From 56035d3a21decaf64a8395eaa5d8188b01bcfa07 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nicolas.pope@utu.fi>
Date: Thu, 14 Nov 2019 09:13:21 +0200
Subject: [PATCH] Add show bad colour option
---
components/renderers/cpp/src/splatter.cu | 40 ++++++++++++++++++-
.../renderers/cpp/src/splatter_cuda.hpp | 8 ++++
components/renderers/cpp/src/tri_render.cpp | 11 +++++
3 files changed, 58 insertions(+), 1 deletion(-)
diff --git a/components/renderers/cpp/src/splatter.cu b/components/renderers/cpp/src/splatter.cu
index 6346daa88..d939c3eb0 100644
--- a/components/renderers/cpp/src/splatter.cu
+++ b/components/renderers/cpp/src/splatter.cu
@@ -441,9 +441,11 @@ __global__ void dibr_normalise_kernel(
const unsigned int y = blockIdx.y*blockDim.y + threadIdx.y;
if (x < in.width() && y < in.height()) {
+ const float contrib = contribs.tex2D((int)x,(int)y);
const A a = in.tex2D((int)x,(int)y);
//const float4 normal = normals.tex2D((int)x,(int)y);
- const float contrib = contribs.tex2D((int)x,(int)y);
+
+ //out(x,y) = (contrib == 0.0f) ? make<B>(a) : make<B>(a / contrib);
if (contrib > 0.0f) {
out(x,y) = make<B>(a / contrib);
@@ -464,3 +466,39 @@ void ftl::cuda::dibr_normalise(TextureObject<A> &in, TextureObject<B> &out, Text
template void ftl::cuda::dibr_normalise<float4,uchar4>(TextureObject<float4> &in, TextureObject<uchar4> &out, TextureObject<float> &contribs, cudaStream_t stream);
template void ftl::cuda::dibr_normalise<float,float>(TextureObject<float> &in, TextureObject<float> &out, TextureObject<float> &contribs, cudaStream_t stream);
template void ftl::cuda::dibr_normalise<float4,float4>(TextureObject<float4> &in, TextureObject<float4> &out, TextureObject<float> &contribs, cudaStream_t stream);
+
+
+// ===== Show bad colour normalise =============================================
+
+__global__ void show_missing_colour_kernel(
+ TextureObject<float> depth,
+ TextureObject<uchar4> out,
+ TextureObject<float> contribs,
+ uchar4 bad_colour,
+ ftl::rgbd::Camera cam) {
+ const unsigned int x = blockIdx.x*blockDim.x + threadIdx.x;
+ const unsigned int y = blockIdx.y*blockDim.y + threadIdx.y;
+
+ if (x < out.width() && y < out.height()) {
+ const float contrib = contribs.tex2D((int)x,(int)y);
+ const float d = depth.tex2D(x,y);
+
+ if (contrib < 0.0000001f && d > cam.minDepth && d < cam.maxDepth) {
+ out(x,y) = bad_colour;
+ }
+ }
+}
+
+void ftl::cuda::show_missing_colour(
+ TextureObject<float> &depth,
+ TextureObject<uchar4> &out,
+ TextureObject<float> &contribs,
+ uchar4 bad_colour,
+ const ftl::rgbd::Camera &cam,
+ cudaStream_t stream) {
+ const dim3 gridSize((out.width() + T_PER_BLOCK - 1)/T_PER_BLOCK, (out.height() + T_PER_BLOCK - 1)/T_PER_BLOCK);
+ const dim3 blockSize(T_PER_BLOCK, T_PER_BLOCK);
+
+ show_missing_colour_kernel<<<gridSize, blockSize, 0, stream>>>(depth, out, contribs, bad_colour, cam);
+ cudaSafeCall( cudaGetLastError() );
+}
diff --git a/components/renderers/cpp/src/splatter_cuda.hpp b/components/renderers/cpp/src/splatter_cuda.hpp
index 010a63718..778aea4e6 100644
--- a/components/renderers/cpp/src/splatter_cuda.hpp
+++ b/components/renderers/cpp/src/splatter_cuda.hpp
@@ -97,6 +97,14 @@ namespace cuda {
ftl::cuda::TextureObject<float> &contribs,
cudaStream_t stream);
+ void show_missing_colour(
+ ftl::cuda::TextureObject<float> &depth,
+ ftl::cuda::TextureObject<uchar4> &out,
+ ftl::cuda::TextureObject<float> &contribs,
+ uchar4 bad_colour,
+ const ftl::rgbd::Camera &cam,
+ cudaStream_t stream);
+
void show_mask(
ftl::cuda::TextureObject<uchar4> &colour,
ftl::cuda::TextureObject<int> &mask,
diff --git a/components/renderers/cpp/src/tri_render.cpp b/components/renderers/cpp/src/tri_render.cpp
index b3fba82a7..fdc167f39 100644
--- a/components/renderers/cpp/src/tri_render.cpp
+++ b/components/renderers/cpp/src/tri_render.cpp
@@ -603,6 +603,17 @@ bool Triangular::render(ftl::rgbd::VirtualSource *src, ftl::rgbd::Frame &out) {
// Reprojection of colours onto surface
_renderChannel(out, Channel::Colour, Channel::Colour, stream_);
+
+ if (value("show_bad_colour", false)) {
+ ftl::cuda::show_missing_colour(
+ out.getTexture<float>(Channel::Depth),
+ out.getTexture<uchar4>(Channel::Colour),
+ temp_.getTexture<float>(Channel::Contribution),
+ make_uchar4(255,0,0,0),
+ camera,
+ stream_
+ );
+ }
if (chan == Channel::Depth)
{
--
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