From 9dac981cd95f6a10a4d95f3425294b80500bbc0e Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Sat, 28 Sep 2019 09:13:45 +0300
Subject: [PATCH] Skip cameras facing wrong way
---
applications/reconstruct/src/ilw/ilw.cpp | 9 +++++++++
applications/reconstruct/src/ilw/ilw.cu | 10 ++++++----
2 files changed, 15 insertions(+), 4 deletions(-)
diff --git a/applications/reconstruct/src/ilw/ilw.cpp b/applications/reconstruct/src/ilw/ilw.cpp
index 3b566df68..a26fced0a 100644
--- a/applications/reconstruct/src/ilw/ilw.cpp
+++ b/applications/reconstruct/src/ilw/ilw.cpp
@@ -81,6 +81,9 @@ bool ILW::_phase1(ftl::rgbd::FrameSet &fs, cudaStream_t stream) {
// For each camera combination
for (size_t i=0; i<fs.frames.size(); ++i) {
+ Eigen::Vector4d d1(0.0, 0.0, 1.0, 0.0);
+ d1 = fs.sources[i]->getPose() * d1;
+
for (size_t j=0; j<fs.frames.size(); ++j) {
if (i == j) continue;
@@ -91,6 +94,12 @@ bool ILW::_phase1(ftl::rgbd::FrameSet &fs, cudaStream_t stream) {
//auto s1 = fs.frames[i];
auto s2 = fs.sources[j];
+ // Are cameras facing similar enough direction?
+ Eigen::Vector4d d2(0.0, 0.0, 1.0, 0.0);
+ d2 = fs.sources[j]->getPose() * d2;
+ // No, so skip this combination
+ if (d1.dot(d2) <= 0.0) continue;
+
auto pose = MatrixConversion::toCUDA(s2->getPose().cast<float>().inverse());
try {
diff --git a/applications/reconstruct/src/ilw/ilw.cu b/applications/reconstruct/src/ilw/ilw.cu
index 6acc5c677..73a8e2bdf 100644
--- a/applications/reconstruct/src/ilw/ilw.cu
+++ b/applications/reconstruct/src/ilw/ilw.cu
@@ -57,8 +57,8 @@ __global__ void correspondence_energy_vector_kernel(
// Determine degree of correspondence
float cost = 1.0f - ftl::cuda::spatialWeighting(world1, world2, 0.04f);
- cost += 1.0f - ftl::cuda::colourWeighting(colour1, colour2, 50.0f);
- cost /= 2.0f;
+ cost *= 1.0f - ftl::cuda::colourWeighting(colour1, colour2, 50.0f);
+ //cost /= 2.0f;
if (cost < bestcost) {
bestpoint = world2;
@@ -77,8 +77,10 @@ __global__ void correspondence_energy_vector_kernel(
(bestpoint.x - world1.x),
(bestpoint.y - world1.y),
(bestpoint.z - world1.z),
- mincost);
- eout(x,y) = max(eout(x,y), (1.0f - mincost) * 7.0f); //confidence * 5.0f;
+ mincost);
+
+ eout(x,y) = max(eout(x,y), length(bestpoint-world1) * 10.0f);
+ //eout(x,y) = max(eout(x,y), (1.0f - mincost) * 7.0f); //confidence * 5.0f;
// FIXME: This needs to be summed across all frames
//eout(x,y) = max(eout(x, y), confidence * 7.0f);
--
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