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Nicolas Pope
ftl
Commits
bb35a4b5
Commit
bb35a4b5
authored
5 years ago
by
Nicolas Pope
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Merge branch 'bug/197/resolution' into 'master'
Resolves
#197
different source and virt res Closes
#197
See merge request nicolas.pope/ftl!126
parents
e85dc65c
0c628a04
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1 merge request
!126
Resolves #197 different source and virt res
Pipeline
#15288
passed
5 years ago
Stage: all
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1
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1 changed file
components/renderers/cpp/src/splat_render.cpp
+5
-3
5 additions, 3 deletions
components/renderers/cpp/src/splat_render.cpp
with
5 additions
and
3 deletions
components/renderers/cpp/src/splat_render.cpp
+
5
−
3
View file @
bb35a4b5
...
...
@@ -307,12 +307,14 @@ bool Splatter::render(ftl::rgbd::VirtualSource *src, ftl::rgbd::Frame &out, cuda
out
.
create
<
GpuMat
>
(
Channel
::
Depth
,
Format
<
float
>
(
camera
.
width
,
camera
.
height
));
out
.
create
<
GpuMat
>
(
Channel
::
Colour
,
Format
<
uchar4
>
(
camera
.
width
,
camera
.
height
));
// FIXME: Use source resolutions, not virtual resolution
if
(
scene_
->
frames
.
size
()
==
0
)
return
false
;
auto
&
g
=
scene_
->
frames
[
0
].
get
<
GpuMat
>
(
Channel
::
Colour
);
temp_
.
create
<
GpuMat
>
(
Channel
::
Colour
,
Format
<
float4
>
(
camera
.
width
,
camera
.
height
));
temp_
.
create
<
GpuMat
>
(
Channel
::
Contribution
,
Format
<
float
>
(
camera
.
width
,
camera
.
height
));
temp_
.
create
<
GpuMat
>
(
Channel
::
Depth
,
Format
<
int
>
(
camera
.
width
,
camera
.
height
));
temp_
.
create
<
GpuMat
>
(
Channel
::
Depth2
,
Format
<
int
>
(
camera
.
width
,
camera
.
height
));
temp_
.
create
<
GpuMat
>
(
Channel
::
Normals
,
Format
<
float4
>
(
camera
.
width
,
camera
.
height
));
temp_
.
create
<
GpuMat
>
(
Channel
::
Normals
,
Format
<
float4
>
(
g
.
cols
,
g
.
rows
));
cv
::
cuda
::
Stream
cvstream
=
cv
::
cuda
::
StreamAccessor
::
wrapStream
(
stream
);
...
...
@@ -363,7 +365,7 @@ bool Splatter::render(ftl::rgbd::VirtualSource *src, ftl::rgbd::Frame &out, cuda
auto
&
g
=
f
.
get
<
GpuMat
>
(
Channel
::
Colour
);
ftl
::
cuda
::
normals
(
f
.
createTexture
<
float4
>
(
Channel
::
Normals
,
Format
<
float4
>
(
g
.
cols
,
g
.
rows
)),
temp_
.
getTexture
<
float4
>
(
Channel
::
Normals
),
// FIXME: Uses assumption of vcam res same as input res
temp_
.
getTexture
<
float4
>
(
Channel
::
Normals
),
f
.
getTexture
<
float4
>
(
Channel
::
Points
),
3
,
0.04
f
,
s
->
parameters
(),
pose
.
getFloat3x3
(),
stream
);
...
...
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