From 850431fd2380b5f1be27fdb0d08eb52d6cab860e Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Sat, 5 Oct 2019 16:15:05 +0300
Subject: [PATCH] range adjustment
---
applications/reconstruct/src/ilw/ilw.cpp | 3 +++
applications/reconstruct/src/ilw/ilw.cu | 2 +-
applications/reconstruct/src/ilw/ilw_cuda.hpp | 1 +
3 files changed, 5 insertions(+), 1 deletion(-)
diff --git a/applications/reconstruct/src/ilw/ilw.cpp b/applications/reconstruct/src/ilw/ilw.cpp
index 53fef0890..3feb23dff 100644
--- a/applications/reconstruct/src/ilw/ilw.cpp
+++ b/applications/reconstruct/src/ilw/ilw.cpp
@@ -96,6 +96,8 @@ bool ILW::process(ftl::rgbd::FrameSet &fs, cudaStream_t stream) {
_phase0(fs, stream);
+ params_.range = 0.05f;
+
for (int i=0; i<iterations_; ++i) {
int win;
switch (i) {
@@ -108,6 +110,7 @@ bool ILW::process(ftl::rgbd::FrameSet &fs, cudaStream_t stream) {
_phase2(fs, motion_rate_, stream);
//}
+ params_.range *= 0.5f;
// TODO: Break if no time left
}
diff --git a/applications/reconstruct/src/ilw/ilw.cu b/applications/reconstruct/src/ilw/ilw.cu
index 43236e4d8..2c8d3199b 100644
--- a/applications/reconstruct/src/ilw/ilw.cu
+++ b/applications/reconstruct/src/ilw/ilw.cu
@@ -61,7 +61,7 @@ __global__ void correspondence_energy_vector_kernel(
float bestdepth;
int count = 0;
- const float step_interval = 0.05f / (COR_STEPS / 2);
+ const float step_interval = params.range / (COR_STEPS / 2);
const float3 rayStep_world = pose1.getFloat3x3() * cam1.screenToCam(x,y,step_interval);
const float3 rayStart_2 = pose2 * world1;
diff --git a/applications/reconstruct/src/ilw/ilw_cuda.hpp b/applications/reconstruct/src/ilw/ilw_cuda.hpp
index 376790039..503d1bf4c 100644
--- a/applications/reconstruct/src/ilw/ilw_cuda.hpp
+++ b/applications/reconstruct/src/ilw/ilw_cuda.hpp
@@ -13,6 +13,7 @@ struct ILWParams {
float colour_smooth;
float cost_ratio;
float threshold;
+ float range;
uint flags;
};
--
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