From 43f3284112e4ab95f35eb5fd5a961d7c5a8d131f Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Sun, 21 Jul 2019 09:58:08 +0300
Subject: [PATCH] WIP Depth camera normals calc
---
.../reconstruct/include/ftl/depth_camera.hpp | 73 +++----------------
applications/reconstruct/src/depth_camera.cpp | 58 +++++++++++++++
2 files changed, 69 insertions(+), 62 deletions(-)
create mode 100644 applications/reconstruct/src/depth_camera.cpp
diff --git a/applications/reconstruct/include/ftl/depth_camera.hpp b/applications/reconstruct/include/ftl/depth_camera.hpp
index 7553f8aa8..7df38bb00 100644
--- a/applications/reconstruct/include/ftl/depth_camera.hpp
+++ b/applications/reconstruct/include/ftl/depth_camera.hpp
@@ -36,66 +36,16 @@ struct DepthCamera {
// Host part //
///////////////
- __host__
- DepthCamera() {
- /*d_depthData = NULL;
- d_colorData = NULL;
- d_depthArray = NULL;
- d_colorArray = NULL;*/
-
- depth_mat_ = nullptr;
- colour_mat_ = nullptr;
- point_mat_ = nullptr;
- normal_mat_ = nullptr;
- depth_tex_ = nullptr;
- colour_tex_ = nullptr;
- normal_tex_ = nullptr;
- }
-
- __host__
- void alloc(const DepthCameraParams& params, bool withNormals=false) { //! todo resizing???
- depth_mat_ = new cv::cuda::GpuMat(params.m_imageHeight, params.m_imageWidth, CV_32FC1);
- colour_mat_ = new cv::cuda::GpuMat(params.m_imageHeight, params.m_imageWidth, CV_8UC4);
- depth_tex_ = new ftl::cuda::TextureObject<float>((cv::cuda::PtrStepSz<float>)*depth_mat_);
- colour_tex_ = new ftl::cuda::TextureObject<uchar4>((cv::cuda::PtrStepSz<uchar4>)*colour_mat_);
- data.depth = depth_tex_->cudaTexture();
- data.colour = colour_tex_->cudaTexture();
- data.params = params;
-
- if (withNormals) {
- point_mat_ = new cv::cuda::GpuMat(params.m_imageHeight, params.m_imageWidth, CV_32FC3);
- normal_mat_ = new cv::cuda::GpuMat(params.m_imageHeight, params.m_imageWidth, CV_32FC4);
- normal_tex_ = new ftl::cuda::TextureObject<float4>((cv::cuda::PtrStepSz<float4>)*normal_mat_);
- data.normal = normal_tex_->cudaTexture();
- } else {
- data.normal = 0;
- }
- }
-
- //__host__
- //void updateParams(const DepthCameraParams& params) {
- // updateConstantDepthCameraParams(params);
- //}
-
- __host__
- void updateData(const cv::Mat &depth, const cv::Mat &rgb, cv::cuda::Stream &stream) {
- depth_mat_->upload(depth, stream);
- colour_mat_->upload(rgb, stream);
- }
-
- __host__
- void free() {
- if (depth_mat_) delete depth_mat_;
- if (colour_mat_) delete colour_mat_;
- if (point_mat_) delete point_mat_;
- if (normal_mat_) delete normal_mat_;
- delete depth_tex_;
- delete colour_tex_;
- if (normal_tex_) delete normal_tex_;
- }
-
-
- // TODO(Nick) Should not need to pass all these pointers to device
+ __host__ DepthCamera();
+
+ __host__ void alloc(const DepthCameraParams& params, bool withNormals=false);
+
+ __host__ void updateData(const cv::Mat &depth, const cv::Mat &rgb, cv::cuda::Stream &stream);
+
+ __host__ void free();
+
+ __host__ void _computeNormals(cudaStream_t stream);
+
cv::cuda::GpuMat *depth_mat_;
cv::cuda::GpuMat *colour_mat_;
cv::cuda::GpuMat *point_mat_;
@@ -103,9 +53,8 @@ struct DepthCamera {
ftl::cuda::TextureObject<float> *depth_tex_;
ftl::cuda::TextureObject<uchar4> *colour_tex_;
ftl::cuda::TextureObject<float4> *normal_tex_;
- //cudaTextureObject_t depth_obj_;
- //cudaTextureObject_t colour_obj_;
+ // This part is sent to device
DepthCameraCUDA data;
};
}
diff --git a/applications/reconstruct/src/depth_camera.cpp b/applications/reconstruct/src/depth_camera.cpp
new file mode 100644
index 000000000..dd04da773
--- /dev/null
+++ b/applications/reconstruct/src/depth_camera.cpp
@@ -0,0 +1,58 @@
+#include <ftl/depth_camera.hpp>
+
+using ftl::voxhash::DepthCamera;
+
+extern "C" void computeNormals(float4* d_output, float3* d_input, unsigned int width, unsigned int height);
+extern "C" void convertDepthFloatToCameraSpaceFloat3(float3* d_output, float* d_input, float4x4 intrinsicsInv, unsigned int width, unsigned int height, const DepthCameraData& depthCameraData);
+
+DepthCamera::DepthCamera() {
+ depth_mat_ = nullptr;
+ colour_mat_ = nullptr;
+ point_mat_ = nullptr;
+ normal_mat_ = nullptr;
+ depth_tex_ = nullptr;
+ colour_tex_ = nullptr;
+ normal_tex_ = nullptr;
+}
+
+void DepthCamera::alloc(const DepthCameraParams& params, bool withNormals=false) { //! todo resizing???
+ depth_mat_ = new cv::cuda::GpuMat(params.m_imageHeight, params.m_imageWidth, CV_32FC1);
+ colour_mat_ = new cv::cuda::GpuMat(params.m_imageHeight, params.m_imageWidth, CV_8UC4);
+ depth_tex_ = new ftl::cuda::TextureObject<float>((cv::cuda::PtrStepSz<float>)*depth_mat_);
+ colour_tex_ = new ftl::cuda::TextureObject<uchar4>((cv::cuda::PtrStepSz<uchar4>)*colour_mat_);
+ data.depth = depth_tex_->cudaTexture();
+ data.colour = colour_tex_->cudaTexture();
+ data.params = params;
+
+ if (withNormals) {
+ point_mat_ = new cv::cuda::GpuMat(params.m_imageHeight, params.m_imageWidth, CV_32FC3);
+ normal_mat_ = new cv::cuda::GpuMat(params.m_imageHeight, params.m_imageWidth, CV_32FC4);
+ normal_tex_ = new ftl::cuda::TextureObject<float4>((cv::cuda::PtrStepSz<float4>)*normal_mat_);
+ data.normal = normal_tex_->cudaTexture();
+ } else {
+ data.normal = 0;
+ }
+}
+
+void DepthCamera::free() {
+ if (depth_mat_) delete depth_mat_;
+ if (colour_mat_) delete colour_mat_;
+ if (point_mat_) delete point_mat_;
+ if (normal_mat_) delete normal_mat_;
+ delete depth_tex_;
+ delete colour_tex_;
+ if (normal_tex_) delete normal_tex_;
+}
+
+void DepthCamera::updateData(const cv::Mat &depth, const cv::Mat &rgb, cv::cuda::Stream &stream) {
+ depth_mat_->upload(depth, stream);
+ colour_mat_->upload(rgb, stream);
+ if (normal_mat_) {
+ _computeNormals(cv::cuda::StreamAccessor::getStream(stream));
+ }
+}
+
+void DepthCamera::_computeNormals(cudaStream_t stream) {
+ convertDepthFloatToCameraSpaceFloat3(m_data.d_depth3, m_data.d_depth, m_params.m_intrinsicsInverse, m_params.m_width, m_params.m_height, cameraData);
+ computeNormals(m_data.d_normals, m_data.d_depth3, m_params.m_width, m_params.m_height);
+}
--
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