From cac55198257aa961e2d4bf8c281001b6654c5ce1 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Wed, 25 Sep 2019 20:41:08 +0300
Subject: [PATCH] Move files
---
applications/reconstruct/src/ilw/ilw.cpp | 129 ++++++++++++++++++
applications/reconstruct/src/ilw/ilw.cu | 86 ++++++++++++
.../reconstruct/src/{ => ilw}/ilw.hpp | 0
.../reconstruct/src/{ => ilw}/ilw_cuda.hpp | 0
applications/reconstruct/src/{ => mls}/mls.cu | 0
5 files changed, 215 insertions(+)
create mode 100644 applications/reconstruct/src/ilw/ilw.cpp
create mode 100644 applications/reconstruct/src/ilw/ilw.cu
rename applications/reconstruct/src/{ => ilw}/ilw.hpp (100%)
rename applications/reconstruct/src/{ => ilw}/ilw_cuda.hpp (100%)
rename applications/reconstruct/src/{ => mls}/mls.cu (100%)
diff --git a/applications/reconstruct/src/ilw/ilw.cpp b/applications/reconstruct/src/ilw/ilw.cpp
new file mode 100644
index 000000000..a10cce193
--- /dev/null
+++ b/applications/reconstruct/src/ilw/ilw.cpp
@@ -0,0 +1,129 @@
+#include "ilw.hpp"
+#include <ftl/utility/matrix_conversion.hpp>
+#include <ftl/rgbd/source.hpp>
+#include <ftl/cuda/points.hpp>
+#include <loguru.hpp>
+
+#include "ilw_cuda.hpp"
+
+using ftl::ILW;
+using ftl::detail::ILWData;
+using ftl::rgbd::Channel;
+using ftl::rgbd::Channels;
+using ftl::rgbd::Format;
+using cv::cuda::GpuMat;
+
+ILW::ILW(nlohmann::json &config) : ftl::Configurable(config) {
+
+}
+
+ILW::~ILW() {
+
+}
+
+bool ILW::process(ftl::rgbd::FrameSet &fs, cudaStream_t stream) {
+ _phase0(fs, stream);
+
+ //for (int i=0; i<2; ++i) {
+ _phase1(fs, stream);
+ //for (int j=0; j<3; ++j) {
+ // _phase2(fs);
+ //}
+
+ // TODO: Break if no time left
+ //}
+
+ return true;
+}
+
+bool ILW::_phase0(ftl::rgbd::FrameSet &fs, cudaStream_t stream) {
+ // Make points channel...
+ for (size_t i=0; i<fs.frames.size(); ++i) {
+ auto &f = fs.frames[i];
+ auto *s = fs.sources[i];
+
+ if (f.empty(Channel::Depth + Channel::Colour)) {
+ LOG(ERROR) << "Missing required channel";
+ continue;
+ }
+
+ auto &t = f.createTexture<float4>(Channel::Points, Format<float4>(f.get<GpuMat>(Channel::Colour).size()));
+ auto pose = MatrixConversion::toCUDA(s->getPose().cast<float>()); //.inverse());
+ ftl::cuda::point_cloud(t, f.createTexture<float>(Channel::Depth), s->parameters(), pose, stream);
+
+ // TODO: Create energy vector texture and clear it
+ // Create energy and clear it
+
+ // Convert colour from BGR to BGRA if needed
+ if (f.get<GpuMat>(Channel::Colour).type() == CV_8UC3) {
+ // Convert to 4 channel colour
+ auto &col = f.get<GpuMat>(Channel::Colour);
+ GpuMat tmp(col.size(), CV_8UC4);
+ cv::cuda::swap(col, tmp);
+ cv::cuda::cvtColor(tmp,col, cv::COLOR_BGR2BGRA);
+ }
+
+ f.createTexture<float4>(Channel::EnergyVector, Format<float4>(f.get<GpuMat>(Channel::Colour).size()));
+ f.createTexture<float>(Channel::Energy, Format<float>(f.get<GpuMat>(Channel::Colour).size()));
+ f.createTexture<uchar4>(Channel::Colour);
+
+ cv::cuda::Stream cvstream = cv::cuda::StreamAccessor::wrapStream(stream);
+
+ f.get<GpuMat>(Channel::EnergyVector).setTo(cv::Scalar(0.0f,0.0f,0.0f,0.0f), cvstream);
+ f.get<GpuMat>(Channel::Energy).setTo(cv::Scalar(0.0f), cvstream);
+ }
+
+ return true;
+}
+
+bool ILW::_phase1(ftl::rgbd::FrameSet &fs, cudaStream_t stream) {
+ // Run correspondence kernel to create an energy vector
+
+ // For each camera combination
+ for (size_t i=0; i<fs.frames.size(); ++i) {
+ for (size_t j=0; j<fs.frames.size(); ++j) {
+ if (i == j) continue;
+
+ LOG(INFO) << "Running phase1";
+
+ auto &f1 = fs.frames[i];
+ auto &f2 = fs.frames[j];
+ //auto s1 = fs.frames[i];
+ auto s2 = fs.sources[j];
+
+ auto pose = MatrixConversion::toCUDA(s2->getPose().cast<float>().inverse());
+
+ try {
+ //Calculate energy vector to best correspondence
+ ftl::cuda::correspondence_energy_vector(
+ f1.getTexture<float4>(Channel::Points),
+ f2.getTexture<float4>(Channel::Points),
+ f1.getTexture<uchar4>(Channel::Colour),
+ f2.getTexture<uchar4>(Channel::Colour),
+ // TODO: Add normals and other things...
+ f1.getTexture<float4>(Channel::EnergyVector),
+ f1.getTexture<float>(Channel::Energy),
+ pose,
+ s2->parameters(),
+ stream
+ );
+ } catch (ftl::exception &e) {
+ LOG(ERROR) << "Exception in correspondence: " << e.what();
+ }
+
+ LOG(INFO) << "Correspondences done... " << i;
+ }
+ }
+
+ return true;
+}
+
+bool ILW::_phase2(ftl::rgbd::FrameSet &fs) {
+ // Run energies and motion kernel
+
+ // Smooth vectors across a window and iteratively
+ // strongly disagreeing vectors should cancel out
+ // A weak vector is overriden by a stronger one.
+
+ return true;
+}
diff --git a/applications/reconstruct/src/ilw/ilw.cu b/applications/reconstruct/src/ilw/ilw.cu
new file mode 100644
index 000000000..b97c49964
--- /dev/null
+++ b/applications/reconstruct/src/ilw/ilw.cu
@@ -0,0 +1,86 @@
+#include "ilw_cuda.hpp"
+
+using ftl::cuda::TextureObject;
+using ftl::rgbd::Camera;
+
+#define WARP_SIZE 32
+#define T_PER_BLOCK 8
+#define FULL_MASK 0xffffffff
+
+__device__ inline float warpMax(float e) {
+ for (int i = WARP_SIZE/2; i > 0; i /= 2) {
+ const float other = __shfl_xor_sync(FULL_MASK, e, i, WARP_SIZE);
+ e = max(e, other);
+ }
+ return e;
+}
+
+__global__ void correspondence_energy_vector_kernel(
+ TextureObject<float4> p1,
+ TextureObject<float4> p2,
+ TextureObject<uchar4> c1,
+ TextureObject<uchar4> c2,
+ TextureObject<float4> vout,
+ TextureObject<float> eout,
+ float4x4 pose2, // Inverse
+ Camera cam2) {
+
+ // 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 float3 world1 = make_float3(p1.tex2D(x, y));
+ if (world1.x == MINF) return;
+ const float3 camPos2 = pose2 * world1;
+ const uint2 screen2 = cam2.camToScreen<uint2>(camPos2);
+
+ const int upsample = 8;
+
+ // Project to p2 using cam2
+ // Each thread takes a possible correspondence and calculates a weighting
+ const int lane = tid % WARP_SIZE;
+ for (int i=lane; i<upsample*upsample; i+=WARP_SIZE) {
+ const float u = (i % upsample) - (upsample / 2);
+ const float v = (i / upsample) - (upsample / 2);
+
+ const float3 world2 = make_float3(p2.tex2D(screen2.x+u, screen2.y+v));
+ if (world2.x == MINF) continue;
+
+ // Determine degree of correspondence
+ const float confidence = 1.0f / length(world1 - world2);
+ const float maxconf = warpMax(confidence);
+
+ // This thread has best confidence value
+ if (maxconf == confidence) {
+ vout(x,y) = vout.tex2D(x, y) + make_float4(
+ (world1.x - world2.x) * maxconf,
+ (world1.y - world2.y) * maxconf,
+ (world1.z - world2.z) * maxconf,
+ maxconf);
+ eout(x,y) = eout.tex2D(x,y) + length(world1 - world2)*maxconf;
+ }
+ }
+}
+
+void ftl::cuda::correspondence_energy_vector(
+ TextureObject<float4> &p1,
+ TextureObject<float4> &p2,
+ TextureObject<uchar4> &c1,
+ TextureObject<uchar4> &c2,
+ TextureObject<float4> &vout,
+ TextureObject<float> &eout,
+ float4x4 &pose2,
+ const Camera &cam2,
+ cudaStream_t stream) {
+
+ const dim3 gridSize((p1.width() + 2 - 1)/2, (p1.height() + T_PER_BLOCK - 1)/T_PER_BLOCK);
+ const dim3 blockSize(2*WARP_SIZE, T_PER_BLOCK);
+
+ printf("COR SIZE %d,%d\n", p1.width(), p1.height());
+
+ correspondence_energy_vector_kernel<<<gridSize, blockSize, 0, stream>>>(
+ p1, p2, c1, c2, vout, eout, pose2, cam2
+ );
+ cudaSafeCall( cudaGetLastError() );
+}
diff --git a/applications/reconstruct/src/ilw.hpp b/applications/reconstruct/src/ilw/ilw.hpp
similarity index 100%
rename from applications/reconstruct/src/ilw.hpp
rename to applications/reconstruct/src/ilw/ilw.hpp
diff --git a/applications/reconstruct/src/ilw_cuda.hpp b/applications/reconstruct/src/ilw/ilw_cuda.hpp
similarity index 100%
rename from applications/reconstruct/src/ilw_cuda.hpp
rename to applications/reconstruct/src/ilw/ilw_cuda.hpp
diff --git a/applications/reconstruct/src/mls.cu b/applications/reconstruct/src/mls/mls.cu
similarity index 100%
rename from applications/reconstruct/src/mls.cu
rename to applications/reconstruct/src/mls/mls.cu
--
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