From d8fa1364a9128d0f1fa004841a55c3a0cb4bdb02 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Fri, 4 Oct 2019 09:40:15 +0300
Subject: [PATCH] Tidy and document
---
components/renderers/cpp/src/points.cu | 4 +-
components/renderers/cpp/src/splatter.cu | 62 +++++++++++-------------
2 files changed, 30 insertions(+), 36 deletions(-)
diff --git a/components/renderers/cpp/src/points.cu b/components/renderers/cpp/src/points.cu
index f73eaa208..a188adaef 100644
--- a/components/renderers/cpp/src/points.cu
+++ b/components/renderers/cpp/src/points.cu
@@ -12,7 +12,9 @@ __global__ void point_cloud_kernel(ftl::cuda::TextureObject<float4> output, ftl:
output(x,y) = make_float4(MINF, MINF, MINF, MINF);
const float d = depth.tex2D((int)x, (int)y);
- float p = d;
+
+ // Calculate depth between 0.0 and 1.0
+ float p = (d - params.minDepth) / (params.maxDepth - params.minDepth);
if (d >= params.minDepth && d <= params.maxDepth) {
/* Orts-Escolano S. et al. 2016. Holoportation: Virtual 3D teleportation in real-time. */
diff --git a/components/renderers/cpp/src/splatter.cu b/components/renderers/cpp/src/splatter.cu
index aa0fc6bed..3567d5c07 100644
--- a/components/renderers/cpp/src/splatter.cu
+++ b/components/renderers/cpp/src/splatter.cu
@@ -184,42 +184,34 @@ __device__ inline float make(const float4 &v) {
const float3 camPos = params.camera.screenToCam((int)(x+u),(int)(y+v),d);
const float3 camPos2 = params.camera.screenToCam((int)(x),(int)(y),d);
- //if (length(camPos - camPos2) > 2.0f*(camPos.z/params.camera.fx)) continue;
const float3 worldPos = params.m_viewMatrixInverse * camPos;
- //const float3 camPos2 = pose_inv * worldPos;
- //const uint2 screenPos = camera.camToScreen<uint2>(camPos2);
-
- //if (screenPos.x < points.width() && screenPos.y < points.height()) {
- // Can now read points, normals and colours from source cam
-
- // What is contribution of our current point at this pixel?
- //const float3 p = make_float3(points.tex2D((int)screenPos.x, (int)screenPos.y));
- //const float weight = ftl::cuda::spatialWeighting(worldPos, p, (camPos.z/params.camera.fx)); //*(camPos2.z/camera.fx));
- //if (weight <= 0.0f) continue;
-
- float4 n = normals.tex2D((int)(x+u), (int)(y+v));
- //const float l = length(n);
- //if (l == 0.0f) continue;
- //n /= l;
-
- // Does the ray intersect plane of splat?
- float t = 1000.0f;
- if (ftl::cuda::intersectPlane(make_float3(n), worldPos, origin, ray, t)) { //} && fabs(t-camPos.z) < 0.01f) {
- //t *= (params.m_viewMatrix.getFloat3x3() * ray).z;
- t *= scale;
- const float3 camPos3 = params.camera.screenToCam((int)(x),(int)(y),t);
- float weight = ftl::cuda::spatialWeighting(camPos, camPos3, 2.0f*(camPos3.z/params.camera.fx));
-
- if (params.m_flags & ftl::render::kNormalWeightColours) weight *= n.w * n.w;
-
- if (weight <= 0.0f) continue;
- //depth += t * weight;
- //contrib += weight;
- depth = min(depth, t);
- results[i/WARP_SIZE] = {weight, t, in.tex2D((int)x+u, (int)y+v)}; //make_float2(t, weight);
- //atomicMin(&depth_out(x,y), (int)(depth * 1000.0f));
- }
- //}
+
+
+ // Assumed to be normalised
+ float4 n = normals.tex2D((int)(x+u), (int)(y+v));
+
+ // Does the ray intersect plane of splat?
+ float t = 1000.0f;
+ if (ftl::cuda::intersectPlane(make_float3(n), worldPos, origin, ray, t)) { //} && fabs(t-camPos.z) < 0.01f) {
+ // Adjust from normalised ray back to original meters units
+ t *= scale;
+ const float3 camPos3 = params.camera.screenToCam((int)(x),(int)(y),t);
+ float weight = ftl::cuda::spatialWeighting(camPos, camPos3, 2.0f*(camPos3.z/params.camera.fx));
+
+ /* Buehler C. et al. 2001. Unstructured Lumigraph Rendering. */
+ /* Orts-Escolano S. et al. 2016. Holoportation: Virtual 3D teleportation in real-time. */
+ // This is the simple naive colour weighting. It might be good
+ // enough for our purposes if the alignment step prevents ghosting
+ // TODO: Use depth and perhaps the neighbourhood consistency in:
+ // Kuster C. et al. 2011. FreeCam: A hybrid camera system for interactive free-viewpoint video
+ if (params.m_flags & ftl::render::kNormalWeightColours) weight *= n.w * n.w;
+ //if (params.m_flags & ftl::render::kDepthWeightColours) weight *= ???
+
+ if (weight <= 0.0f) continue;
+
+ depth = min(depth, t);
+ results[i/WARP_SIZE] = {weight, t, in.tex2D((int)x+u, (int)y+v)};
+ }
}
depth = warpMin(depth);
--
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