From 4e5f708ba413f1c265a8cf62fea6faa79bfe2ac1 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Sun, 11 Aug 2019 10:43:43 +0300
Subject: [PATCH] Fix for incorrect energy memory
---
applications/reconstruct/src/dibr.cu | 13 +++++++------
1 file changed, 7 insertions(+), 6 deletions(-)
diff --git a/applications/reconstruct/src/dibr.cu b/applications/reconstruct/src/dibr.cu
index a91ae7b87..52dd31965 100644
--- a/applications/reconstruct/src/dibr.cu
+++ b/applications/reconstruct/src/dibr.cu
@@ -13,7 +13,7 @@
#define WARP_SIZE 32
#define DEPTH_THRESHOLD 0.05f
#define UPSAMPLE_MAX 60
-#define MAX_ITERATIONS 32
+#define MAX_ITERATIONS 64 // Note: Must be multiple of 32
#define SPATIAL_SMOOTHING 0.005f
using ftl::cuda::TextureObject;
@@ -476,15 +476,16 @@ __device__ inline float warpMin(float e) {
//if (y == 200) printf("interval: %f\n", maxDepth);
- float maxenergy = 0.0f;
+ float maxenergy = -1.0f;
float bestdepth = 0.0f;
// Search for best or threshold energy
for (int k=lane; k<MAX_ITERATIONS; k+=WARP_SIZE) {
const float3 nearest = params.camera.kinectDepthToSkeleton(x,y,minDepth+float(k)*interval);
const float myenergy = ftl::cuda::mls_point_energy<MAX_NEIGHBORS_2>(neighborhood_cache[warp], nearest, nidx[warp], SPATIAL_SMOOTHING);
- maxenergy = warpMax(max(myenergy, maxenergy));
- bestdepth = (myenergy == maxenergy) ? nearest.z : 0.0f;
+ const float newenergy = warpMax(max(myenergy, maxenergy));
+ bestdepth = (myenergy == newenergy) ? nearest.z : (newenergy > maxenergy) ? 0.0f : bestdepth;
+ maxenergy = newenergy;
}
// Search for first energy maximum above a threshold
@@ -494,8 +495,8 @@ __device__ inline float warpMin(float e) {
const unsigned int cy = y;
if (bestdepth > params.camera.m_sensorDepthWorldMin && bestdepth < params.camera.m_sensorDepthWorldMax && cx < depth.width() && cy < depth.height()) {
// Transform estimated point to virtual cam space and output z
- //atomicMin(&depth(cx,cy), bestdepth * 1000.0f);
- depth(cx,cy) = bestdepth * 1000.0f;
+ atomicMin(&depth(cx,cy), bestdepth * 1000.0f);
+ //depth(cx,cy) = bestdepth * 1000.0f;
}
}
}
--
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