From 8c84c12a7495b2d77eeecb6a7b7e1ee0c9a10bd4 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nicolas.pope@utu.fi>
Date: Sat, 29 Feb 2020 20:11:11 +0200
Subject: [PATCH] Resolves #337 MLS block errors
---
components/operators/src/fusion/mvmls.cpp | 1 +
components/operators/src/mls.cu | 8 +++++---
components/operators/src/smoothing.cpp | 1 +
components/operators/src/smoothing_cuda.hpp | 1 +
4 files changed, 8 insertions(+), 3 deletions(-)
diff --git a/components/operators/src/fusion/mvmls.cpp b/components/operators/src/fusion/mvmls.cpp
index 55b992957..41e0a2eef 100644
--- a/components/operators/src/fusion/mvmls.cpp
+++ b/components/operators/src/fusion/mvmls.cpp
@@ -526,6 +526,7 @@ bool MultiViewMLS::apply(ftl::rgbd::FrameSet &in, ftl::rgbd::FrameSet &out, cuda
f.getTexture<half4>(Channel::Normals),
*centroid_vert_[i],
f.createTexture<float>(Channel::Depth2, ftl::rgbd::Format<float>(size)),
+ f.getTexture<float>(Channel::Depth),
f.getLeftCamera(),
stream
);
diff --git a/components/operators/src/mls.cu b/components/operators/src/mls.cu
index afe15d559..ee3ce4125 100644
--- a/components/operators/src/mls.cu
+++ b/components/operators/src/mls.cu
@@ -559,6 +559,7 @@ __global__ void mls_adjust_depth_kernel(
TextureObject<half4> normals_in,
TextureObject<float4> centroid_in, // Virtual depth map
TextureObject<float> depth_out,
+ TextureObject<float> depth_in,
ftl::rgbd::Camera camera) {
const int x = blockIdx.x*blockDim.x + threadIdx.x;
@@ -568,8 +569,8 @@ __global__ void mls_adjust_depth_kernel(
const float3 aX = make_float3(centroid_in(x,y));
const float3 nX = make_float3(normals_in(x,y));
- //float d0 = depth_in.tex2D(x, y);
- depth_out(x,y) = aX.z;
+ float d0 = depth_in.tex2D(x, y);
+ depth_out(x,y) = d0;
if (aX.z > camera.minDepth && aX.z < camera.maxDepth) {
float3 X = camera.screenToCam((int)(x),(int)(y),aX.z);
@@ -663,6 +664,7 @@ void ftl::cuda::mls_adjust_depth(
ftl::cuda::TextureObject<half4> &normals_in,
ftl::cuda::TextureObject<float4> ¢roid_in,
ftl::cuda::TextureObject<float> &depth_out,
+ ftl::cuda::TextureObject<float> &depth_in,
const ftl::rgbd::Camera &camera,
cudaStream_t stream) {
@@ -672,7 +674,7 @@ void ftl::cuda::mls_adjust_depth(
const dim3 gridSize((depth_out.width() + THREADS_X - 1)/THREADS_X, (depth_out.height() + THREADS_Y - 1)/THREADS_Y);
const dim3 blockSize(THREADS_X, THREADS_Y);
- mls_adjust_depth_kernel<<<gridSize, blockSize, 0, stream>>>(normals_in, centroid_in, depth_out, camera);
+ mls_adjust_depth_kernel<<<gridSize, blockSize, 0, stream>>>(normals_in, centroid_in, depth_out, depth_in, camera);
cudaSafeCall( cudaGetLastError() );
diff --git a/components/operators/src/smoothing.cpp b/components/operators/src/smoothing.cpp
index 49ca3f4b9..739162622 100644
--- a/components/operators/src/smoothing.cpp
+++ b/components/operators/src/smoothing.cpp
@@ -307,6 +307,7 @@ bool AggreMLS::apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, cudaStream_t s
in.createTexture<half4>(Channel::Normals),
centroid_vert_,
temp_.createTexture<float>(Channel::Depth, ftl::rgbd::Format<float>(size)),
+ in.getTexture<float>(Channel::Depth),
in.getLeftCamera(),
stream
);
diff --git a/components/operators/src/smoothing_cuda.hpp b/components/operators/src/smoothing_cuda.hpp
index 06c6d713f..5454d91e2 100644
--- a/components/operators/src/smoothing_cuda.hpp
+++ b/components/operators/src/smoothing_cuda.hpp
@@ -46,6 +46,7 @@ void mls_adjust_depth(
ftl::cuda::TextureObject<half4> &normals_in,
ftl::cuda::TextureObject<float4> ¢roid_in,
ftl::cuda::TextureObject<float> &depth_out,
+ ftl::cuda::TextureObject<float> &depth_in,
const ftl::rgbd::Camera &camera,
cudaStream_t stream);
--
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