From 77cb19e91149af68cdfa632c06b0e52ed91370cd Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Wed, 11 Dec 2019 13:33:58 +0200
Subject: [PATCH] Use depthThreshold in reproject
---
components/operators/src/correspondence.cu | 6 +++---
components/operators/src/mvmls.cpp | 4 +++-
components/renderers/cpp/src/reprojection.cu | 2 +-
3 files changed, 7 insertions(+), 5 deletions(-)
diff --git a/components/operators/src/correspondence.cu b/components/operators/src/correspondence.cu
index 828f7bcb1..05d601060 100644
--- a/components/operators/src/correspondence.cu
+++ b/components/operators/src/correspondence.cu
@@ -215,7 +215,7 @@ __global__ void corresponding_point_kernel(
uint stepMask = 1 << bestStep;
if ((stepMask & badMask) || (stepMask & (badMask << 1)) || (stepMask & (badMask >> 1))) bestweight = 0.0f;
- bestadjust = halfWarpBest(bestadjust, (bestweight > 0.0f) ? confidence : 0.0f);
+ //bestadjust = halfWarpBest(bestadjust, (bestweight > 0.0f) ? confidence : 0.0f);
//Mask m(mask.tex2D(x,y));
@@ -226,8 +226,8 @@ __global__ void corresponding_point_kernel(
d1(x,y) = (0.4f*bestadjust) + depth1;
//d2(bestScreen.x, bestScreen.y) = bestdepth2;
//screenOut(x,y) = bestScreen;
- //conf(x,y) = max(old,confidence); //bestweight * confidence;
- conf(x,y) = max(old,fabs(bestadjust));
+ conf(x,y) = max(old,confidence); //bestweight * confidence;
+ //conf(x,y) = max(old,fabs(bestadjust));
}
//}
diff --git a/components/operators/src/mvmls.cpp b/components/operators/src/mvmls.cpp
index 4a61e6322..8ff3c89dd 100644
--- a/components/operators/src/mvmls.cpp
+++ b/components/operators/src/mvmls.cpp
@@ -72,6 +72,8 @@ bool MultiViewMLS::apply(ftl::rgbd::FrameSet &in, ftl::rgbd::FrameSet &out, cuda
f.createTexture<float>(Channel::Confidence);
f.create<GpuMat>(Channel::Screen, Format<short2>(size));
f.createTexture<short2>(Channel::Screen);
+
+ f.get<GpuMat>(Channel::Confidence).setTo(cv::Scalar(0.0f), cvstream);
}
for (int iter=0; iter<iters; ++iter) {
@@ -84,7 +86,7 @@ bool MultiViewMLS::apply(ftl::rgbd::FrameSet &in, ftl::rgbd::FrameSet &out, cuda
for (size_t i=0; i<in.frames.size(); ++i) {
auto &f1 = in.frames[i];
//f1.get<GpuMat>(Channel::Depth2).setTo(cv::Scalar(0.0f), cvstream);
- f1.get<GpuMat>(Channel::Confidence).setTo(cv::Scalar(0.0f), cvstream);
+ //f1.get<GpuMat>(Channel::Confidence).setTo(cv::Scalar(0.0f), cvstream);
Eigen::Vector4d d1(0.0, 0.0, 1.0, 0.0);
d1 = in.sources[i]->getPose() * d1;
diff --git a/components/renderers/cpp/src/reprojection.cu b/components/renderers/cpp/src/reprojection.cu
index b23ad81e9..a4b27d475 100644
--- a/components/renderers/cpp/src/reprojection.cu
+++ b/components/renderers/cpp/src/reprojection.cu
@@ -97,7 +97,7 @@ __global__ void reprojection_kernel(
const auto input = in.tex2D(screenPos.x, screenPos.y); //generateInput(in.tex2D((int)screenPos.x, (int)screenPos.y), params, worldPos);
// TODO: Z checks need to interpolate between neighbors if large triangles are used
- float weight = ftl::cuda::weighting(fabs(camPos.z - d2), 0.02f);
+ float weight = ftl::cuda::weighting(fabs(camPos.z - d2), params.depthThreshold);
/* Buehler C. et al. 2001. Unstructured Lumigraph Rendering. */
/* Orts-Escolano S. et al. 2016. Holoportation: Virtual 3D teleportation in real-time. */
--
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