From d9b954be15d09b961d5d6e62559a7c088efd8032 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Fri, 1 Nov 2019 17:56:26 +0200
Subject: [PATCH] Iterate the MLS
---
components/filters/src/smoothing.cpp | 36 +++++++++++++++-------------
components/filters/src/smoothing.cu | 2 +-
2 files changed, 21 insertions(+), 17 deletions(-)
diff --git a/components/filters/src/smoothing.cpp b/components/filters/src/smoothing.cpp
index 517179976..e28051745 100644
--- a/components/filters/src/smoothing.cpp
+++ b/components/filters/src/smoothing.cpp
@@ -71,24 +71,28 @@ void MLSSmoother::smooth(ftl::rgbd::Frame &f, ftl::rgbd::Source *s) {
bool do_smooth = value("mls_smooth", false);
if (!do_smooth) return;
- if (!f.hasChannel(Channel::Normals)) {
- ftl::cuda::normals(
- f.createTexture<float4>(Channel::Normals, ftl::rgbd::Format<float4>(f.get<cv::cuda::GpuMat>(Channel::Depth).size())),
+ float thresh = value("mls_threshold", 0.04f);
+ int iters = value("mls_iterations", 1);
+
+ for (int i=0; i<iters; ++i) {
+ if (i > 0 || !f.hasChannel(Channel::Normals)) {
+ ftl::cuda::normals(
+ f.createTexture<float4>(Channel::Normals, ftl::rgbd::Format<float4>(f.get<cv::cuda::GpuMat>(Channel::Depth).size())),
+ f.createTexture<float>(Channel::Depth),
+ s->parameters(), 0
+ );
+ }
+
+ ftl::cuda::mls_smooth(
+ f.createTexture<float4>(Channel::Normals),
f.createTexture<float>(Channel::Depth),
- s->parameters(), 0
+ f.createTexture<float>(Channel::Depth2, ftl::rgbd::Format<float>(f.get<cv::cuda::GpuMat>(Channel::Depth).size())),
+ thresh,
+ s->parameters(),
+ 0
);
- }
- float thresh = value("mls_threshold", 0.04f);
- ftl::cuda::mls_smooth(
- f.createTexture<float4>(Channel::Normals),
- f.createTexture<float>(Channel::Depth),
- f.createTexture<float>(Channel::Depth2, ftl::rgbd::Format<float>(f.get<cv::cuda::GpuMat>(Channel::Depth).size())),
- thresh,
- s->parameters(),
- 0
- );
-
- f.swapChannels(Channel::Depth, Channel::Depth2);
+ f.swapChannels(Channel::Depth, Channel::Depth2);
+ }
}
diff --git a/components/filters/src/smoothing.cu b/components/filters/src/smoothing.cu
index 0ba749d25..d7d2a8a3f 100644
--- a/components/filters/src/smoothing.cu
+++ b/components/filters/src/smoothing.cu
@@ -79,7 +79,7 @@ void ftl::cuda::mls_smooth(
const dim3 gridSize((depth_out.width() + T_PER_BLOCK - 1)/T_PER_BLOCK, (depth_out.height() + T_PER_BLOCK - 1)/T_PER_BLOCK);
const dim3 blockSize(T_PER_BLOCK, T_PER_BLOCK);
- mls_smooth_kernel<3><<<gridSize, blockSize, 0, stream>>>(normals, depth_in, depth_out, smoothing, camera);
+ mls_smooth_kernel<2><<<gridSize, blockSize, 0, stream>>>(normals, depth_in, depth_out, smoothing, camera);
cudaSafeCall( cudaGetLastError() );
--
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