From 2e93dd74114568fbd2a4c5708d3bb47714d1fd6e Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Thu, 5 Nov 2020 21:08:57 +0200
Subject: [PATCH] Attempt to auto select parameters
---
components/operators/src/fusion/fusion.cpp | 8 +++---
.../fusion/smoothing/mls_multi_weighted.cu | 25 ++++++++++++++-----
2 files changed, 23 insertions(+), 10 deletions(-)
diff --git a/components/operators/src/fusion/fusion.cpp b/components/operators/src/fusion/fusion.cpp
index 5b5a9c8bb..5e0a624b4 100644
--- a/components/operators/src/fusion/fusion.cpp
+++ b/components/operators/src/fusion/fusion.cpp
@@ -21,8 +21,8 @@ Fusion::~Fusion() {
}
bool Fusion::apply(ftl::rgbd::FrameSet &in, ftl::rgbd::FrameSet &out, cudaStream_t stream) {
- float mls_spatial = config()->value("mls_spatial", 0.01f);
- float mls_feature = config()->value("mls_feature", 20.0f);
+ float mls_smoothing = config()->value("mls_smoothing", 2.0f);
+ //float mls_feature = config()->value("mls_feature", 20.0f);
int mls_iters = config()->value("mls_iterations", 2);
if (weights_.size() != in.frames.size()) weights_.resize(in.frames.size());
@@ -128,8 +128,8 @@ bool Fusion::apply(ftl::rgbd::FrameSet &in, ftl::rgbd::FrameSet &out, cudaStream
weights_[j],
f2.getLeft(),
pose2,
- mls_spatial,
- mls_feature,
+ mls_smoothing,
+ mls_smoothing,
stream
);
}
diff --git a/components/operators/src/fusion/smoothing/mls_multi_weighted.cu b/components/operators/src/fusion/smoothing/mls_multi_weighted.cu
index dd889f532..4d62d3bda 100644
--- a/components/operators/src/fusion/smoothing/mls_multi_weighted.cu
+++ b/components/operators/src/fusion/smoothing/mls_multi_weighted.cu
@@ -70,12 +70,25 @@ __device__ inline float featureWeight(int f1, int f2) {
// points as an indication of miss-alignment. Both spatial distance and
// feature distance could be used to adjust parameters.
- /*if (s.x >= 0 && s.x < camera_in.width && s.y >= 0 && s.y <= camera_in.height) {
+ // FIXME: For own image, need to do something different than the below.
+ // Otherwise smoothing factors become 0.
+
+ float spatial_smoothing = (depth_origin == depth_in) ? 0.005f : 0.03f; // 3cm default
+ float hf_intensity_smoothing = (depth_origin == depth_in) ? 100.0f : 50.0f;
+ float mean_smoothing = (depth_origin == depth_in) ? 100.0f : 100.0f;
+ if (depth_origin != depth_in && s.x >= 0 && s.x < camera_in.width && s.y >= 0 && s.y <= camera_in.height) {
// Get depth at exact reprojection point
const float d = depth_in[s.x+s.y*dpitch_i];
// Get feature at exact reprojection point
- const uchar2 feature2 = feature_in[s.x+y+(s.y+v)*fpitch_i];
- }*/
+ const uchar2 feature2 = feature_in[s.x+s.y*fpitch_i];
+ if (d > camera_in.minDepth && d < camera_in.maxDepth) {
+ spatial_smoothing = min(spatial_smoothing, smoothing * fabsf(camPos.z - d));
+ }
+ hf_intensity_smoothing = smoothing * fabsf(float(feature2.x) - float(feature1.x));
+ mean_smoothing = smoothing * fabsf(float(feature2.y) - float(feature1.y));
+ }
+
+ if (spatial_smoothing < 0.001f || hf_intensity_smoothing <= 1.0f || mean_smoothing <= 1.0f) return;
// Neighbourhood
@@ -94,9 +107,9 @@ __device__ inline float featureWeight(int f1, int f2) {
// Rule: spatially close and feature close is strong
// Spatially far or feature far, then poor.
// So take the minimum, must be close and feature close to get good value
- const float w_high_int = ftl::cuda::weighting(float(abs(int(feature1.x)-int(feature2.x))), fsmoothing);
- const float w_mean_int = ftl::cuda::weighting(float(abs(int(feature1.y)-int(feature2.y))), 100.0f);
- const float w_space = ftl::cuda::spatialWeighting(X,Xi,smoothing);
+ const float w_high_int = ftl::cuda::weighting(float(abs(int(feature1.x)-int(feature2.x))), hf_intensity_smoothing);
+ const float w_mean_int = ftl::cuda::weighting(float(abs(int(feature1.y)-int(feature2.y))), mean_smoothing);
+ const float w_space = ftl::cuda::spatialWeighting(X,Xi,spatial_smoothing);
// TODO: Distance from cam squared
// TODO: Angle from cam (dot of normal and ray)
const float w = (length(Ni) > 0.0f)
--
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