From 566507ea8a62eb7028de031f41e301beb6421d4b Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Fri, 26 Jul 2019 09:04:12 +0300
Subject: [PATCH] Alternate MLS merging strategy
---
applications/reconstruct/src/depth_camera.cu | 42 +++++++++++++++++++-
applications/reconstruct/src/integrators.cu | 8 ++++
2 files changed, 48 insertions(+), 2 deletions(-)
diff --git a/applications/reconstruct/src/depth_camera.cu b/applications/reconstruct/src/depth_camera.cu
index 8490c38b2..a0b87ae53 100644
--- a/applications/reconstruct/src/depth_camera.cu
+++ b/applications/reconstruct/src/depth_camera.cu
@@ -107,6 +107,7 @@ void ftl::cuda::int_to_float(const ftl::cuda::TextureObject<int> &in, ftl::cuda:
// TODO:(Nick) Put this in a common location (used in integrators.cu)
extern __device__ float spatialWeighting(float r);
+extern __device__ float spatialWeighting(float r, float h);
/*
* Kim, K., Chalidabhongse, T. H., Harwood, D., & Davis, L. (2005).
@@ -175,6 +176,39 @@ __device__ float mlsCamera(int cam, const float3 &mPos, uchar4 c1, float3 &wpos)
return weights;
}
+__device__ float mlsCameraNoColour(int cam, const float3 &mPos, uchar4 c1, float3 &wpos, float h) {
+ const ftl::voxhash::DepthCameraCUDA &camera = c_cameras[cam];
+
+ const float3 pf = camera.poseInverse * mPos;
+ float3 pos = make_float3(0.0f, 0.0f, 0.0f);
+ const uint2 screenPos = make_uint2(camera.params.cameraToKinectScreenInt(pf));
+ float weights = 0.0f;
+
+ //#pragma unroll
+ for (int v=-WINDOW_RADIUS; v<=WINDOW_RADIUS; ++v) {
+ for (int u=-WINDOW_RADIUS; u<=WINDOW_RADIUS; ++u) {
+ //if (screenPos.x+u < width && screenPos.y+v < height) { //on creen
+ float depth = tex2D<float>(camera.depth, screenPos.x+u, screenPos.y+v);
+ const float3 camPos = camera.params.kinectDepthToSkeleton(screenPos.x+u, screenPos.y+v, depth);
+ float weight = spatialWeighting(length(pf - camPos), h);
+
+ if (weight > 0.0f) {
+ uchar4 c2 = tex2D<uchar4>(camera.colour, screenPos.x+u, screenPos.y+v);
+
+ if (colourWeighting(colordiffFloat2(c1,c2)) > 0.0f) {
+ wpos += weight* (camera.pose * camPos);
+ weights += weight;
+ }
+ }
+ //}
+ }
+ }
+
+ //wpos += (camera.pose * pos);
+
+ return weights;
+}
+
__device__ float mlsCameraBest(int cam, const float3 &mPos, uchar4 c1, float3 &wpos) {
const ftl::voxhash::DepthCameraCUDA &camera = c_cameras[cam];
@@ -260,8 +294,12 @@ __global__ void mls_smooth_kernel(ftl::cuda::TextureObject<float4> output, HashP
if (hashParams.m_flags & ftl::voxhash::kFlagMLS) {
for (uint cam2=0; cam2<numcams; ++cam2) {
- if (cam2 == cam) continue; //weights += mlsCamera(cam2, mPos, c1, wpos);
- weights += mlsCameraBest(cam2, mPos, c1, wpos);
+ if (cam2 == cam) weights += mlsCameraNoColour(cam2, mPos, c1, wpos, c_hashParams.m_spatialSmoothing*0.1f); //weights += 0.5*mlsCamera(cam2, mPos, c1, wpos);
+ weights += mlsCameraNoColour(cam2, mPos, c1, wpos, c_hashParams.m_spatialSmoothing*5.0f);
+
+ // Previous approach
+ //if (cam2 == cam) continue;
+ //weights += mlsCameraBest(cam2, mPos, c1, wpos);
}
wpos /= weights;
} else {
diff --git a/applications/reconstruct/src/integrators.cu b/applications/reconstruct/src/integrators.cu
index ae84d964a..326c3dd9a 100644
--- a/applications/reconstruct/src/integrators.cu
+++ b/applications/reconstruct/src/integrators.cu
@@ -58,6 +58,14 @@ __device__ float spatialWeighting(float r) {
return rh*rh*rh*rh;
}
+__device__ float spatialWeighting(float r, float h) {
+ //const float h = c_hashParams.m_spatialSmoothing;
+ if (r >= h) return 0.0f;
+ float rh = r / h;
+ rh = 1.0f - rh*rh;
+ return rh*rh*rh*rh;
+}
+
__global__ void integrateDepthMapsKernel(HashData hashData, HashParams hashParams, int numcams) {
__shared__ uint all_warp_ballot;
--
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