From 6c5ea3a2abb17a1ac50542820bed9056ae520331 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Sun, 6 Oct 2019 12:48:45 +0300
Subject: [PATCH] Mess with confidence channel
---
applications/reconstruct/src/ilw/ilw.cpp | 2 +-
applications/reconstruct/src/ilw/ilw.cu | 12 ++++++------
components/renderers/cpp/src/splat_render.cpp | 8 ++++----
.../rgbd-sources/include/ftl/rgbd/channels.hpp | 1 +
4 files changed, 12 insertions(+), 11 deletions(-)
diff --git a/applications/reconstruct/src/ilw/ilw.cpp b/applications/reconstruct/src/ilw/ilw.cpp
index 741e457aa..5aa62b530 100644
--- a/applications/reconstruct/src/ilw/ilw.cpp
+++ b/applications/reconstruct/src/ilw/ilw.cpp
@@ -23,7 +23,7 @@ ILW::ILW(nlohmann::json &config) : ftl::Configurable(config) {
params_.spatial_smooth = value("spatial_smooth", 0.04f);
params_.cost_ratio = value("cost_ratio", 0.2f);
discon_mask_ = value("discontinuity_mask",2);
- fill_depth_ = value("fill_depth", true);
+ fill_depth_ = value("fill_depth", false);
on("fill_depth", [this](const ftl::config::Event &e) {
fill_depth_ = value("fill_depth", true);
diff --git a/applications/reconstruct/src/ilw/ilw.cu b/applications/reconstruct/src/ilw/ilw.cu
index d36d609a1..af5916cf0 100644
--- a/applications/reconstruct/src/ilw/ilw.cu
+++ b/applications/reconstruct/src/ilw/ilw.cu
@@ -160,21 +160,21 @@ __global__ void correspondence_energy_vector_kernel(
const float depth2 = d2.tex2D((int)screen.x, (int)screen.y);
// Determine degree of correspondence
- float cost = 1.0f - ftl::cuda::weighting(fabs(depth2 - camPos.z), params.spatial_smooth);
+ float cost = ftl::cuda::weighting(fabs(depth2 - camPos.z), params.spatial_smooth);
// Point is too far away to even count
- if (cost == 1.0f) continue;
+ //if (cost == 1.0f) continue;
const uchar4 colour2 = c2.tex2D((int)screen.x, (int)screen.y);
// Mix ratio of colour and distance costs
- const float ccost = 1.0f - ftl::cuda::colourWeighting(colour1, colour2, params.colour_smooth);
- if ((params.flags & ftl::cuda::kILWFlag_SkipBadColour) && ccost == 1.0f) continue;
+ const float ccost = ftl::cuda::colourWeighting(colour1, colour2, params.colour_smooth);
+ //if ((params.flags & ftl::cuda::kILWFlag_SkipBadColour) && ccost == 1.0f) continue;
// Cost eq 1: summed contributions
- cost = params.cost_ratio * (ccost) + (1.0f - params.cost_ratio) * cost;
+ cost = 1.0f - (params.cost_ratio * (ccost) + (1.0f - params.cost_ratio) * cost);
// Cost eq 2: Multiplied
- //cost = ccost * cost * cost * cost;
+ //cost = 1.0f - (ccost * ccost * cost);
++count;
avgcost += (params.flags & ftl::cuda::kILWFlag_ColourConfidenceOnly) ? ccost : cost;
diff --git a/components/renderers/cpp/src/splat_render.cpp b/components/renderers/cpp/src/splat_render.cpp
index b22b377e1..1ccaf156c 100644
--- a/components/renderers/cpp/src/splat_render.cpp
+++ b/components/renderers/cpp/src/splat_render.cpp
@@ -363,10 +363,10 @@ bool Splatter::render(ftl::rgbd::VirtualSource *src, ftl::rgbd::Frame &out, cuda
cv::cuda::swap(temp_.get<GpuMat>(Channel::Colour), out.create<GpuMat>(Channel::Normals));
out.resetTexture(Channel::Normals);
}
- else if (chan == Channel::Contribution)
- {
- cv::cuda::swap(temp_.get<GpuMat>(Channel::Contribution), out.create<GpuMat>(Channel::Contribution));
- }
+ //else if (chan == Channel::Contribution)
+ //{
+ // cv::cuda::swap(temp_.get<GpuMat>(Channel::Contribution), out.create<GpuMat>(Channel::Contribution));
+ //}
else if (chan == Channel::Right)
{
Eigen::Affine3f transform(Eigen::Translation3f(camera.baseline,0.0f,0.0f));
diff --git a/components/rgbd-sources/include/ftl/rgbd/channels.hpp b/components/rgbd-sources/include/ftl/rgbd/channels.hpp
index 551507730..467df0b1e 100644
--- a/components/rgbd-sources/include/ftl/rgbd/channels.hpp
+++ b/components/rgbd-sources/include/ftl/rgbd/channels.hpp
@@ -105,6 +105,7 @@ inline bool isFloatChannel(ftl::rgbd::Channel chan) {
switch (chan) {
case Channel::Depth :
//case Channel::Normals :
+ case Channel::Confidence:
case Channel::Energy : return true;
default : return false;
}
--
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