Add other ilw params

applications/reconstruct/src/ilw/ilw.cpp

@@ -19,6 +19,9 @@ ILW::ILW(nlohmann::json &config) : ftl::Configurable(config) {
     motion_rate_ = value("motion_rate", 0.4f);
     motion_window_ = value("motion_window", 3);
     use_lab_ = value("use_Lab", false);
+    params_.colour_smooth = value("colour_smooth", 50.0f);
+    params_.spatial_smooth = value("spatial_smooth", 0.04f);
+    params_.cost_ratio = value("cost_ratio", 75.0f);
 
     on("ilw_align", [this](const ftl::config::Event &e) {
         enabled_ = value("ilw_align", true);
@@ -40,18 +43,30 @@ ILW::ILW(nlohmann::json &config) : ftl::Configurable(config) {
         use_lab_ = value("use_Lab", false);
     });
 
-    flags_ = 0;
-    if (value("ignore_bad", false)) flags_ |= ftl::cuda::kILWFlag_IgnoreBad;
-    if (value("restrict_z", true)) flags_ |= ftl::cuda::kILWFlag_RestrictZ;
+    on("colour_smooth", [this](const ftl::config::Event &e) {
+        params_.colour_smooth = value("colour_smooth", 50.0f);
+    });
+
+    on("spatial_smooth", [this](const ftl::config::Event &e) {
+        params_.spatial_smooth = value("spatial_smooth", 0.04f);
+    });
+
+    on("cost_ratio", [this](const ftl::config::Event &e) {
+        params_.cost_ratio = value("cost_ratio", 75.0f);
+    });
+
+    params_.flags = 0;
+    if (value("ignore_bad", false)) params_.flags |= ftl::cuda::kILWFlag_IgnoreBad;
+    if (value("restrict_z", true)) params_.flags |= ftl::cuda::kILWFlag_RestrictZ;
 
     on("ignore_bad", [this](const ftl::config::Event &e) {
-        if (value("ignore_bad", false)) flags_ |= ftl::cuda::kILWFlag_IgnoreBad;
-        else flags_ &= ~ftl::cuda::kILWFlag_IgnoreBad;
+        if (value("ignore_bad", false)) params_.flags |= ftl::cuda::kILWFlag_IgnoreBad;
+        else params_.flags &= ~ftl::cuda::kILWFlag_IgnoreBad;
     });
 
     on("restrict_z", [this](const ftl::config::Event &e) {
-        if (value("restrict_z", false)) flags_ |= ftl::cuda::kILWFlag_RestrictZ;
-        else flags_ &= ~ftl::cuda::kILWFlag_RestrictZ;
+        if (value("restrict_z", false)) params_.flags |= ftl::cuda::kILWFlag_RestrictZ;
+        else params_.flags &= ~ftl::cuda::kILWFlag_RestrictZ;
     });
 }
 
@@ -163,7 +178,7 @@ bool ILW::_phase1(ftl::rgbd::FrameSet &fs, int win, cudaStream_t stream) {
                 pose1,
                 pose2,
                 s2->parameters(),
-                flags_,
+                params_,
                 win,
                 stream
             );

applications/reconstruct/src/ilw/ilw.cu

@@ -37,7 +37,7 @@ __global__ void correspondence_energy_vector_kernel(
         TextureObject<float> eout,
         float4x4 pose1,  // Inverse
         float4x4 pose2,  // Inverse
-        Camera cam2, uint flags) {
+        Camera cam2, ftl::cuda::ILWParams params) {
 
     // Each warp picks point in p1
     const int tid = (threadIdx.x + threadIdx.y * blockDim.x);
@@ -63,16 +63,16 @@ __global__ void correspondence_energy_vector_kernel(
         const float v = (i / COR_WIN_RADIUS) - (COR_WIN_RADIUS / 2);
         
         const float3 world2 = make_float3(p2.tex2D(screen2.x+u, screen2.y+v));
-        if (flags & ftl::cuda::kILWFlag_IgnoreBad && world2.x == MINF) continue;
+        if (params.flags & ftl::cuda::kILWFlag_IgnoreBad && world2.x == MINF) continue;
         const uchar4 colour2 = c2.tex2D(screen2.x+u, screen2.y+v);
 
         // Determine degree of correspondence
-		float cost = 1.0f - ftl::cuda::spatialWeighting(world1, world2, 0.04f);
+		float cost = 1.0f - ftl::cuda::spatialWeighting(world1, world2, params.spatial_smooth);
 		// Point is too far away to even count
 		if (world2.x != MINF && cost == 1.0f) continue;
 
 		// Mix ratio of colour and distance costs
-        cost = 0.75f * (1.0f - ftl::cuda::colourWeighting(colour1, colour2, 50.0f)) + 0.25 * cost;
+        cost = params.cost_ratio * (1.0f - ftl::cuda::colourWeighting(colour1, colour2, params.colour_smooth)) + (1.0f - params.cost_ratio) * cost;
         //cost /= 2.0f;
 
 		++count;
@@ -92,7 +92,7 @@ __global__ void correspondence_energy_vector_kernel(
     if (best && mincost < 1.0f) {
         float3 tvecA = pose1 * bestpoint;
         float3 tvecB = pose1 * world1;
-        if (flags & ftl::cuda::kILWFlag_RestrictZ) {
+        if (params.flags & ftl::cuda::kILWFlag_RestrictZ) {
             tvecA.x = tvecB.x;
             tvecA.y = tvecB.y;
         }
@@ -123,7 +123,7 @@ void ftl::cuda::correspondence_energy_vector(
         TextureObject<float> &eout,
         float4x4 &pose1,
         float4x4 &pose2,
-        const Camera &cam2, uint flags, int win,
+        const Camera &cam2, const ILWParams &params, int win,
         cudaStream_t stream) {
 
     const dim3 gridSize((p1.width() + 2 - 1)/2, (p1.height() + T_PER_BLOCK - 1)/T_PER_BLOCK);
@@ -132,9 +132,9 @@ void ftl::cuda::correspondence_energy_vector(
     //printf("COR SIZE %d,%d\n", p1.width(), p1.height());
 
     switch (win) {
-    case 17     : correspondence_energy_vector_kernel<17><<<gridSize, blockSize, 0, stream>>>(p1, p2, c1, c2, vout, eout, pose1, pose2, cam2, flags); break;
-    case 9      : correspondence_energy_vector_kernel<9><<<gridSize, blockSize, 0, stream>>>(p1, p2, c1, c2, vout, eout, pose1, pose2, cam2, flags); break;
-    case 5      : correspondence_energy_vector_kernel<5><<<gridSize, blockSize, 0, stream>>>(p1, p2, c1, c2, vout, eout, pose1, pose2, cam2, flags); break;
+    case 17     : correspondence_energy_vector_kernel<17><<<gridSize, blockSize, 0, stream>>>(p1, p2, c1, c2, vout, eout, pose1, pose2, cam2, params); break;
+    case 9      : correspondence_energy_vector_kernel<9><<<gridSize, blockSize, 0, stream>>>(p1, p2, c1, c2, vout, eout, pose1, pose2, cam2, params); break;
+    case 5      : correspondence_energy_vector_kernel<5><<<gridSize, blockSize, 0, stream>>>(p1, p2, c1, c2, vout, eout, pose1, pose2, cam2, params); break;
     }
     cudaSafeCall( cudaGetLastError() );
 }

applications/reconstruct/src/ilw/ilw.hpp

@@ -6,6 +6,8 @@
 #include <ftl/configurable.hpp>
 #include <vector>
 
+#include "ilw_cuda.hpp"
+
 namespace ftl {
 
 namespace detail {
@@ -62,7 +64,7 @@ class ILW : public ftl::Configurable {
 
     std::vector<detail::ILWData> data_;
     bool enabled_;
-    unsigned int flags_;
+    ftl::cuda::ILWParams params_;
     int iterations_;
     float motion_rate_;
     int motion_window_;

applications/reconstruct/src/ilw/ilw_cuda.hpp

@@ -8,6 +8,14 @@
 namespace ftl {
 namespace cuda {
 
+struct ILWParams {
+    float spatial_smooth;
+    float colour_smooth;
+    float cost_ratio;
+    float threshold;
+    uint flags;
+};
+
 static const uint kILWFlag_IgnoreBad = 0x0001;
 static const uint kILWFlag_RestrictZ = 0x0002;
 
@@ -21,7 +29,7 @@ void correspondence_energy_vector(
     float4x4 &pose1,
     float4x4 &pose2,
     const ftl::rgbd::Camera &cam2,
-    uint flags, int win,
+    const ILWParams &params, int win,
     cudaStream_t stream
 );