From 496349b4cee1e97f838763e10ab4880ae2c2004b Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Sat, 22 Jun 2019 11:46:16 +0300
Subject: [PATCH] Scale voxel pixel size by depth
---
applications/reconstruct/src/ray_cast_sdf.cu | 16 ++++++++--------
1 file changed, 8 insertions(+), 8 deletions(-)
diff --git a/applications/reconstruct/src/ray_cast_sdf.cu b/applications/reconstruct/src/ray_cast_sdf.cu
index bf2e6c17f..7c3a9afe1 100644
--- a/applications/reconstruct/src/ray_cast_sdf.cu
+++ b/applications/reconstruct/src/ray_cast_sdf.cu
@@ -280,7 +280,7 @@ __global__ void nickRenderKernel(ftl::voxhash::HashData hashData, RayCastData ra
const int3 uvi = make_int3(vp.x+u,vp.y+v,vp.z+w);
// Skip these cases since we didn't load voxels properly
- if (uvi.x == 8 && uvi.y == 8 || uvi.x == 8 && uvi.z == 8 || uvi.y == 8 && uvi.z == 8) continue;
+ if (uvi.x == 8 && uvi.y == 8 && uvi.z == 8) continue; //|| uvi.x == 8 && uvi.z == 8 || uvi.y == 8 && uvi.z == 8) continue;
if (voxels[plinVoxelPos(uvi)].sdf < 0.0f) {
is_surface = true;
@@ -310,9 +310,9 @@ __global__ void nickRenderKernel(ftl::voxhash::HashData hashData, RayCastData ra
// For this voxel in hash, get its screen position and check it is on screen
// Convert depth map to int by x1000 and use atomicMin
- //const int pixsize = static_cast<int>(c_hashParams.m_virtualVoxelSize*c_depthCameraParams.fx/camPos.z)+1;
- int pixsizeX = 10; // Max voxel pixels
- int pixsizeY = 10;
+ const int pixsize = static_cast<int>((c_hashParams.m_virtualVoxelSize*c_depthCameraParams.fx/(camPos.z*0.8f)))+1; // Magic number increase voxel to ensure coverage
+ int pixsizeX = pixsize; // Max voxel pixels
+ int pixsizeY = pixsize;
for (int y=0; y<pixsizeY; y++) {
for (int x=0; x<pixsizeX; x++) {
@@ -321,10 +321,10 @@ __global__ void nickRenderKernel(ftl::voxhash::HashData hashData, RayCastData ra
const float3 pixelWorldPos = params.m_viewMatrixInverse * DepthCameraData::kinectDepthToSkeleton(screenPos.x+x,screenPos.y+y, camPos.z);
const float3 posInVoxel = (pixelWorldPos - worldPos) / make_float3(c_hashParams.m_virtualVoxelSize,c_hashParams.m_virtualVoxelSize,c_hashParams.m_virtualVoxelSize);
- if (posInVoxel.x >= 1.0f || posInVoxel.y >= 1.0f || posInVoxel.z >= 1.0f) {
- pixsizeX = x;
- continue;
- }
+ //if (posInVoxel.x >= 1.0f || posInVoxel.y >= 1.0f || posInVoxel.z >= 1.0f) {
+ // pixsizeX = x;
+ // continue;
+ //}
/*float depth;
uchar3 col;
--
GitLab