;
- const float step_interval = 0.05f / (COR_STEPS / 2);
+ const float step_interval = 0.05f / (COR_STEPS / 2);
+
+ const float3 rayStep_world = pose1.getFloat3x3() * cam1.screenToCam(x,y,step_interval);
+ const float3 rayStart_2 = pose2 * world1;
+ const float3 rayStep_2 = pose2.getFloat3x3() * rayStep_world;
// Project to p2 using cam2
// Each thread takes a possible correspondence and calculates a weighting
//const int lane = tid % WARP_SIZE;
for (int i=0; i<COR_STEPS; ++i) {
- const float depth_adjust = (float)(i - (COR_STEPS / 2)) * step_interval + depth1;
+ const int j = i - (COR_STEPS/2);
+ const float depth_adjust = (float)j * step_interval + depth1;
// Calculate adjusted depth 3D point in camera 2 space
- const float3 worldPos = (pose1 * cam1.screenToCam(x, y, depth_adjust));
- const float3 camPos = pose2 * worldPos;
+ const float3 worldPos = world1 + j * rayStep_world; //(pose1 * cam1.screenToCam(x, y, depth_adjust));
+ const float3 camPos = rayStart_2 + j * rayStep_2; //pose2 * worldPos;
const uint2 screen = cam2.camToScreen<uint2>(camPos);
if (screen.x >= cam2.width || screen.y >= cam2.height) continue;
--
GitLab