From 61d7ccdfc0b9d1ad4e8244b931661275b3a68e2b Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Sun, 6 Oct 2019 10:00:07 +0300
Subject: [PATCH] Add mask channel and mask wrapper
---
applications/reconstruct/src/ilw/ilw_cuda.hpp | 30 +++++++++++++++++++
.../include/ftl/rgbd/channels.hpp | 1 +
2 files changed, 31 insertions(+)
diff --git a/applications/reconstruct/src/ilw/ilw_cuda.hpp b/applications/reconstruct/src/ilw/ilw_cuda.hpp
index e4a099031..60ea20539 100644
--- a/applications/reconstruct/src/ilw/ilw_cuda.hpp
+++ b/applications/reconstruct/src/ilw/ilw_cuda.hpp
@@ -22,6 +22,36 @@ static const uint kILWFlag_RestrictZ = 0x0002;
static const uint kILWFlag_SkipBadColour = 0x0004;
static const uint kILWFlag_ColourConfidenceOnly = 0x0008;
+/**
+ * Wrap an int mask value used to flag individual depth pixels.
+ */
+class ILWMask {
+ public:
+ __device__ explicit inline ILWMask(int v) : v_(v) {}
+ #ifdef __CUDACC__
+ __device__ inline ILWMask(const ftl::cuda::TextureObject<int> &m, int x, int y) : v_(m.tex2D(x,y)) {}
+ #endif
+ __device__ inline operator int() const { return v_; }
+
+ __device__ inline bool isFilled() const { return v_ & kMask_Filled; }
+ __device__ inline bool isDiscontinuity() const { return v_ & kMask_Discontinuity; }
+ __device__ inline bool hasCorrespondence() const { return v_ & kMask_Correspondence; }
+ __device__ inline bool isBad() const { return v_ & kMask_Bad; }
+
+ __device__ inline void isFilled(bool v) { v_ = (v) ? v_ | kMask_Filled : v_ & (~kMask_Filled); }
+ __device__ inline void isDiscontinuity(bool v) { v_ = (v) ? v_ | kMask_Discontinuity : v_ & (~kMask_Discontinuity); }
+ __device__ inline void hasCorrespondence(bool v) { v_ = (v) ? v_ | kMask_Correspondence : v_ & (~kMask_Correspondence); }
+ __device__ inline void isBad(bool v) { v_ = (v) ? v_ | kMask_Bad : v_ & (~kMask_Bad); }
+
+ private:
+ int v_;
+
+ static const int kMask_Filled = 0x0001;
+ static const int kMask_Discontinuity = 0x0002;
+ static const int kMask_Correspondence = 0x0004;
+ static const int kMask_Bad = 0x0008;
+};
+
void correspondence_energy_vector(
ftl::cuda::TextureObject<float> &d1,
ftl::cuda::TextureObject<float> &d2,
diff --git a/components/rgbd-sources/include/ftl/rgbd/channels.hpp b/components/rgbd-sources/include/ftl/rgbd/channels.hpp
index e89a42ce3..551507730 100644
--- a/components/rgbd-sources/include/ftl/rgbd/channels.hpp
+++ b/components/rgbd-sources/include/ftl/rgbd/channels.hpp
@@ -24,6 +24,7 @@ enum struct Channel : int {
EnergyVector, // 32FC4
Flow, // 32F
Energy, // 32F
+ Mask, // 32U
LeftGray,
RightGray,
Overlay1
--
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