From 4a98bfc2acb4239cec50f846c18ce0680dba538c Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Tue, 12 Nov 2019 20:13:36 +0200
Subject: [PATCH] Minor corrections
---
components/operators/src/mls.cu | 71 +++++++++++++-------------
components/operators/src/smoothing.cpp | 6 +--
2 files changed, 39 insertions(+), 38 deletions(-)
diff --git a/components/operators/src/mls.cu b/components/operators/src/mls.cu
index 70d801f2f..64fb921df 100644
--- a/components/operators/src/mls.cu
+++ b/components/operators/src/mls.cu
@@ -273,54 +273,55 @@ __device__ inline int segmentID(int u, int v) {
for (int u=-baseY.x; u<=baseY.y; ++u) {
const float d = depth_in.tex2D(x+u, y+v);
- if (d < camera.minDepth || d > camera.maxDepth) continue;
+ if (d > camera.minDepth && d < camera.maxDepth) {
- // Point and normal of neighbour
- const float3 Xi = camera.screenToCam((int)(x)+u,(int)(y)+v,d);
- const float3 Ni = make_float3(normals_in.tex2D((int)(x)+u, (int)(y)+v));
+ // Point and normal of neighbour
+ const float3 Xi = camera.screenToCam((int)(x)+u,(int)(y)+v,d);
+ const float3 Ni = make_float3(normals_in.tex2D((int)(x)+u, (int)(y)+v));
- if (Ni.x+Ni.y+Ni.z == 0.0f) continue;
+ if (Ni.x+Ni.y+Ni.z == 0.0f) continue;
- const float4 c = colour_in.tex2D(float(x+u) + 0.5f, float(y+v) + 0.5f);
- const float cw = ftl::cuda::colourWeighting(c0,c,colour_smoothing);
+ const float4 c = colour_in.tex2D(float(x+u) + 0.5f, float(y+v) + 0.5f);
+ const float cw = ftl::cuda::colourWeighting(c0,c,colour_smoothing);
- // Allow missing point to borrow z value
- // TODO: This is a bad choice of Z! Perhaps try histogram vote approach
- if (FILLING && d0 == 0.0f) X = camera.screenToCam((int)(x),(int)(y),Xi.z);
+ // Allow missing point to borrow z value
+ // TODO: This is a bad choice of Z! Perhaps try histogram vote approach
+ if (FILLING && d0 == 0.0f) X = camera.screenToCam((int)(x),(int)(y),Xi.z);
- // Gauss approx weighting function using point distance
- const float w = ftl::cuda::spatialWeighting(X,Xi,smoothing*cw);
+ // Gauss approx weighting function using point distance
+ const float w = ftl::cuda::spatialWeighting(X,Xi,smoothing*cw);
- aX += Xi*w;
- nX += Ni*w;
- contrib += w;
- if (FILLING && w > 0.0f && v > -base.z+1 && v < base.w-1 && u > -baseY.x+1 && u < baseY.y-1) segment_check |= segmentID(u,v);
+ aX += Xi*w;
+ nX += Ni*w;
+ contrib += w;
+ if (FILLING && w > 0.0f && v > -base.z+1 && v < base.w-1 && u > -baseY.x+1 && u < baseY.y-1) segment_check |= segmentID(u,v);
+ }
}
}
- if (contrib == 0.0f) return;
-
- 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)
- if (FILLING && d0 == 0.0f) {
- if (__popc(segment_check) < 3) return;
- X = camera.screenToCam((int)(x),(int)(y),aX.z);
- }
+ if (FILLING && d0 == 0.0f) {
+ if (__popc(segment_check) < 3) return;
+ X = camera.screenToCam((int)(x),(int)(y),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);
+ // 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_float4(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_float4(nX / length(nX), 0.0f);
+ }
}
void ftl::cuda::colour_mls_smooth_csr(
diff --git a/components/operators/src/smoothing.cpp b/components/operators/src/smoothing.cpp
index 359b17714..8b49b9676 100644
--- a/components/operators/src/smoothing.cpp
+++ b/components/operators/src/smoothing.cpp
@@ -179,11 +179,11 @@ ColourMLS::~ColourMLS() {
}
bool ColourMLS::apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, ftl::rgbd::Source *s, cudaStream_t stream) {
- float thresh = config()->value("mls_threshold", 0.04f);
+ float thresh = config()->value("mls_threshold", 0.4f);
float col_smooth = config()->value("mls_colour_smoothing", 30.0f);
- int iters = config()->value("mls_iterations", 10);
+ int iters = config()->value("mls_iterations", 3);
int radius = config()->value("mls_radius",3);
- bool crosssup = config()->value("cross_support", false);
+ bool crosssup = config()->value("cross_support", true);
bool filling = config()->value("filling", false);
if (!in.hasChannel(Channel::Normals)) {
--
GitLab