From 597a7d51526a58c3a1dd1675272efffae2d9a0cb Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Thu, 20 Feb 2020 12:05:17 +0200
Subject: [PATCH] Redo normals are depth movement
---
.../operators/src/fusion/correspondence_common.hpp | 4 ++--
components/operators/src/fusion/mvmls.cpp | 11 +++++++++++
2 files changed, 13 insertions(+), 2 deletions(-)
diff --git a/components/operators/src/fusion/correspondence_common.hpp b/components/operators/src/fusion/correspondence_common.hpp
index 1bb546994..9f19ef711 100644
--- a/components/operators/src/fusion/correspondence_common.hpp
+++ b/components/operators/src/fusion/correspondence_common.hpp
@@ -14,8 +14,8 @@ __device__ inline bool isBadCor(float depth, const float2 &pos, const ftl::rgbd:
depth >= cam.maxDepth ||
pos.x < 0.5f ||
pos.y < 0.5f ||
- pos.x >= cam.width-0.5f ||
- pos.y >= cam.height-0.5f;
+ pos.x >= float(cam.width)-0.5f ||
+ pos.y >= float(cam.height)-0.5f;
}
__device__ inline float square(float v) { return v*v; }
diff --git a/components/operators/src/fusion/mvmls.cpp b/components/operators/src/fusion/mvmls.cpp
index 3bb77a52f..55b992957 100644
--- a/components/operators/src/fusion/mvmls.cpp
+++ b/components/operators/src/fusion/mvmls.cpp
@@ -2,6 +2,7 @@
#include "smoothing_cuda.hpp"
#include <ftl/utility/matrix_conversion.hpp>
#include "mvmls_cuda.hpp"
+#include <ftl/cuda/normals.hpp>
#include <opencv2/cudaarithm.hpp>
@@ -335,6 +336,16 @@ bool MultiViewMLS::apply(ftl::rgbd::FrameSet &in, ftl::rgbd::FrameSet &out, cuda
// Reduce window size for next iteration
//win = max(win>>1, 4);
+
+ // Redo normals
+ for (size_t i=0; i<in.frames.size(); ++i) {
+ auto &f = in.frames[i];
+ ftl::cuda::normals(
+ f.getTexture<half4>(Channel::Normals),
+ f.getTexture<float>(Channel::Depth),
+ f.getLeftCamera(), stream
+ );
+ }
}
for (int iter=0; iter<iters; ++iter) {
--
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