From d98f87f25255d92b56c29135060cf1f4735ac066 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Fri, 6 Nov 2020 11:28:38 +0200
Subject: [PATCH] Change normal viz
---
.../fusion/smoothing/mls_multi_weighted.cu | 2 +-
components/renderers/cpp/src/CUDARender.cpp | 2 +
components/renderers/cpp/src/normals.cu | 38 ++++++++++++++++++-
3 files changed, 40 insertions(+), 2 deletions(-)
diff --git a/components/operators/src/fusion/smoothing/mls_multi_weighted.cu b/components/operators/src/fusion/smoothing/mls_multi_weighted.cu
index fa73444dc..b9fbec08e 100644
--- a/components/operators/src/fusion/smoothing/mls_multi_weighted.cu
+++ b/components/operators/src/fusion/smoothing/mls_multi_weighted.cu
@@ -146,7 +146,7 @@ __device__ inline float biasedLength(const float3 &Xi, const float3 &X) {
// TODO: Angle from cam (dot of normal and ray)
//const float w_lateral = ftl::cuda::weighting(sqrt(Xi.x*X.x + Xi.y*X.y), float(SEARCH_RADIUS)*camera_origin.fx/Xi.z);
const float w = (length(Ni) > 0.0f)
- ?w_space * w_high_int * w_mean_int // min(w_space, min(w_high_int, w_mean_int))
+ ? min(w_space, min(w_high_int, w_mean_int)) //w_space * w_high_int * w_mean_int //
: 0.0f;
// Mark as a symmetry contribution
diff --git a/components/renderers/cpp/src/CUDARender.cpp b/components/renderers/cpp/src/CUDARender.cpp
index 0f888dec2..52472c0b9 100644
--- a/components/renderers/cpp/src/CUDARender.cpp
+++ b/components/renderers/cpp/src/CUDARender.cpp
@@ -417,6 +417,8 @@ void CUDARender::_mesh(ftl::rgbd::Frame &out, const Eigen::Matrix4d &t, cudaStre
);*/
}
+ //out.createTexture<half4>(_getNormalsChannel());
+
ftl::cuda::transform_normals(
out.createTexture<half4>(_getNormalsChannel()),
poseInverse_.getFloat3x3(),
diff --git a/components/renderers/cpp/src/normals.cu b/components/renderers/cpp/src/normals.cu
index ddeb6294e..3afe06c70 100644
--- a/components/renderers/cpp/src/normals.cu
+++ b/components/renderers/cpp/src/normals.cu
@@ -409,7 +409,7 @@ void ftl::cuda::normals_dot(ftl::cuda::TextureObject<float> &output,
//==============================================================================
-__global__ void vis_normals_kernel(ftl::cuda::TextureObject<half4> norm,
+/*__global__ void vis_normals_kernel(ftl::cuda::TextureObject<half4> norm,
ftl::cuda::TextureObject<uchar4> output,
float3 direction, uchar4 diffuse, uchar4 ambient) {
const unsigned int x = blockIdx.x*blockDim.x + threadIdx.x;
@@ -433,6 +433,42 @@ __global__ void vis_normals_kernel(ftl::cuda::TextureObject<half4> norm,
min(255.0f, diffuse.z*d + ambient.z), ambient.w);
}
}
+}*/
+
+__global__ void vis_normals_kernel(ftl::cuda::TextureObject<half4> norm,
+ ftl::cuda::TextureObject<uchar4> output,
+ float3 direction, uchar4 diffuse, uchar4 ambient
+) {
+ const unsigned int x = blockIdx.x*blockDim.x + threadIdx.x;
+ const unsigned int y = blockIdx.y*blockDim.y + threadIdx.y;
+
+ if(x < norm.width() && y < norm.height()) {
+ output(x,y) = make_uchar4(ambient.x,ambient.y,ambient.z,0);
+
+ //float3 ray = direction;
+ //ray = ray / length(ray);
+ float3 n = make_float3(norm.tex2D((int)x,(int)y));
+ float l = length(n);
+
+ if (l != 0) {
+ n /= l;
+
+ const float b = (n.z + 1.0f) * 0.5f * 255.0f;
+ const float g = (n.y + 1.0f) * 0.5f * 255.0f;
+ const float r = (n.x + 1.0f) * 0.5f * 255.0f;
+
+ //const float d = max(dot(ray, n), 0.0f);
+ /*output(x,y) = make_uchar4(
+ min(255.0f, diffuse.x*d + ambient.x),
+ min(255.0f, diffuse.y*d + ambient.y),
+ min(255.0f, diffuse.z*d + ambient.z), ambient.w);*/
+
+ output(x,y) = make_uchar4(
+ min(255.0f, b + ambient.x),
+ min(255.0f, g + ambient.y),
+ min(255.0f, r + ambient.z), ambient.w);
+ }
+ }
}
void ftl::cuda::normal_visualise(ftl::cuda::TextureObject<half4> &norm,
--
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