From b1a2bb27dc649e5ec8df67c0d1dbc5518c49ddb2 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Fri, 27 Sep 2019 14:34:18 +0300
Subject: [PATCH] Add colour cost
---
applications/reconstruct/src/ilw/ilw.cu | 15 ++++++++++-----
1 file changed, 10 insertions(+), 5 deletions(-)
diff --git a/applications/reconstruct/src/ilw/ilw.cu b/applications/reconstruct/src/ilw/ilw.cu
index 48462f300..42fe05cbf 100644
--- a/applications/reconstruct/src/ilw/ilw.cu
+++ b/applications/reconstruct/src/ilw/ilw.cu
@@ -16,7 +16,7 @@ __device__ inline float warpMin(float e) {
return e;
}
-#define COR_WIN_RADIUS 16
+#define COR_WIN_RADIUS 17
#define COR_WIN_SIZE (COR_WIN_RADIUS * COR_WIN_RADIUS)
__global__ void correspondence_energy_vector_kernel(
@@ -34,7 +34,8 @@ __global__ void correspondence_energy_vector_kernel(
const int x = (blockIdx.x*blockDim.x + threadIdx.x) / WARP_SIZE;
const int y = blockIdx.y*blockDim.y + threadIdx.y;
- const float3 world1 = make_float3(p1.tex2D(x, y));
+ const float3 world1 = make_float3(p1.tex2D(x, y));
+ const uchar4 colour1 = c1.tex2D(x, y);
if (world1.x == MINF) return;
const float3 camPos2 = pose2 * world1;
const uint2 screen2 = cam2.camToScreen<uint2>(camPos2);
@@ -50,11 +51,14 @@ __global__ void correspondence_energy_vector_kernel(
const float u = (i % COR_WIN_RADIUS) - (COR_WIN_RADIUS / 2);
const float v = (i / COR_WIN_RADIUS) - (COR_WIN_RADIUS / 2);
- const float3 world2 = make_float3(p2.tex2D(screen2.x+u, screen2.y+v));
+ const float3 world2 = make_float3(p2.tex2D(screen2.x+u, screen2.y+v));
+ const uchar4 colour2 = c2.tex2D(screen2.x+u, screen2.y+v);
if (world2.x == MINF) continue;
// Determine degree of correspondence
- const float cost = 1.0f - ftl::cuda::spatialWeighting(world1, world2, 0.04f);
+ float cost = 1.0f - ftl::cuda::spatialWeighting(world1, world2, 0.04f);
+ cost += 1.0f - ftl::cuda::colourWeighting(colour1, colour2, 50.0f);
+ cost /= 2.0f;
if (cost < bestcost) {
bestpoint = world2;
@@ -74,7 +78,8 @@ __global__ void correspondence_energy_vector_kernel(
(bestpoint.y - world1.y),
(bestpoint.z - world1.z),
mincost);
- eout(x,y) = mincost * 5.0f; //confidence * 5.0f;
+ //eout(x,y) = (1.0f - mincost) * 7.0f; //confidence * 5.0f;
+ eout(x,y) = confidence * 7.0f;
} else if (mincost >= 1.0f && lane == 0) {
vout(x,y) = make_float4(0.0f);
eout(x,y) = 0.0f;
--
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