From b63a157f91efd0d66d2bdeee03eaa616724b365e Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Thu, 12 Sep 2019 14:00:21 +0300
Subject: [PATCH] Add initial ILW files
---
applications/reconstruct/CMakeLists.txt | 6 +---
applications/reconstruct/src/ilw.cpp | 37 ++++++++++++++++++++++++
applications/reconstruct/src/ilw.cu | 0
applications/reconstruct/src/ilw.hpp | 38 +++++++++++++++++++------
4 files changed, 68 insertions(+), 13 deletions(-)
create mode 100644 applications/reconstruct/src/ilw.cpp
create mode 100644 applications/reconstruct/src/ilw.cu
diff --git a/applications/reconstruct/CMakeLists.txt b/applications/reconstruct/CMakeLists.txt
index 1e55c671c..57b0e38db 100644
--- a/applications/reconstruct/CMakeLists.txt
+++ b/applications/reconstruct/CMakeLists.txt
@@ -6,14 +6,9 @@ set(REPSRC
src/main.cpp
src/voxel_scene.cpp
src/scene_rep_hash_sdf.cu
- src/compactors.cu
- src/garbage.cu
- src/integrators.cu
#src/ray_cast_sdf.cu
src/voxel_render.cu
src/camera_util.cu
- src/voxel_hash.cu
- src/voxel_hash.cpp
#src/ray_cast_sdf.cpp
src/registration.cpp
#src/virtual_source.cpp
@@ -22,6 +17,7 @@ set(REPSRC
src/mls.cu
src/depth_camera.cu
src/depth_camera.cpp
+ src/ilw.cpp
)
add_executable(ftl-reconstruct ${REPSRC})
diff --git a/applications/reconstruct/src/ilw.cpp b/applications/reconstruct/src/ilw.cpp
new file mode 100644
index 000000000..1ca6312af
--- /dev/null
+++ b/applications/reconstruct/src/ilw.cpp
@@ -0,0 +1,37 @@
+#include "ilw.hpp"
+
+using ftl::ILW;
+using ftl::detail::ILWData;
+
+ILW::ILW() {
+
+}
+
+ILW::~ILW() {
+
+}
+
+bool ILW::process(ftl::rgbd::FrameSet &fs) {
+ _phase0(fs);
+
+ for (int i=0; i<2; ++i) {
+ _phase1(fs);
+ for (int j=0; j<3; ++j) {
+ _phase2(fs);
+ }
+ }
+
+ return true;
+}
+
+bool ILW::_phase0(ftl::rgbd::FrameSet &fs) {
+ // Clear points channel...
+}
+
+bool ILW::_phase1(ftl::rgbd::FrameSet &fs) {
+ // Run correspondence kernel to find points
+}
+
+bool ILW::_phase2(ftl::rgbd::FrameSet &fs) {
+ // Run energies and motion kernel
+}
diff --git a/applications/reconstruct/src/ilw.cu b/applications/reconstruct/src/ilw.cu
new file mode 100644
index 000000000..e69de29bb
diff --git a/applications/reconstruct/src/ilw.hpp b/applications/reconstruct/src/ilw.hpp
index 200b47347..0914905e5 100644
--- a/applications/reconstruct/src/ilw.hpp
+++ b/applications/reconstruct/src/ilw.hpp
@@ -1,8 +1,21 @@
#ifndef _FTL_RECONSTRUCT_ILW_HPP_
#define _FTL_RECONSTRUCT_ILW_HPP_
+#include <ftl/cuda_common.hpp>
+#include <ftl/rgbd/frameset.hpp>
+#include <vector>
+
namespace ftl {
+namespace detail {
+struct ILWData{
+ // x,y,z + confidence
+ ftl::cuda::TextureObject<float4> correspondence;
+
+ ftl::cuda::TextureObject<float4> points;
+};
+}
+
/**
* For a set of sources, perform Iterative Lattice Warping to correct the
* location of points between the cameras. The algorithm finds possible
@@ -18,18 +31,27 @@ class ILW {
~ILW();
/**
- * Set a physical scene that is composed of a set of source cameras.
- */
- void setScene(ftl::CameraSetScene *);
-
- /**
- * Take a frameset and perform the iterative lattice warping to update
- * a scene object.
+ * Take a frameset and perform the iterative lattice warping.
*/
bool process(ftl::rgbd::FrameSet &fs);
private:
- ftl::CameraSetScene *scene_;
+ /*
+ * Initialise data.
+ */
+ bool _phase0(ftl::rgbd::FrameSet &fs);
+
+ /*
+ * Find possible correspondences and a confidence value.
+ */
+ bool _phase1(ftl::rgbd::FrameSet &fs);
+
+ /*
+ * Calculate energies and move the points.
+ */
+ bool _phase2(ftl::rgbd::FrameSet &fs);
+
+ std::vector<detail::ILWData> data_;
};
}
--
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