From 975f4baff0015e305117a687eddd2e5e8def8a63 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Sat, 22 Jun 2019 09:37:29 +0300
Subject: [PATCH] Add raycast show voxel block borders
---
.../include/ftl/ray_cast_params.hpp | 4 ++-
.../reconstruct/include/ftl/ray_cast_sdf.hpp | 5 ++-
applications/reconstruct/src/ray_cast_sdf.cu | 36 ++++++-------------
3 files changed, 18 insertions(+), 27 deletions(-)
diff --git a/applications/reconstruct/include/ftl/ray_cast_params.hpp b/applications/reconstruct/include/ftl/ray_cast_params.hpp
index 788c1155e..86ebfac58 100644
--- a/applications/reconstruct/include/ftl/ray_cast_params.hpp
+++ b/applications/reconstruct/include/ftl/ray_cast_params.hpp
@@ -2,6 +2,8 @@
#include <ftl/cuda_matrix_util.hpp>
+static const uint kShowBlockBorders = 0x0001;
+
struct __align__(16) RayCastParams {
float4x4 m_viewMatrix;
float4x4 m_viewMatrixInverse;
@@ -22,5 +24,5 @@ struct __align__(16) RayCastParams {
float m_thresDist;
bool m_useGradients;
- uint dummy0;
+ uint m_flags;
};
diff --git a/applications/reconstruct/include/ftl/ray_cast_sdf.hpp b/applications/reconstruct/include/ftl/ray_cast_sdf.hpp
index 7fb9b940f..ff53d58c3 100644
--- a/applications/reconstruct/include/ftl/ray_cast_sdf.hpp
+++ b/applications/reconstruct/include/ftl/ray_cast_sdf.hpp
@@ -37,7 +37,10 @@ public:
params.m_thresDist = gas["SDFRayThresDistFactor"].get<float>() * params.m_rayIncrement;
params.m_useGradients = gas["SDFUseGradients"].get<bool>();
- //params.m_maxNumVertices = gas["hashNumSDFBlocks"].get<unsigned int>() * 6;
+ uint flags = 0;
+ if (gas.value("showBlockBorders", false)) flags |= kShowBlockBorders;
+ params.m_flags = flags;
+
return params;
}
diff --git a/applications/reconstruct/src/ray_cast_sdf.cu b/applications/reconstruct/src/ray_cast_sdf.cu
index b0c6f3112..2eed96c33 100644
--- a/applications/reconstruct/src/ray_cast_sdf.cu
+++ b/applications/reconstruct/src/ray_cast_sdf.cu
@@ -210,28 +210,6 @@ __global__ void nickRenderKernel(ftl::voxhash::HashData hashData, RayCastData ra
else deleteVoxel(padVox);
}
- /*if (vp.x == 7) {
- ftl::voxhash::Voxel &padVox = voxels[plinVoxelPos(make_int3(vp.x+1,vp.y,vp.z))];
- const uint ii = hashData.linearizeVoxelPos(make_int3(0,vp.y,vp.z));
- //padVox = hashData.getVoxel(make_int3(pi.x+1,pi.y,pi.z));
- if (blocks[blockLinear(1,0,0)].ptr != ftl::voxhash::FREE_ENTRY) padVox = hashData.d_SDFBlocks[blocks[blockLinear(1,0,0)].ptr + ii];
- else deleteVoxel(padVox);
- }
- if (vp.y == 7) {
- ftl::voxhash::Voxel &padVox = voxels[plinVoxelPos(make_int3(vp.x,vp.y+1,vp.z))];
- const uint ii = hashData.linearizeVoxelPos(make_int3(vp.x,0,vp.z));
- //padVox = hashData.getVoxel(make_int3(pi.x,pi.y+1,pi.z));
- if (blocks[blockLinear(0,1,0)].ptr != ftl::voxhash::FREE_ENTRY) padVox = hashData.d_SDFBlocks[blocks[blockLinear(0,1,0)].ptr + ii];
- else deleteVoxel(padVox);
- }
- if (vp.z == 7) {
- ftl::voxhash::Voxel &padVox = voxels[plinVoxelPos(make_int3(vp.x,vp.y,vp.z+1))];
- const uint ii = hashData.linearizeVoxelPos(make_int3(vp.x,vp.y,0));
- //padVox = hashData.getVoxel(make_int3(pi.x,pi.y,pi.z+1));
- if (blocks[blockLinear(0,0,1)].ptr != ftl::voxhash::FREE_ENTRY) padVox = hashData.d_SDFBlocks[blocks[blockLinear(0,0,1)].ptr + ii];
- else deleteVoxel(padVox);
- }*/
-
// Indexes of the 8 neighbor voxels in one direction
const uint ix[8] = {
j, j+SDF_DX, j+SDF_DY, j+SDF_DZ, j+SDF_DX+SDF_DY, j+SDF_DY+SDF_DZ,
@@ -270,7 +248,15 @@ __global__ void nickRenderKernel(ftl::voxhash::HashData hashData, RayCastData ra
//return;*/
- bool is_surface = false;
+ int edgeX = (vp.x == 0 || vp.x == 7) ? 1 : 0;
+ int edgeY = (vp.y == 0 || vp.y == 7) ? 1 : 0;
+ int edgeZ = (vp.z == 0 || vp.z == 7) ? 1 : 0;
+
+ bool is_surface = ((params.m_flags & kShowBlockBorders) && edgeX + edgeY + edgeZ >= 2);
+ if (is_surface) voxels[j].color = make_uchar3(255,0,0);
+
+ if (!is_surface && voxels[j].sdf < 0.0f) return;
+
// Identify surfaces through sign change. Since we only check in one direction
// it is fine to check for any sign change?
#pragma unroll
@@ -282,7 +268,7 @@ __global__ void nickRenderKernel(ftl::voxhash::HashData hashData, RayCastData ra
// Skip these cases since we didn't load voxels properly
if (uvi.x == 8 && uvi.y == 8 || uvi.x == 8 && uvi.z == 8 || uvi.y == 8 && uvi.z == 8) continue;
- if (signbit(voxels[j].sdf) != signbit(voxels[plinVoxelPos(uvi)].sdf)) {
+ if (voxels[plinVoxelPos(uvi)].sdf < 0.0f) {
is_surface = true;
break;
}
@@ -298,7 +284,7 @@ __global__ void nickRenderKernel(ftl::voxhash::HashData hashData, RayCastData ra
const float2 screenPosf = DepthCameraData::cameraToKinectScreenFloat(camPos);
const uint2 screenPos = make_uint2(make_int2(screenPosf)); // + make_float2(0.5f, 0.5f)
- if (camPos.z < 0.0f) return;
+ if (camPos.z < params.m_minDepth) return;
/*if (screenPos.x < params.m_width && screenPos.y < params.m_height &&
rayCastData.d_depth[(screenPos.y)*params.m_width+screenPos.x] > camPos.z) {
--
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