From ce2a30dd1f14f0a449101e884d1d358484c095a6 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Thu, 19 Sep 2019 16:36:57 +0300
Subject: [PATCH] Clear the energy vectors
---
applications/reconstruct/src/ilw.cpp | 5 +++++
applications/reconstruct/src/ilw.cu | 10 +++++-----
2 files changed, 10 insertions(+), 5 deletions(-)
diff --git a/applications/reconstruct/src/ilw.cpp b/applications/reconstruct/src/ilw.cpp
index 86a4cca5e..c1bf8499a 100644
--- a/applications/reconstruct/src/ilw.cpp
+++ b/applications/reconstruct/src/ilw.cpp
@@ -66,6 +66,11 @@ bool ILW::_phase0(ftl::rgbd::FrameSet &fs, cudaStream_t stream) {
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;
diff --git a/applications/reconstruct/src/ilw.cu b/applications/reconstruct/src/ilw.cu
index 90133a3a5..b97c49964 100644
--- a/applications/reconstruct/src/ilw.cu
+++ b/applications/reconstruct/src/ilw.cu
@@ -30,9 +30,10 @@ __global__ void correspondence_energy_vector_kernel(
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));
+ 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 uint2 screen2 = cam2.camToScreen<uint2>(camPos2);
const int upsample = 8;
@@ -43,12 +44,11 @@ __global__ void correspondence_energy_vector_kernel(
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));
+ 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);
-
- printf("conf %f\n", confidence);
const float maxconf = warpMax(confidence);
// This thread has best confidence value
--
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