From ba92641b36901e55059feade32046c8ccd094899 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Mon, 9 Dec 2019 15:11:09 +0200
Subject: [PATCH] Minor tidy
---
components/operators/src/correspondence.cu | 39 ++++++----------------
1 file changed, 10 insertions(+), 29 deletions(-)
diff --git a/components/operators/src/correspondence.cu b/components/operators/src/correspondence.cu
index ff6383ab7..2ffb5a042 100644
--- a/components/operators/src/correspondence.cu
+++ b/components/operators/src/correspondence.cu
@@ -98,13 +98,8 @@ __global__ void corresponding_point_kernel(
float4x4 pose2, // Inverse
Camera cam1,
Camera cam2, ftl::cuda::MvMLSParams params) {
-
- // Each warp picks point in p1
- //const int tid = (threadIdx.x + threadIdx.y * blockDim.x);
- //const int x = (blockIdx.x*blockDim.x + threadIdx.x); // / WARP_SIZE;
- //const int y = blockIdx.y*blockDim.y + threadIdx.y;
- const int tid = (threadIdx.x + threadIdx.y * blockDim.x);
+ //const int tid = (threadIdx.x + threadIdx.y * blockDim.x);
const int x = (blockIdx.x*8 + (threadIdx.x%4) + 4*(threadIdx.x / 16)); // / WARP_SIZE;
const int y = blockIdx.y*8 + threadIdx.x/4 + 4*threadIdx.y;
@@ -127,19 +122,13 @@ __global__ void corresponding_point_kernel(
//float bestdepth = 0.0f;
short2 bestScreen = make_short2(-1,-1);
float bestdepth = 0.0f;
- float bestdepth2 = 0.0f;
+ //float bestdepth2 = 0.0f;
float bestweight = 0.0f;
float bestcolour = 0.0f;
- float bestdweight = 0.0f;
+ //float bestdweight = 0.0f;
float totalcolour = 0.0f;
int count = 0;
- float contrib = 0.0f;
-
- //const float step_interval = params.range / (COR_STEPS / 2);
-
- //const float3 rayStep_world = pose1.getFloat3x3() * cam1.screenToCam(x,y,step_interval);
- //const float3 rayStart_2 = pose2 * world1;
- //const float3 rayStep_2 = pose2.getFloat3x3() * rayStep_world;
+ //float contrib = 0.0f;
const float3 camPosOrigin = pose2 * world1;
const float2 lineOrigin = cam2.camToScreen<float2>(camPosOrigin);
@@ -158,15 +147,7 @@ __global__ void corresponding_point_kernel(
// Project to p2 using cam2
// Each thread takes a possible correspondence and calculates a weighting
//const int lane = tid % WARP_SIZE;
- for (int i=0; i<COR_STEPS; ++i) {
- //const int j = i - (COR_STEPS/2);
- //const float depth_adjust = (float)j * step_interval;
-
- // Calculate adjusted depth 3D point in camera 2 space
- //const float3 worldPos = world1 + j * rayStep_world; //(pose1 * cam1.screenToCam(x, y, depth_adjust));
- //const float3 camPos = rayStart_2 + j * rayStep_2; //pose2 * worldPos;
- //const float2 screen = cam2.camToScreen<float2>(camPos);
-
+ for (int i=0; i<COR_STEPS; ++i) {
float weight = (linePos.x >= cam2.width || linePos.y >= cam2.height) ? 0.0f : 1.0f;
// Generate a colour correspondence value
@@ -187,7 +168,7 @@ __global__ void corresponding_point_kernel(
//weight *= weightFunction<FUNCTION>(params, dweight, cweight);
++count;
- contrib += weight;
+ //contrib += weight;
bestcolour = max(cweight, bestcolour);
//bestdweight = max(dweight, bestdweight);
totalcolour += cweight;
@@ -200,10 +181,10 @@ __global__ void corresponding_point_kernel(
//bestScreen = make_short2(screen.x+0.5f, screen.y+0.5f);
//}
- depthPos += depthM*float(INTERVAL);
- depthPos2 += depthM2*float(INTERVAL);
- linePos.x += float(INTERVAL);
- linePos.y += lineM*float(INTERVAL);
+ depthPos += depthM;
+ depthPos2 += depthM2;
+ linePos.x += 1.0f;
+ linePos.y += lineM;
}
const float avgcolour = totalcolour/(float)count;
--
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