From d5a7d1d9baab145d3ca9809e60fba897dada9cb2 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Mon, 12 Aug 2019 08:45:57 +0300
Subject: [PATCH] WIP Dynamic smoothing
---
applications/reconstruct/src/dibr.cu | 10 ++++++----
1 file changed, 6 insertions(+), 4 deletions(-)
diff --git a/applications/reconstruct/src/dibr.cu b/applications/reconstruct/src/dibr.cu
index 8d21279f1..93ea413e4 100644
--- a/applications/reconstruct/src/dibr.cu
+++ b/applications/reconstruct/src/dibr.cu
@@ -400,6 +400,8 @@ __device__ inline float warpMin(float e) {
}
#define ENERGY_THRESHOLD 0.1f
+#define SMOOTHING_MULTIPLIER_A 10.0f
+#define SMOOTHING_MULTIPLIER_B 5.0f
/*
@@ -449,7 +451,7 @@ __device__ inline float warpMin(float e) {
// 1) Depth from original source
// 2) Colour contrast in underlying RGB
// 3) Estimated noise levels in depth values
- if (point.z > clusterBase && point.z < params.camera.m_sensorDepthWorldMax && length(point - camPos) <= 0.04f) {
+ if (point.z > clusterBase && point.z < params.camera.m_sensorDepthWorldMax && length(point - camPos) <= SMOOTHING_MULTIPLIER_A*(point.z / params.camera.fx)) {
atomicMin(&minimum[warp], point.z*1000.0f);
}
}
@@ -471,7 +473,7 @@ __device__ inline float warpMin(float e) {
const float3 point = params.camera.kinectDepthToSkeleton(x+u, y+v, float(point_in.tex2D(x+u, y+v)) / 1000.0f);
// If it is close enough...
- if (point.z > params.camera.m_sensorDepthWorldMin && point.z < params.camera.m_sensorDepthWorldMax && length(point - minPos) <= 0.04f) {
+ if (point.z > params.camera.m_sensorDepthWorldMin && point.z < params.camera.m_sensorDepthWorldMax && length(point - minPos) <= SMOOTHING_MULTIPLIER_A*(point.z / params.camera.fx)) {
// Append to neighbour list
//unsigned int idx = atomicInc(&nidx[warp], MAX_NEIGHBORS_2-1);
unsigned int idx = atomicAdd(&nidx[warp], 1);
@@ -511,7 +513,7 @@ __device__ inline float warpMin(float e) {
// Search for best or threshold energy
for (int k=lane; k<MAX_ITERATIONS; k+=WARP_SIZE) {
const float3 nearest = params.camera.kinectDepthToSkeleton(x,y,minDepth+float(k)*interval);
- const float myenergy = ftl::cuda::mls_point_energy<MAX_NEIGHBORS_2>(neighborhood_cache[warp], nearest, min(nidx[warp], MAX_NEIGHBORS_2), SPATIAL_SMOOTHING);
+ const float myenergy = ftl::cuda::mls_point_energy<MAX_NEIGHBORS_2>(neighborhood_cache[warp], nearest, min(nidx[warp], MAX_NEIGHBORS_2), SMOOTHING_MULTIPLIER_B*(nearest.z/params.camera.fx));
const float newenergy = warpMax(max(myenergy, maxenergy));
bestdepth = (myenergy == newenergy) ? nearest.z : (newenergy > maxenergy) ? 0.0f : bestdepth;
maxenergy = newenergy;
@@ -548,7 +550,7 @@ __device__ inline float warpMin(float e) {
if (maxenergy >= ENERGY_THRESHOLD) return;
// Move to next possible surface...
- clusterBase = minDepth + 0.04f;
+ clusterBase = minDepth + 0.01f;
};
}
--
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