From 944112711f1dfee88c65765c1f5df7e7f5c536d4 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Thu, 25 Jul 2019 13:42:41 +0300
Subject: [PATCH] WIP MLS Clipping
---
applications/reconstruct/src/depth_camera.cu | 33 +++++++++++---------
1 file changed, 19 insertions(+), 14 deletions(-)
diff --git a/applications/reconstruct/src/depth_camera.cu b/applications/reconstruct/src/depth_camera.cu
index ca8a0b199..8490c38b2 100644
--- a/applications/reconstruct/src/depth_camera.cu
+++ b/applications/reconstruct/src/depth_camera.cu
@@ -254,22 +254,27 @@ __global__ void mls_smooth_kernel(ftl::cuda::TextureObject<float4> output, HashP
if (depth >= mainCamera.params.m_sensorDepthWorldMin && depth <= mainCamera.params.m_sensorDepthWorldMax) {
float3 mPos = mainCamera.pose * mainCamera.params.kinectDepthToSkeleton(x, y, depth);
- if (hashParams.m_flags & ftl::voxhash::kFlagMLS) {
- for (uint cam2=0; cam2<numcams; ++cam2) {
- if (cam2 == cam) continue; //weights += mlsCamera(cam2, mPos, c1, wpos);
- weights += mlsCameraBest(cam2, mPos, c1, wpos);
- }
- wpos /= weights;
- } else {
- weights = 1000.0f;
- wpos = mPos;
- }
+ if ((!(hashParams.m_flags & ftl::voxhash::kFlagClipping)) || (mPos.x > hashParams.m_minBounds.x && mPos.x < hashParams.m_maxBounds.x &&
+ mPos.y > hashParams.m_minBounds.y && mPos.y < hashParams.m_maxBounds.y &&
+ mPos.z > hashParams.m_minBounds.z && mPos.z < hashParams.m_maxBounds.z)) {
+
+ if (hashParams.m_flags & ftl::voxhash::kFlagMLS) {
+ for (uint cam2=0; cam2<numcams; ++cam2) {
+ if (cam2 == cam) continue; //weights += mlsCamera(cam2, mPos, c1, wpos);
+ weights += mlsCameraBest(cam2, mPos, c1, wpos);
+ }
+ wpos /= weights;
+ } else {
+ weights = 1000.0f;
+ wpos = mPos;
+ }
- //output(x,y) = (weights >= hashParams.m_confidenceThresh) ? make_float4(wpos, 0.0f) : make_float4(MINF,MINF,MINF,MINF);
+ //output(x,y) = (weights >= hashParams.m_confidenceThresh) ? make_float4(wpos, 0.0f) : make_float4(MINF,MINF,MINF,MINF);
- const uint2 screenPos = make_uint2(mainCamera.params.cameraToKinectScreenInt(mainCamera.poseInverse * wpos));
- if (screenPos.x < output.width() && screenPos.y < output.height()) {
- output(screenPos.x,screenPos.y) = (weights >= hashParams.m_confidenceThresh) ? make_float4(wpos, 0.0f) : make_float4(MINF,MINF,MINF,MINF);
+ const uint2 screenPos = make_uint2(mainCamera.params.cameraToKinectScreenInt(mainCamera.poseInverse * wpos));
+ if (screenPos.x < output.width() && screenPos.y < output.height()) {
+ output(screenPos.x,screenPos.y) = (weights >= hashParams.m_confidenceThresh) ? make_float4(wpos, 0.0f) : make_float4(MINF,MINF,MINF,MINF);
+ }
}
}
}
--
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