From cf8da40e940619e571cf0a7f5031eb244234d8a5 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Sat, 28 Sep 2019 09:41:18 +0300
Subject: [PATCH] Improved confidence calculation
---
applications/reconstruct/src/ilw/ilw.cu | 32 ++++++++++++++++---------
1 file changed, 21 insertions(+), 11 deletions(-)
diff --git a/applications/reconstruct/src/ilw/ilw.cu b/applications/reconstruct/src/ilw/ilw.cu
index 73a8e2bdf..c8fceaca5 100644
--- a/applications/reconstruct/src/ilw/ilw.cu
+++ b/applications/reconstruct/src/ilw/ilw.cu
@@ -16,6 +16,14 @@ __device__ inline float warpMin(float e) {
return e;
}
+__device__ inline float warpSum(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 += other;
+ }
+ return e;
+}
+
#define COR_WIN_RADIUS 17
#define COR_WIN_SIZE (COR_WIN_RADIUS * COR_WIN_RADIUS)
@@ -41,8 +49,9 @@ __global__ void correspondence_energy_vector_kernel(
const uint2 screen2 = cam2.camToScreen<uint2>(camPos2);
float bestcost = 1.1f;
- float nextbest = 1.0f;
- float3 bestpoint;
+ float avgcost = 0.0f;
+ float3 bestpoint;
+ int count = 0;
// Project to p2 using cam2
// Each thread takes a possible correspondence and calculates a weighting
@@ -55,6 +64,8 @@ __global__ void correspondence_energy_vector_kernel(
const uchar4 colour2 = c2.tex2D(screen2.x+u, screen2.y+v);
if (world2.x == MINF) continue;
+ ++count;
+
// Determine degree of correspondence
float cost = 1.0f - ftl::cuda::spatialWeighting(world1, world2, 0.04f);
cost *= 1.0f - ftl::cuda::colourWeighting(colour1, colour2, 50.0f);
@@ -62,15 +73,16 @@ __global__ void correspondence_energy_vector_kernel(
if (cost < bestcost) {
bestpoint = world2;
- nextbest = bestcost;
+ avgcost += cost;
bestcost = cost;
}
}
+ count = warpSum(count);
const float mincost = warpMin(bestcost);
- bool best = mincost == bestcost;
- bestcost = (best) ? nextbest : bestcost;
- const float confidence = mincost / warpMin(bestcost);
+ bool best = mincost == bestcost;
+ avgcost = warpSum(avgcost) / count;
+ const float confidence = (avgcost - mincost);
if (best && mincost < 1.0f) {
vout(x,y) = vout.tex2D(x, y) + make_float4(
@@ -79,11 +91,9 @@ __global__ void correspondence_energy_vector_kernel(
(bestpoint.z - world1.z),
mincost);
- eout(x,y) = max(eout(x,y), length(bestpoint-world1) * 10.0f);
- //eout(x,y) = max(eout(x,y), (1.0f - mincost) * 7.0f); //confidence * 5.0f;
-
- // FIXME: This needs to be summed across all frames
- //eout(x,y) = max(eout(x, y), confidence * 7.0f);
+ //eout(x,y) = max(eout(x,y), length(bestpoint-world1) * 10.0f);
+ //eout(x,y) = max(eout(x,y), (1.0f - mincost) * 7.0f);
+ eout(x,y) = max(eout(x, y), confidence * 7.0f);
} else if (mincost >= 1.0f && lane == 0) {
//vout(x,y) = make_float4(0.0f);
//eout(x,y) = 0.0f;
--
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