Work arbitrary neighbours

applications/reconstruct/src/dibr.cu

@@ -345,7 +345,7 @@ __global__ void OLD_dibr_visibility_kernel(TextureObject<int> depth, int cam, Sp
 	}
 }
 
-#define NEIGHBOR_RADIUS_2 5
+#define NEIGHBOR_RADIUS_2 10
 #define NEIGHBOR_WINDOW ((NEIGHBOR_RADIUS_2*2+1)*(NEIGHBOR_RADIUS_2*2+1))
 #define MAX_NEIGHBORS_2 20
 
@@ -361,7 +361,7 @@ __global__ void OLD_dibr_visibility_kernel(TextureObject<int> depth, int cam, Sp
 	__shared__ float3 neighborhood_cache[2*T_PER_BLOCK][MAX_NEIGHBORS_2];
 	__shared__ int minimum[2*T_PER_BLOCK];
 	__shared__ int maximum[2*T_PER_BLOCK];
-	__shared__ int nidx[2*T_PER_BLOCK];
+	__shared__ unsigned int nidx[2*T_PER_BLOCK];
 
 	const int warp = threadIdx.x / WARP_SIZE + threadIdx.y*2;
 	const int x = (blockIdx.x*blockDim.x + threadIdx.x) / WARP_SIZE;
@@ -405,8 +405,8 @@ __global__ void OLD_dibr_visibility_kernel(TextureObject<int> depth, int cam, Sp
 		const int v = (i / (2*NEIGHBOR_RADIUS_2+1)) - NEIGHBOR_RADIUS_2;
 		const float3 point = params.camera.kinectDepthToSkeleton(x+u, y+v, float(point_in.tex2D(x+u, y+v)) / 1000.0f);
 
-		if (length(point - camPos) <= 0.04f) {
-			int idx = atomicInc(&nidx[warp], MAX_NEIGHBORS_2-1);
+		if (length(point - camPos) <= SPATIAL_SMOOTHING) {
+			unsigned int idx = atomicInc(&nidx[warp], MAX_NEIGHBORS_2-1);
 			neighborhood_cache[warp][idx] = point;
 			atomicMin(&minimum[warp], point.z*1000.0f);
 			atomicMax(&maximum[warp], point.z*1000.0f);
@@ -451,7 +451,7 @@ __global__ void OLD_dibr_visibility_kernel(TextureObject<int> depth, int cam, Sp
                 // TODO:(Nick) Should perhaps use points from all cameras?
                 // Instead of doing each camera separately...
                 // If the depth already is close then it has already been done and can skip this point
-				const float energy = ftl::cuda::mls_point_energy<MAX_NEIGHBORS_2>(neighborhood_cache[warp], nearest, SPATIAL_SMOOTHING);
+				const float energy = ftl::cuda::mls_point_energy<MAX_NEIGHBORS_2>(neighborhood_cache[warp], nearest, nidx[warp], SPATIAL_SMOOTHING);
 				
 				if (energy <= 0.0f) break;
             

applications/reconstruct/src/mls_cuda.hpp

@@ -275,6 +275,28 @@ __device__ float mls_point_energy(
 	return weights;
 }
 
+/**
+ * Calculate the point sample energy.
+ */
+template <int M>
+__device__ float mls_point_energy(
+		const float3 (&pointset)[M],
+		const float3 &nearPoint,
+		unsigned int N,
+		float smoothing) {
+
+	float weights = 0.0f;
+
+	//#pragma unroll
+	for (int i=0; i<N; ++i) {
+		const float3 samplePoint = pointset[i];
+		const float weight = ftl::cuda::spatialWeighting(length(nearPoint - samplePoint), smoothing);
+		weights += weight;
+	}
+
+	return weights;
+}
+
 /**
  * Estimate a point set surface location near an existing and return also
  * an estimate of the normal and colour of that point.