From 34b84ab4b2527b95e8ee97a367ea5b9ef92df947 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Wed, 30 Oct 2019 17:57:18 +0200
Subject: [PATCH] Add options to config
---
applications/reconstruct/src/filters/smoothing.cu | 14 +++++++-------
applications/reconstruct/src/main.cpp | 9 +++++----
2 files changed, 12 insertions(+), 11 deletions(-)
diff --git a/applications/reconstruct/src/filters/smoothing.cu b/applications/reconstruct/src/filters/smoothing.cu
index 9ea08594c..21f30cafd 100644
--- a/applications/reconstruct/src/filters/smoothing.cu
+++ b/applications/reconstruct/src/filters/smoothing.cu
@@ -27,15 +27,15 @@ __global__ void depth_smooth_kernel(
float contrib = 0.0f;
float new_depth = 0.0f;
- for (int u=-RADIUS; u<=RADIUS; ++u) {
- for (int v=-RADIUS; v<=RADIUS; ++v) {
+ for (int v=-RADIUS; v<=RADIUS; ++v) {
+ for (int u=-RADIUS; u<=RADIUS; ++u) {
// Get colour difference to center
- uchar4 cN = colour_in.tex2D((int)x+u, (int)y+v);
- float colourWeight = ftl::cuda::colourWeighting(c, cN, thresh);
- float dN = depth_in.tex2D((int)x + u, (int)y + v);
- float3 posN = camera.screenToCam(x+u, y+v, dN);
+ const uchar4 cN = colour_in.tex2D((int)x+u, (int)y+v);
+ const float colourWeight = ftl::cuda::colourWeighting(c, cN, thresh);
+ const float dN = depth_in.tex2D((int)x + u, (int)y + v);
+ const float3 posN = camera.screenToCam(x+u, y+v, dN);
+ const float weight = ftl::cuda::spatialWeighting(posN, pos, factor * colourWeight);
- float weight = ftl::cuda::spatialWeighting(posN, pos, factor * colourWeight);
contrib += weight;
new_depth += dN * weight;
}
diff --git a/applications/reconstruct/src/main.cpp b/applications/reconstruct/src/main.cpp
index f3272e0d9..e6a7d2d8b 100644
--- a/applications/reconstruct/src/main.cpp
+++ b/applications/reconstruct/src/main.cpp
@@ -272,10 +272,11 @@ static void run(ftl::Configurable *root) {
UNIQUE_LOCK(scene_A.mtx, lk);
cv::cuda::GpuMat tmp;
- float factor = filter->value("smooth_factor", 0.04f);
- float colour_limit = filter->value("colour_limit", 50.0f);
+ float factor = filter->value("smooth_factor", 0.4f);
+ float colour_limit = filter->value("colour_limit", 30.0f);
bool do_smooth = filter->value("pre_smooth", false);
- int iters = filter->value("iterations", 1);
+ int iters = filter->value("iterations", 3);
+ int radius = filter->value("radius", 5);
if (do_smooth) {
// Presmooth...
@@ -298,7 +299,7 @@ static void run(ftl::Configurable *root) {
f.createTexture<uchar4>(Channel::Colour),
f.createTexture<float>(Channel::Depth2, ftl::rgbd::Format<float>(f.get<cv::cuda::GpuMat>(Channel::Depth).size())),
s->parameters(),
- 1, factor, colour_limit, iters, 0
+ radius, factor, colour_limit, iters, 0
);
}
}
--
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