diff --git a/components/renderers/cpp/src/normals.cu b/components/renderers/cpp/src/normals.cu
index 7f9b1bb1855fab0aa5e456722e4a94b181ec1dfd..13b82e3a09170b5223185a92fdc731ddc209ccdf 100644
--- a/components/renderers/cpp/src/normals.cu
+++ b/components/renderers/cpp/src/normals.cu
@@ -57,7 +57,7 @@ __global__ void computeNormals_kernel(ftl::cuda::TextureObject<float4> output,
const float l = length(n);
if(l > 0.0f) {
- output(x,y) = make_float4(pose * (n/-l), 1.0f);
+ output(x,y) = make_float4((n/-l), 1.0f);
}
}
}
@@ -131,22 +131,22 @@ __global__ void smooth_normals_kernel(ftl::cuda::TextureObject<float4> norms,
//if (s > 0.0f) {
const float4 n = norms.tex2D((int)x+u,(int)y+v);
- //if (n.w > 0.0f) {
+ if (n.w > 0.0f) {
nsum += make_float3(n) * s;
contrib += s;
- //}
+ }
//}
}
}
// Compute dot product of normal with camera to obtain measure of how
// well this point faces the source camera, a measure of confidence
- float3 ray = pose * camera.screenToCam(x, y, 1.0f);
+ float3 ray = camera.screenToCam(x, y, 1.0f);
ray = ray / length(ray);
nsum /= contrib;
nsum /= length(nsum);
- output(x,y) = (contrib > 0.0f) ? make_float4(nsum, 1.0f) : make_float4(0.0f); //dot(nsum, ray)
+ output(x,y) = (contrib > 0.0f) ? make_float4(pose*nsum, 1.0f) : make_float4(0.0f);
}
void ftl::cuda::normals(ftl::cuda::TextureObject<float4> &output,
@@ -163,9 +163,10 @@ void ftl::cuda::normals(ftl::cuda::TextureObject<float4> &output,
cudaSafeCall( cudaGetLastError() );
switch (radius) {
- case 7: smooth_normals_kernel<7><<<gridSize, blockSize, 0, stream>>>(temp, output, input, camera, pose, smoothing);
- case 5: smooth_normals_kernel<5><<<gridSize, blockSize, 0, stream>>>(temp, output, input, camera, pose, smoothing);
- case 3: smooth_normals_kernel<3><<<gridSize, blockSize, 0, stream>>>(temp, output, input, camera, pose, smoothing);
+ case 9: smooth_normals_kernel<9><<<gridSize, blockSize, 0, stream>>>(temp, output, input, camera, pose, smoothing); break;
+ case 7: smooth_normals_kernel<7><<<gridSize, blockSize, 0, stream>>>(temp, output, input, camera, pose, smoothing); break;
+ case 5: smooth_normals_kernel<5><<<gridSize, blockSize, 0, stream>>>(temp, output, input, camera, pose, smoothing); break;
+ case 3: smooth_normals_kernel<3><<<gridSize, blockSize, 0, stream>>>(temp, output, input, camera, pose, smoothing); break;
}
cudaSafeCall( cudaGetLastError() );
@@ -189,9 +190,9 @@ void ftl::cuda::normals(ftl::cuda::TextureObject<float4> &output,
cudaSafeCall( cudaGetLastError() );
switch (radius) {
- case 7: smooth_normals_kernel<7><<<gridSize, blockSize, 0, stream>>>(temp, output, input, camera, pose_inv, smoothing);
- case 5: smooth_normals_kernel<5><<<gridSize, blockSize, 0, stream>>>(temp, output, input, camera, pose_inv, smoothing);
- case 3: smooth_normals_kernel<3><<<gridSize, blockSize, 0, stream>>>(temp, output, input, camera, pose_inv, smoothing);
+ case 7: smooth_normals_kernel<7><<<gridSize, blockSize, 0, stream>>>(temp, output, input, camera, pose, smoothing);
+ case 5: smooth_normals_kernel<5><<<gridSize, blockSize, 0, stream>>>(temp, output, input, camera, pose, smoothing);
+ case 3: smooth_normals_kernel<3><<<gridSize, blockSize, 0, stream>>>(temp, output, input, camera, pose, smoothing);
}
cudaSafeCall( cudaGetLastError() );
diff --git a/components/renderers/cpp/src/splat_render.cpp b/components/renderers/cpp/src/splat_render.cpp
index f96054587f7db6fb13886ffc320c5888aeb1cf48..39016f5757fd567b701941f7093a060904f5b901 100644
--- a/components/renderers/cpp/src/splat_render.cpp
+++ b/components/renderers/cpp/src/splat_render.cpp
@@ -168,7 +168,7 @@ void Splatter::renderChannel(
out.get<GpuMat>(Channel::Normals).setTo(cv::Scalar(0.0f,0.0f,0.0f,0.0f), cvstream);
// Create normals first
- /*for (auto &f : scene_->frames) {
+ for (auto &f : scene_->frames) {
ftl::cuda::dibr_attribute(
f.createTexture<float4>(Channel::Normals),
@@ -185,15 +185,15 @@ void Splatter::renderChannel(
out.getTexture<float4>(Channel::Normals),
temp_.getTexture<float>(Channel::Contribution),
stream
- );*/
+ );
//auto &t = out.createTexture<float4>(Channel::Points, Format<float4>(params.camera.width, params.camera.height));
//ftl::cuda::point_cloud(t, temp_.getTexture<int>(Channel::Depth2), params.camera, params.m_viewMatrixInverse, 0, stream);
- ftl::cuda::normals(out.createTexture<float4>(Channel::Normals),
+ /*ftl::cuda::normals(out.createTexture<float4>(Channel::Normals),
temp_.getTexture<float4>(Channel::Normals),
temp_.getTexture<int>(Channel::Depth2),
- 5, 0.04f,
- params.camera, params.m_viewMatrixInverse.getFloat3x3(), params.m_viewMatrix.getFloat3x3(), stream);
+ 9, 0.04f,
+ params.camera, params.m_viewMatrixInverse.getFloat3x3(), params.m_viewMatrix.getFloat3x3(), stream);*/
//if (norm_filter_ > -0.1f) {
// ftl::cuda::normal_filter(f.getTexture<float4>(Channel::Normals), f.getTexture<float4>(Channel::Points), s->parameters(), pose, norm_filter_, stream);
diff --git a/components/renderers/cpp/src/splatter.cu b/components/renderers/cpp/src/splatter.cu
index 36c4fa6d5ca01a4c5bbbc57bce3f376c08925d36..786bb721587748118f7c9387e5f825cede41532e 100644
--- a/components/renderers/cpp/src/splatter.cu
+++ b/components/renderers/cpp/src/splatter.cu
@@ -204,13 +204,14 @@ __device__ inline float make(float v) {
// Assumed to be normalised
- float4 n = normals.tex2D((int)(x+u), (int)(y+v));
+ float4 n = normals.tex2D((int)(x+u), (int)(y+v));
+ //if (length(make_float3(n)) == 0.0f) printf("BAD NORMAL\n");
// Does the ray intersect plane of splat?
float t = 1000.0f;
if (ftl::cuda::intersectPlane(make_float3(n), worldPos, origin, ray, t)) { //} && fabs(t-camPos.z) < 0.01f) {
// Adjust from normalised ray back to original meters units
- t *= scale;
+ t *= scale;
const float3 camPos3 = params.camera.screenToCam((int)(x),(int)(y),t);
float weight = ftl::cuda::spatialWeighting(camPos, camPos3, 2.0f*(camPos3.z/params.camera.fx));