From bf31bdd6f6c95ffc8c90d2d0d3a30923e4dd9a13 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Thu, 5 Nov 2020 11:32:23 +0200
Subject: [PATCH] Notes
---
components/operators/src/fusion/fusion.cpp | 12 ++++++++++++
1 file changed, 12 insertions(+)
diff --git a/components/operators/src/fusion/fusion.cpp b/components/operators/src/fusion/fusion.cpp
index 334820a3a..7f5d039fe 100644
--- a/components/operators/src/fusion/fusion.cpp
+++ b/components/operators/src/fusion/fusion.cpp
@@ -35,6 +35,18 @@ bool Fusion::apply(ftl::rgbd::FrameSet &in, ftl::rgbd::FrameSet &out, cudaStream
cv::cuda::resize(temp_, weights_[i], d.size(), 0, 0, cv::INTER_LINEAR, cvstream);
}
+ // 1) Optical flow of colour
+ // 2) Flow depth from model,
+ // a) check local depth change consistency, generate a weighting
+ // 3) Generate smooth motion field
+ // a) Remove outliers (median filter?)
+ // b) Smooth outputs, perhaps using change consistency as weight?
+ // 4) Merge past with present using motion field
+ // a) Visibility cull both directions
+ // b) Local view feature weighted MLS
+ // 5) Now merge all view points
+ // 6) Store as a new model
+
if (config()->value("visibility_carving", true)) {
for (size_t i=0; i < in.frames.size(); ++i) {
if (!in.hasFrame(i)) continue;
--
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