diff --git a/applications/gui/src/camera.cpp b/applications/gui/src/camera.cpp
index 32d78a4a0ff8bbccfed60b13293b1277ab599792..abb7fdb80100d85491dbf929909a8f1524365b2b 100644
--- a/applications/gui/src/camera.cpp
+++ b/applications/gui/src/camera.cpp
@@ -376,6 +376,7 @@ const GLTexture &ftl::gui::Camera::captureFrame() {
cv::Mat tmp;
switch(channel_) {
+ case Channel::Normals:
case Channel::Energy:
if (depth_.rows == 0) { break; }
visualizeEnergy(depth_, tmp, 10.0);
@@ -399,7 +400,6 @@ const GLTexture &ftl::gui::Camera::captureFrame() {
case Channel::Flow:
case Channel::Confidence:
- case Channel::Normals:
case Channel::Right:
if (depth_.rows == 0 || depth_.type() != CV_8UC3) { break; }
texture_.update(depth_);
diff --git a/components/renderers/cpp/src/splat_render.cpp b/components/renderers/cpp/src/splat_render.cpp
index 425e32b80283abf4036bea6d6938e6c72a7d7105..553f633966d70f365b078f8ce79b6e4c0cb25b37 100644
--- a/components/renderers/cpp/src/splat_render.cpp
+++ b/components/renderers/cpp/src/splat_render.cpp
@@ -2,6 +2,7 @@
#include <ftl/utility/matrix_conversion.hpp>
#include "splatter_cuda.hpp"
#include <ftl/cuda/points.hpp>
+#include <ftl/cuda/normals.hpp>
#include <opencv2/core/cuda_stream_accessor.hpp>
@@ -65,7 +66,9 @@ void Splatter::renderChannel(
temp_.get<GpuMat>(Channel::Colour).setTo(cv::Scalar(0.0f,0.0f,0.0f,0.0f), cvstream);
temp_.get<GpuMat>(Channel::Contribution).setTo(cv::Scalar(0.0f), cvstream);
- bool is_float = ftl::rgbd::isFloatChannel(channel);
+ if (scene_->frames.size() < 1) return;
+ bool is_float = scene_->frames[0].get<GpuMat>(channel).type() == CV_32F; //ftl::rgbd::isFloatChannel(channel);
+ bool is_4chan = scene_->frames[0].get<GpuMat>(channel).type() == CV_32FC4;
// Render each camera into virtual view
for (size_t i=0; i < scene_->frames.size(); ++i) {
@@ -127,6 +130,15 @@ void Splatter::renderChannel(
temp_.getTexture<float>(Channel::Contribution),
params, stream
);
+ } else if (is_4chan) {
+ ftl::cuda::dibr_attribute(
+ f.createTexture<float4>(channel),
+ f.createTexture<float4>(Channel::Points),
+ temp_.getTexture<int>(Channel::Depth),
+ temp_.getTexture<float4>(Channel::Colour),
+ temp_.getTexture<float>(Channel::Contribution),
+ params, stream
+ );
} else if (channel == Channel::Colour || channel == Channel::Right) {
ftl::cuda::dibr_attribute(
f.createTexture<uchar4>(Channel::Colour),
@@ -148,7 +160,15 @@ void Splatter::renderChannel(
}
}
- if (is_float) {
+ if (is_4chan) {
+ // Normalise attribute contributions
+ ftl::cuda::dibr_normalise(
+ temp_.createTexture<float4>(Channel::Colour),
+ out.createTexture<float4>(channel),
+ temp_.createTexture<float>(Channel::Contribution),
+ stream
+ );
+ } else if (is_float) {
// Normalise attribute contributions
ftl::cuda::dibr_normalise(
temp_.createTexture<float4>(Channel::Colour),
@@ -237,6 +257,32 @@ bool Splatter::render(ftl::rgbd::VirtualSource *src, ftl::rgbd::Frame &out, cuda
if (chan == Channel::Depth)
{
temp_.get<GpuMat>(Channel::Depth).convertTo(out.get<GpuMat>(Channel::Depth), CV_32F, 1.0f / 1000.0f, cvstream);
+ } else if (chan == Channel::Normals) {
+ //temp_.get<GpuMat>(Channel::Depth).convertTo(out.get<GpuMat>(Channel::Depth), CV_32F, 1.0f / 1000.0f, cvstream);
+ //ftl::cuda::point_cloud(temp_.createTexture<float4>(Channel::Points, Format<float4>(camera.width, camera.height)),
+ // temp_.createTexture<float>(Channel::Depth), camera, params.m_viewMatrixInverse, stream);
+ //ftl::cuda::normals(temp_.getTexture<float4>(Channel::Normals), temp_.getTexture<float4>(Channel::Points), stream);
+ //ftl::cuda::normal_visualise(temp_.getTexture<float4>(Channel::Normals), temp_.getTexture<float>(Channel::Contribution), camera);
+
+ // First make sure each input has normals
+ for (auto &f : scene_->frames) {
+ if (!f.hasChannel(Channel::Normals)) {
+ auto &g = f.get<GpuMat>(Channel::Colour);
+ ftl::cuda::normals(f.createTexture<float4>(Channel::Normals, Format<float4>(g.cols, g.rows)), f.getTexture<float4>(Channel::Points), stream);
+ }
+ }
+
+ out.create<GpuMat>(Channel::Normals, Format<float4>(camera.width, camera.height));
+
+ // Render normal attribute
+ renderChannel(params, out, Channel::Normals, stream);
+
+ // Convert normal to single float value
+ //ftl::cuda::normal_visualise(out.getTexture<float4>(Channel::Normals), temp_.getTexture<float>(Channel::Contribution), camera);
+
+ // Put in output as single float
+ cv::cuda::swap(temp_.get<GpuMat>(Channel::Contribution), out.create<GpuMat>(Channel::Normals));
+ out.resetTexture(Channel::Normals);
}
else if (chan == Channel::Contribution)
{
diff --git a/components/renderers/cpp/src/splatter.cu b/components/renderers/cpp/src/splatter.cu
index c7456e57bf4425a6f16020a66c885d58dbdda5a4..b89b6083ee25318f294943df9336ca6d1700f148 100644
--- a/components/renderers/cpp/src/splatter.cu
+++ b/components/renderers/cpp/src/splatter.cu
@@ -203,6 +203,80 @@ __global__ void dibr_attribute_contrib_kernel(
}
}
+/*
+ * Pass 2: Accumulate attribute contributions if the points pass a visibility test.
+ */
+ __global__ void dibr_attribute_contrib_kernel(
+ TextureObject<float4> colour_in, // Original colour image
+ TextureObject<float4> points, // Original 3D points
+ TextureObject<int> depth_in, // Virtual depth map
+ TextureObject<float4> colour_out, // Accumulated output
+ //TextureObject<float4> normal_out,
+ TextureObject<float> contrib_out,
+ SplatParams params) {
+
+ //const ftl::voxhash::DepthCameraCUDA &camera = c_cameras[cam];
+
+ const int tid = (threadIdx.x + threadIdx.y * blockDim.x);
+ //const int warp = tid / WARP_SIZE;
+ const int x = (blockIdx.x*blockDim.x + threadIdx.x) / WARP_SIZE;
+ const int y = blockIdx.y*blockDim.y + threadIdx.y;
+
+ const float3 worldPos = make_float3(points.tex2D(x, y));
+ //const float3 normal = make_float3(tex2D<float4>(camera.normal, x, y));
+ if (worldPos.x == MINF) return;
+ //const float r = (camera.poseInverse * worldPos).z / camera.params.fx;
+
+ const float3 camPos = params.m_viewMatrix * worldPos;
+ if (camPos.z < params.camera.minDepth) return;
+ if (camPos.z > params.camera.maxDepth) return;
+ const uint2 screenPos = params.camera.camToScreen<uint2>(camPos);
+
+ //const int upsample = 8; //min(UPSAMPLE_MAX, int((5.0f*r) * params.camera.fx / camPos.z));
+
+ // Not on screen so stop now...
+ if (screenPos.x >= depth_in.width() || screenPos.y >= depth_in.height()) return;
+
+ // Is this point near the actual surface and therefore a contributor?
+ const float d = ((float)depth_in.tex2D((int)screenPos.x, (int)screenPos.y)/1000.0f);
+ //if (abs(d - camPos.z) > DEPTH_THRESHOLD) return;
+
+ // TODO:(Nick) Should just one thread load these to shared mem?
+ const float4 colour = (colour_in.tex2D(x, y));
+ //const float4 normal = tex2D<float4>(camera.normal, x, y);
+
+ // Each thread in warp takes an upsample point and updates corresponding depth buffer.
+ const int lane = tid % WARP_SIZE;
+ for (int i=lane; i<ACCUM_DIAMETER*ACCUM_DIAMETER; i+=WARP_SIZE) {
+ const float u = (i % ACCUM_DIAMETER) - (ACCUM_DIAMETER / 2);
+ const float v = (i / ACCUM_DIAMETER) - (ACCUM_DIAMETER / 2);
+
+ // Use the depth buffer to determine this pixels 3D position in camera space
+ const float d = ((float)depth_in.tex2D(screenPos.x+u, screenPos.y+v)/1000.0f);
+ const float3 nearest = params.camera.screenToCam((int)(screenPos.x+u),(int)(screenPos.y+v),d);
+
+ // What is contribution of our current point at this pixel?
+ const float weight = ftl::cuda::spatialWeighting(nearest, camPos, SMOOTHING_MULTIPLIER_C*(nearest.z/params.camera.fx));
+ if (screenPos.x+u < colour_out.width() && screenPos.y+v < colour_out.height() && weight > 0.0f) { // TODO: Use confidence threshold here
+ const float4 wcolour = colour * weight;
+ //const float4 wnormal = normal * weight;
+
+ //printf("Z %f\n", d);
+
+ // Add this points contribution to the pixel buffer
+ atomicAdd((float*)&colour_out(screenPos.x+u, screenPos.y+v), wcolour.x);
+ atomicAdd((float*)&colour_out(screenPos.x+u, screenPos.y+v)+1, wcolour.y);
+ atomicAdd((float*)&colour_out(screenPos.x+u, screenPos.y+v)+2, wcolour.z);
+ atomicAdd((float*)&colour_out(screenPos.x+u, screenPos.y+v)+3, wcolour.w);
+ //atomicAdd((float*)&normal_out(screenPos.x+u, screenPos.y+v), wnormal.x);
+ //atomicAdd((float*)&normal_out(screenPos.x+u, screenPos.y+v)+1, wnormal.y);
+ //atomicAdd((float*)&normal_out(screenPos.x+u, screenPos.y+v)+2, wnormal.z);
+ //atomicAdd((float*)&normal_out(screenPos.x+u, screenPos.y+v)+3, wnormal.w);
+ atomicAdd(&contrib_out(screenPos.x+u, screenPos.y+v), weight);
+ }
+ }
+}
+
void ftl::cuda::dibr_attribute(
TextureObject<uchar4> &colour_in, // Original colour image
TextureObject<float4> &points, // Original 3D points
@@ -247,6 +321,28 @@ void ftl::cuda::dibr_attribute(
cudaSafeCall( cudaGetLastError() );
}
+void ftl::cuda::dibr_attribute(
+ TextureObject<float4> &colour_in, // Original colour image
+ TextureObject<float4> &points, // Original 3D points
+ TextureObject<int> &depth_in, // Virtual depth map
+ TextureObject<float4> &colour_out, // Accumulated output
+ //TextureObject<float4> normal_out,
+ TextureObject<float> &contrib_out,
+ SplatParams ¶ms, cudaStream_t stream) {
+ const dim3 gridSize((depth_in.width() + 2 - 1)/2, (depth_in.height() + T_PER_BLOCK - 1)/T_PER_BLOCK);
+ const dim3 blockSize(2*WARP_SIZE, T_PER_BLOCK);
+
+ dibr_attribute_contrib_kernel<<<gridSize, blockSize, 0, stream>>>(
+ colour_in,
+ points,
+ depth_in,
+ colour_out,
+ contrib_out,
+ params
+ );
+ cudaSafeCall( cudaGetLastError() );
+}
+
//==============================================================================
__global__ void dibr_normalise_kernel(
@@ -289,6 +385,26 @@ __global__ void dibr_normalise_kernel(
}
}
+__global__ void dibr_normalise_kernel(
+ TextureObject<float4> colour_in,
+ TextureObject<float4> colour_out,
+ //TextureObject<float4> normals,
+ TextureObject<float> contribs) {
+ const unsigned int x = blockIdx.x*blockDim.x + threadIdx.x;
+ const unsigned int y = blockIdx.y*blockDim.y + threadIdx.y;
+
+ if (x < colour_in.width() && y < colour_in.height()) {
+ const float4 colour = colour_in.tex2D((int)x,(int)y);
+ //const float4 normal = normals.tex2D((int)x,(int)y);
+ const float contrib = contribs.tex2D((int)x,(int)y);
+
+ if (contrib > 0.0f) {
+ colour_out(x,y) = make_float4(colour.x / contrib, colour.y / contrib, colour.z / contrib, 0);
+ //normals(x,y) = normal / contrib;
+ }
+ }
+}
+
void ftl::cuda::dibr_normalise(TextureObject<float4> &colour_in, TextureObject<uchar4> &colour_out, TextureObject<float> &contribs, cudaStream_t stream) {
const dim3 gridSize((colour_in.width() + T_PER_BLOCK - 1)/T_PER_BLOCK, (colour_in.height() + T_PER_BLOCK - 1)/T_PER_BLOCK);
const dim3 blockSize(T_PER_BLOCK, T_PER_BLOCK);
@@ -304,3 +420,11 @@ void ftl::cuda::dibr_normalise(TextureObject<float4> &colour_in, TextureObject<f
dibr_normalise_kernel<<<gridSize, blockSize, 0, stream>>>(colour_in, colour_out, contribs);
cudaSafeCall( cudaGetLastError() );
}
+
+void ftl::cuda::dibr_normalise(TextureObject<float4> &colour_in, TextureObject<float4> &colour_out, TextureObject<float> &contribs, cudaStream_t stream) {
+ const dim3 gridSize((colour_in.width() + T_PER_BLOCK - 1)/T_PER_BLOCK, (colour_in.height() + T_PER_BLOCK - 1)/T_PER_BLOCK);
+ const dim3 blockSize(T_PER_BLOCK, T_PER_BLOCK);
+
+ dibr_normalise_kernel<<<gridSize, blockSize, 0, stream>>>(colour_in, colour_out, contribs);
+ cudaSafeCall( cudaGetLastError() );
+}
diff --git a/components/renderers/cpp/src/splatter_cuda.hpp b/components/renderers/cpp/src/splatter_cuda.hpp
index 8c57d58486c04aff5960f215c6a6308719e6af7b..7b39e0991686cc288b8046f3cc01fb3cdb41ddad 100644
--- a/components/renderers/cpp/src/splatter_cuda.hpp
+++ b/components/renderers/cpp/src/splatter_cuda.hpp
@@ -30,6 +30,15 @@ namespace cuda {
ftl::cuda::TextureObject<float> &contrib_out,
ftl::render::SplatParams ¶ms, cudaStream_t stream);
+ void dibr_attribute(
+ ftl::cuda::TextureObject<float4> &in, // Original colour image
+ ftl::cuda::TextureObject<float4> &points, // Original 3D points
+ ftl::cuda::TextureObject<int> &depth_in, // Virtual depth map
+ ftl::cuda::TextureObject<float4> &out, // Accumulated output
+ //TextureObject<float4> normal_out,
+ ftl::cuda::TextureObject<float> &contrib_out,
+ ftl::render::SplatParams ¶ms, cudaStream_t stream);
+
void dibr_normalise(
ftl::cuda::TextureObject<float4> &in,
ftl::cuda::TextureObject<uchar4> &out,
@@ -41,6 +50,12 @@ namespace cuda {
ftl::cuda::TextureObject<float> &out,
ftl::cuda::TextureObject<float> &contribs,
cudaStream_t stream);
+
+ void dibr_normalise(
+ ftl::cuda::TextureObject<float4> &in,
+ ftl::cuda::TextureObject<float4> &out,
+ ftl::cuda::TextureObject<float> &contribs,
+ cudaStream_t stream);
}
}
diff --git a/components/rgbd-sources/include/ftl/rgbd/channels.hpp b/components/rgbd-sources/include/ftl/rgbd/channels.hpp
index 9bf731a5319fa47c501a91e09f1e2acc48c5a4a8..d1d8dcdbf2f66841f5e12da01d04a4438e145d23 100644
--- a/components/rgbd-sources/include/ftl/rgbd/channels.hpp
+++ b/components/rgbd-sources/include/ftl/rgbd/channels.hpp
@@ -103,6 +103,7 @@ static const Channels kAllChannels(0xFFFFFFFFu);
inline bool isFloatChannel(ftl::rgbd::Channel chan) {
switch (chan) {
case Channel::Depth :
+ case Channel::Normals :
case Channel::Energy : return true;
default : return false;
}
diff --git a/components/rgbd-sources/include/ftl/rgbd/frame.hpp b/components/rgbd-sources/include/ftl/rgbd/frame.hpp
index 252ff271de36336938d51d616cdd5a9e87d52187..3d7703fe10173008de03d9fa2c308ddc3237d848 100644
--- a/components/rgbd-sources/include/ftl/rgbd/frame.hpp
+++ b/components/rgbd-sources/include/ftl/rgbd/frame.hpp
@@ -83,6 +83,8 @@ public:
template <typename T>
ftl::cuda::TextureObject<T> &createTexture(ftl::rgbd::Channel c);
+ void resetTexture(ftl::rgbd::Channel c);
+
/**
* Reset all channels without releasing memory.
*/
@@ -203,6 +205,7 @@ ftl::cuda::TextureObject<T> &Frame::createTexture(ftl::rgbd::Channel c, const ft
}
if (m.gpu.type() != ftl::traits::OpenCVType<T>::value) {
+ LOG(ERROR) << "Texture type mismatch: " << (int)c << " " << m.gpu.type() << " != " << ftl::traits::OpenCVType<T>::value;
throw ftl::exception("Texture type does not match underlying data type");
}
@@ -235,6 +238,7 @@ ftl::cuda::TextureObject<T> &Frame::createTexture(ftl::rgbd::Channel c) {
}
if (m.gpu.type() != ftl::traits::OpenCVType<T>::value) {
+ LOG(ERROR) << "Texture type mismatch: " << (int)c << " " << m.gpu.type() << " != " << ftl::traits::OpenCVType<T>::value;
throw ftl::exception("Texture type does not match underlying data type");
}
diff --git a/components/rgbd-sources/src/frame.cpp b/components/rgbd-sources/src/frame.cpp
index a56a19355526d9cdcdf25faaecdc67c05d09469d..d18ff36cec7b3182a77c05f7b3591d9c759c7320 100644
--- a/components/rgbd-sources/src/frame.cpp
+++ b/components/rgbd-sources/src/frame.cpp
@@ -199,3 +199,8 @@ template <> cv::cuda::GpuMat &Frame::create(ftl::rgbd::Channel c) {
return m;
}
+void Frame::resetTexture(ftl::rgbd::Channel c) {
+ auto &m = _get(c);
+ m.tex.free();
+}
+