From 41ec511f641eea2f042418a00ee4e1632d34941e Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Mon, 24 Jun 2019 11:06:23 +0300
Subject: [PATCH] Revert color merge and keep past frames
---
applications/reconstruct/include/ftl/voxel_hash.hpp | 6 +++---
applications/reconstruct/src/scene_rep_hash_sdf.cu | 2 +-
2 files changed, 4 insertions(+), 4 deletions(-)
diff --git a/applications/reconstruct/include/ftl/voxel_hash.hpp b/applications/reconstruct/include/ftl/voxel_hash.hpp
index 7cfa44126..77bc4a0a2 100644
--- a/applications/reconstruct/include/ftl/voxel_hash.hpp
+++ b/applications/reconstruct/include/ftl/voxel_hash.hpp
@@ -243,14 +243,14 @@ struct HashData {
//out.color.x = (uchar)(res.x+0.5f); out.color.y = (uchar)(res.y+0.5f); out.color.z = (uchar)(res.z+0.5f);
// Nick: reduces colour flicker but not ideal..
- //out.color = v1.color;
+ out.color = v1.color;
// Option 3 (Nick): Use colour with minimum SDF since it should be closest to surface.
// Results in stable but pixelated output
//out.color = (v0.weight > 0 && (fabs(v0.sdf) < fabs(v1.sdf))) ? v0.color : v1.color;
// Option 4 (Nick): Merge colours based upon relative closeness
- float3 c0 = make_float3(v0.color.x, v0.color.y, v0.color.z);
+ /*float3 c0 = make_float3(v0.color.x, v0.color.y, v0.color.z);
float3 c1 = make_float3(v1.color.x, v1.color.y, v1.color.z);
float factor = fabs(v0.sdf - v1.sdf) / 0.05f / 2.0f;
if (factor > 0.5f) factor = 0.5f;
@@ -258,7 +258,7 @@ struct HashData {
float factor1 = 1.0f - factor0;
out.color.x = (v0.weight > 0) ? (uchar)(c0.x * factor0 + c1.x * factor1) : c1.x;
out.color.y = (v0.weight > 0) ? (uchar)(c0.y * factor0 + c1.y * factor1) : c1.y;
- out.color.z = (v0.weight > 0) ? (uchar)(c0.z * factor0 + c1.z * factor1) : c1.z;
+ out.color.z = (v0.weight > 0) ? (uchar)(c0.z * factor0 + c1.z * factor1) : c1.z;*/
out.sdf = (v0.sdf * (float)v0.weight + v1.sdf * (float)v1.weight) / ((float)v0.weight + (float)v1.weight);
out.weight = min(c_hashParams.m_integrationWeightMax, (unsigned int)v0.weight + (unsigned int)v1.weight);
diff --git a/applications/reconstruct/src/scene_rep_hash_sdf.cu b/applications/reconstruct/src/scene_rep_hash_sdf.cu
index a4c87bcdd..521a34601 100644
--- a/applications/reconstruct/src/scene_rep_hash_sdf.cu
+++ b/applications/reconstruct/src/scene_rep_hash_sdf.cu
@@ -624,7 +624,7 @@ __global__ void starveVoxelsKernel(HashData hashData) {
//is typically exectued only every n'th frame
int weight = hashData.d_SDFBlocks[entry.ptr + threadIdx.x].weight;
weight = max(0, weight-1);
- hashData.d_SDFBlocks[entry.ptr + threadIdx.x].weight = 0; //CHECK Remove to totally clear previous frame (Nick)
+ hashData.d_SDFBlocks[entry.ptr + threadIdx.x].weight = weight; //CHECK Remove to totally clear previous frame (Nick)
}
extern "C" void starveVoxelsKernelCUDA(HashData& hashData, const HashParams& hashParams)
--
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