From 6327e6307039f2e795817ef380f05864bcdce5c3 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Mon, 7 Oct 2019 08:32:40 +0300
Subject: [PATCH] Minor changes
---
applications/reconstruct/src/ilw/ilw.cpp | 4 ++--
applications/reconstruct/src/ilw/ilw.cu | 9 ++++++++-
2 files changed, 10 insertions(+), 3 deletions(-)
diff --git a/applications/reconstruct/src/ilw/ilw.cpp b/applications/reconstruct/src/ilw/ilw.cpp
index 445db06b9..43a27782e 100644
--- a/applications/reconstruct/src/ilw/ilw.cpp
+++ b/applications/reconstruct/src/ilw/ilw.cpp
@@ -106,7 +106,7 @@ bool ILW::process(ftl::rgbd::FrameSet &fs, cudaStream_t stream) {
_phase0(fs, stream);
- params_.range = 0.1f;
+ params_.range = 0.05f;
for (int i=0; i<iterations_; ++i) {
_phase1(fs, value("cost_function",3), stream);
@@ -114,7 +114,7 @@ bool ILW::process(ftl::rgbd::FrameSet &fs, cudaStream_t stream) {
_phase2(fs, motion_rate_, stream);
//}
- params_.range *= 0.5f;
+ params_.range *= 0.9f;
// TODO: Break if no time left
}
diff --git a/applications/reconstruct/src/ilw/ilw.cu b/applications/reconstruct/src/ilw/ilw.cu
index c6a63cfa7..831ff641b 100644
--- a/applications/reconstruct/src/ilw/ilw.cu
+++ b/applications/reconstruct/src/ilw/ilw.cu
@@ -108,6 +108,11 @@ __device__ inline float weightFunction<3>(const ftl::cuda::ILWParams ¶ms, fl
return (dweight == 0.0f) ? 0.0f : (params.cost_ratio * (cweight) + (1.0f - params.cost_ratio) * dweight);
}
+template <>
+__device__ inline float weightFunction<4>(const ftl::cuda::ILWParams ¶ms, float dweight, float cweight) {
+ return cweight;
+}
+
template<int COR_STEPS, int FUNCTION>
__global__ void correspondence_energy_vector_kernel(
TextureObject<float> d1,
@@ -169,6 +174,7 @@ __global__ void correspondence_energy_vector_kernel(
// Generate a depth correspondence value
const float depth2 = d2.tex2D((int)screen.x, (int)screen.y);
const float dweight = ftl::cuda::weighting(fabs(depth2 - camPos.z), params.spatial_smooth);
+ //const float dweight = ftl::cuda::weighting(fabs(depth_adjust - depth1), 2.0f*params.range);
// Generate a colour correspondence value
const uchar4 colour2 = c2.tex2D((int)screen.x, (int)screen.y);
@@ -223,6 +229,7 @@ void ftl::cuda::correspondence(
case 1: correspondence_energy_vector_kernel<16,1><<<gridSize, blockSize, 0, stream>>>(d1, d2, c1, c2, dout, conf, pose1, pose1_inv, pose2, cam1, cam2, params); break;
case 2: correspondence_energy_vector_kernel<16,2><<<gridSize, blockSize, 0, stream>>>(d1, d2, c1, c2, dout, conf, pose1, pose1_inv, pose2, cam1, cam2, params); break;
case 3: correspondence_energy_vector_kernel<16,3><<<gridSize, blockSize, 0, stream>>>(d1, d2, c1, c2, dout, conf, pose1, pose1_inv, pose2, cam1, cam2, params); break;
+ case 4: correspondence_energy_vector_kernel<16,4><<<gridSize, blockSize, 0, stream>>>(d1, d2, c1, c2, dout, conf, pose1, pose1_inv, pose2, cam1, cam2, params); break;
}
cudaSafeCall( cudaGetLastError() );
@@ -266,7 +273,7 @@ __global__ void move_points_kernel(
//if (pn.x == MINF) continue;
if (dn_new == 0.0f) continue; // Neighbour has no new correspondence
- const float s = ftl::cuda::weighting(fabs(d0_new - dn_new), params.range);
+ const float s = ftl::cuda::spatialWeighting(camera.screenToCam(x,y,d0_new), camera.screenToCam(x+u,y+v,dn_new), params.range); // ftl::cuda::weighting(fabs(d0_new - dn_new), params.range);
contrib += (confn+0.01f) * s;
delta += (confn+0.01f) * s * ((confn == 0.0f) ? dn_old : dn_new);
}
--
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