From c34a571a1567223ca244ba61c3b6aa34b7df439e Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Sat, 28 Sep 2019 10:30:10 +0300
Subject: [PATCH] Use neighbour motion vectors
---
applications/reconstruct/src/ilw/ilw.cpp | 2 +-
applications/reconstruct/src/ilw/ilw.cu | 26 ++++++++++++++++--------
2 files changed, 18 insertions(+), 10 deletions(-)
diff --git a/applications/reconstruct/src/ilw/ilw.cpp b/applications/reconstruct/src/ilw/ilw.cpp
index a26fced0a..121ee2f00 100644
--- a/applications/reconstruct/src/ilw/ilw.cpp
+++ b/applications/reconstruct/src/ilw/ilw.cpp
@@ -27,7 +27,7 @@ bool ILW::process(ftl::rgbd::FrameSet &fs, cudaStream_t stream) {
//for (int i=0; i<2; ++i) {
_phase1(fs, stream);
//for (int j=0; j<3; ++j) {
- //_phase2(fs, 0.5f, stream);
+ _phase2(fs, 0.5f, stream);
//}
// TODO: Break if no time left
diff --git a/applications/reconstruct/src/ilw/ilw.cu b/applications/reconstruct/src/ilw/ilw.cu
index 65fa54763..c094c9e6b 100644
--- a/applications/reconstruct/src/ilw/ilw.cu
+++ b/applications/reconstruct/src/ilw/ilw.cu
@@ -92,13 +92,13 @@ __global__ void correspondence_energy_vector_kernel(
(bestpoint.x - world1.x),
(bestpoint.y - world1.y),
(bestpoint.z - world1.z),
- mincost);
+ (1.0f - mincost) * confidence);
//eout(x,y) = max(eout(x,y), (length(bestpoint-world1) / 0.04f) * 7.0f);
//eout(x,y) = max(eout(x,y), (1.0f - mincost) * 7.0f);
//eout(x,y) = max(eout(x, y), (1.0f - mincost) * confidence * (length(bestpoint-world1) / 0.04f) * 12.0f);
- //eout(x,y) = max(eout(x, y), (1.0f - mincost) * confidence * 12.0f);
- eout(x,y) = max(eout(x, y), confidence * 12.0f);
+ eout(x,y) = max(eout(x, y), (1.0f - mincost) * confidence * 12.0f);
+ //eout(x,y) = max(eout(x, y), confidence * 12.0f);
} else if (mincost >= 1.0f && lane == 0) {
//vout(x,y) = make_float4(0.0f);
//eout(x,y) = 0.0f;
@@ -129,11 +129,11 @@ void ftl::cuda::correspondence_energy_vector(
//==============================================================================
-
+#define MOTION_RADIUS 3
__global__ void move_points_kernel(
ftl::cuda::TextureObject<float4> p,
- ftl::cuda::TextureObject<float4> v,
+ ftl::cuda::TextureObject<float4> ev,
ftl::rgbd::Camera camera,
float rate) {
@@ -142,12 +142,20 @@ __global__ void move_points_kernel(
if (x < p.width() && y < p.height()) {
const float4 world = p(x,y);
- const float4 vec = v.tex2D((int)x,(int)y);
-
- // Calculate screen space distortion with neighbours
+ float4 vec = ev.tex2D((int)x,(int)y);
+ float contrib = vec.w;
+
+ // Calculate screen space distortion with neighbours
+ for (int v=-MOTION_RADIUS; v<=MOTION_RADIUS; ++v) {
+ for (int u=-MOTION_RADIUS; u<=MOTION_RADIUS; ++u) {
+ const float4 vecn = ev.tex2D((int)x+u,(int)y+v);
+ contrib += vecn.w;
+ vec += vecn.w * vecn;
+ }
+ }
if (vec.w > 0.0f) {
- p(x,y) = world + rate * vec;
+ p(x,y) = world + rate * (vec / contrib);
}
}
}
--
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