diff --git a/components/operators/src/mls.cu b/components/operators/src/mls.cu
index d677de67ff7d278c4884739318be55a06b8df04b..1293e6d9a48d15b7345619d44df3264c8c9e144d 100644
--- a/components/operators/src/mls.cu
+++ b/components/operators/src/mls.cu
@@ -47,7 +47,7 @@ using ftl::cuda::TextureObject;
const float3 Ni = make_float3(normals_in.tex2D((int)(x)+u, (int)(y)+v));
// Gauss approx weighting function using point distance
- const float w = ftl::cuda::spatialWeighting(X,Xi,smoothing);
+ const float w = (Ni.x+Ni.y+Ni.z == 0.0f) ? 0.0f : ftl::cuda::spatialWeighting(X,Xi,smoothing);
aX += Xi*w;
nX += Ni*w;
@@ -55,22 +55,24 @@ using ftl::cuda::TextureObject;
}
}
- nX /= contrib; // Weighted average normal
- aX /= contrib; // Weighted average point (centroid)
+ if (contrib > 0.0f) {
+ nX /= contrib; // Weighted average normal
+ aX /= contrib; // Weighted average point (centroid)
- // Signed-Distance Field function
- float fX = nX.x * (X.x - aX.x) + nX.y * (X.y - aX.y) + nX.z * (X.z - aX.z);
+ // Signed-Distance Field function
+ float fX = nX.x * (X.x - aX.x) + nX.y * (X.y - aX.y) + nX.z * (X.z - aX.z);
- // Calculate new point using SDF function to adjust depth (and position)
- X = X - nX * fX;
-
- //uint2 screen = camera.camToScreen<uint2>(X);
+ // Calculate new point using SDF function to adjust depth (and position)
+ X = X - nX * fX;
+
+ //uint2 screen = camera.camToScreen<uint2>(X);
- //if (screen.x < depth_out.width() && screen.y < depth_out.height()) {
- // depth_out(screen.x,screen.y) = X.z;
- //}
- depth_out(x,y) = X.z;
- normals_out(x,y) = make_half4(nX / length(nX), 0.0f);
+ //if (screen.x < depth_out.width() && screen.y < depth_out.height()) {
+ // depth_out(screen.x,screen.y) = X.z;
+ //}
+ depth_out(x,y) = X.z;
+ normals_out(x,y) = make_half4(nX / length(nX), 0.0f);
+ }
}
void ftl::cuda::mls_smooth(
@@ -137,7 +139,7 @@ void ftl::cuda::mls_smooth(
const float3 Ni = make_float3(normals_in.tex2D((int)(x)+u, (int)(y)+v));
// Gauss approx weighting function using point distance
- const float w = ftl::cuda::spatialWeighting(X,Xi,smoothing);
+ const float w = (Ni.x+Ni.y+Ni.z == 0.0f) ? 0.0f : ftl::cuda::spatialWeighting(X,Xi,smoothing);
aX += Xi*w;
nX += Ni*w;
@@ -145,22 +147,24 @@ void ftl::cuda::mls_smooth(
}
}
- nX /= contrib; // Weighted average normal
- aX /= contrib; // Weighted average point (centroid)
+ if (contrib > 0.0f) {
+ nX /= contrib; // Weighted average normal
+ aX /= contrib; // Weighted average point (centroid)
- // Signed-Distance Field function
- float fX = nX.x * (X.x - aX.x) + nX.y * (X.y - aX.y) + nX.z * (X.z - aX.z);
+ // Signed-Distance Field function
+ float fX = nX.x * (X.x - aX.x) + nX.y * (X.y - aX.y) + nX.z * (X.z - aX.z);
- // Calculate new point using SDF function to adjust depth (and position)
- X = X - nX * fX;
-
- //uint2 screen = camera.camToScreen<uint2>(X);
+ // Calculate new point using SDF function to adjust depth (and position)
+ X = X - nX * fX;
+
+ //uint2 screen = camera.camToScreen<uint2>(X);
- //if (screen.x < depth_out.width() && screen.y < depth_out.height()) {
- // depth_out(screen.x,screen.y) = X.z;
- //}
- //depth_out(x,y) = X.z;
- normals_out(x,y) = make_half4(nX / length(nX), 0.0f);
+ //if (screen.x < depth_out.width() && screen.y < depth_out.height()) {
+ // depth_out(screen.x,screen.y) = X.z;
+ //}
+ //depth_out(x,y) = X.z;
+ normals_out(x,y) = make_half4(nX / length(nX), 0.0f);
+ }
}
void ftl::cuda::mls_smooth(
diff --git a/components/renderers/cpp/src/CUDARender.cpp b/components/renderers/cpp/src/CUDARender.cpp
index 6d6fccf6a1e58c22b66cf43d2f2819a54416aef7..ec4a59239f09e78bea8276a78b01713b6c7b150a 100644
--- a/components/renderers/cpp/src/CUDARender.cpp
+++ b/components/renderers/cpp/src/CUDARender.cpp
@@ -508,6 +508,28 @@ void CUDARender::_mesh(ftl::rgbd::Frame &out, const Eigen::Matrix4d &t, cudaStre
params_.camera,
stream_
);
+
+ ftl::cuda::mls_smooth(
+ out.createTexture<half4>(_getNormalsChannel()),
+ temp_.createTexture<half4>(Channel::Normals),
+ out.getTexture<float>(_getDepthChannel()),
+ //out.getTexture<float>(_getDepthChannel()),
+ value("mls_smooth", 0.01f),
+ value("mls_radius", 2),
+ params_.camera,
+ stream_
+ );
+
+ ftl::cuda::mls_smooth(
+ temp_.createTexture<half4>(Channel::Normals),
+ out.createTexture<half4>(_getNormalsChannel()),
+ out.getTexture<float>(_getDepthChannel()),
+ //out.getTexture<float>(_getDepthChannel()),
+ value("mls_smooth", 0.01f),
+ value("mls_radius", 2),
+ params_.camera,
+ stream_
+ );
}
}
diff --git a/components/renderers/cpp/src/carver.cu b/components/renderers/cpp/src/carver.cu
index 12faea3299d8fa31fcb4fa9e338a513ff07275a6..f804c1e271eed66889511856569fd391bfb3deae 100644
--- a/components/renderers/cpp/src/carver.cu
+++ b/components/renderers/cpp/src/carver.cu
@@ -221,13 +221,13 @@ void ftl::cuda::depth_carve(
// Point and normal of neighbour
const float3 Xi = in_2_o * camera_in.screenToCam(s.x+u, s.y+v, d);
- const float3 Ni = in_2_o33 * make_float3(normals_in[s.x+u+(s.y+v)*npitch_in]);
+ const float3 Ni = make_float3(normals_in[s.x+u+(s.y+v)*npitch_in]);
// Gauss approx weighting function using point distance
- const float w = (Ni.x+Ni.y+Ni.z > 0.0f) ? ftl::cuda::spatialWeighting(X,Xi,smoothing) : 0.0f;
+ const float w = (length(Ni) > 0.0f) ? ftl::cuda::spatialWeighting(X,Xi,smoothing) : 0.0f;
aX += Xi*w;
- nX += Ni*w;
+ nX += (in_2_o33 * Ni)*w;
contrib += w;
}
}
@@ -265,7 +265,8 @@ __global__ void mls_reduce_kernel(
normals_out[x+y*npitch] = make_half4(0.0f, 0.0f, 0.0f, 0.0f);
float d0 = depth[x+y*dpitch];
- if (d0 < camera.minDepth || d0 > camera.maxDepth || contrib == 0.0f) return;
+ //depth[x+y*dpitch] = 0.0f;
+ if (d0 <= camera.minDepth || d0 >= camera.maxDepth || contrib == 0.0f) return;
float3 X = camera.screenToCam((int)(x),(int)(y),d0);
nX /= contrib; // Weighted average normal