diff --git a/applications/reconstruct/src/ilw/ilw.cu b/applications/reconstruct/src/ilw/ilw.cu
index c1222ca7956ad5f1fa1f80fa06a114ba16cb3281..48462f300981ad29c11c5047c0ef6f6a37a33c82 100644
--- a/applications/reconstruct/src/ilw/ilw.cu
+++ b/applications/reconstruct/src/ilw/ilw.cu
@@ -8,10 +8,10 @@ using ftl::rgbd::Camera;
#define T_PER_BLOCK 8
#define FULL_MASK 0xffffffff
-__device__ inline float warpMax(float e) {
+__device__ inline float warpMin(float e) {
for (int i = WARP_SIZE/2; i > 0; i /= 2) {
const float other = __shfl_xor_sync(FULL_MASK, e, i, WARP_SIZE);
- e = max(e, other);
+ e = min(e, other);
}
return e;
}
@@ -39,8 +39,8 @@ __global__ void correspondence_energy_vector_kernel(
const float3 camPos2 = pose2 * world1;
const uint2 screen2 = cam2.camToScreen<uint2>(camPos2);
- float bestconf = 0.0f;
- float nextbest = 0.0f;
+ float bestcost = 1.1f;
+ float nextbest = 1.0f;
float3 bestpoint;
// Project to p2 using cam2
@@ -54,29 +54,28 @@ __global__ void correspondence_energy_vector_kernel(
if (world2.x == MINF) continue;
// Determine degree of correspondence
- const float l = length(world1 - world2);
- const float confidence = ftl::cuda::spatialWeighting(l, 0.04f);
+ const float cost = 1.0f - ftl::cuda::spatialWeighting(world1, world2, 0.04f);
- if (confidence > bestconf) {
+ if (cost < bestcost) {
bestpoint = world2;
- nextbest = bestconf;
- bestconf = confidence;
+ nextbest = bestcost;
+ bestcost = cost;
}
}
- const float maxconf = warpMax(bestconf);
- bool best = maxconf == bestconf;
- bestconf = (best) ? 0.0f : bestconf;
- const float conf = maxconf - warpMax(bestconf);
+ const float mincost = warpMin(bestcost);
+ bool best = mincost == bestcost;
+ bestcost = (best) ? nextbest : bestcost;
+ const float confidence = mincost / warpMin(bestcost);
- if (best && maxconf > 0.0f) {
+ if (best && mincost < 1.0f) {
vout(x,y) = vout.tex2D(x, y) + make_float4(
(bestpoint.x - world1.x),
(bestpoint.y - world1.y),
(bestpoint.z - world1.z),
- maxconf);
- eout(x,y) = conf * 5.0f; //maxconf * 5.0f; //(maxconf - warpMax(nextbest));
- } else if (maxconf == 0.0f && lane == 0) {
+ mincost);
+ eout(x,y) = mincost * 5.0f; //confidence * 5.0f;
+ } else if (mincost >= 1.0f && lane == 0) {
vout(x,y) = make_float4(0.0f);
eout(x,y) = 0.0f;
}
diff --git a/components/renderers/cpp/include/ftl/cuda/weighting.hpp b/components/renderers/cpp/include/ftl/cuda/weighting.hpp
index 9498d0508605087306db2658b2a1ae1943cde536..15d3dbcec387f97d8ffe60690bdb5c1fda2c098c 100644
--- a/components/renderers/cpp/include/ftl/cuda/weighting.hpp
+++ b/components/renderers/cpp/include/ftl/cuda/weighting.hpp
@@ -4,19 +4,41 @@
namespace ftl {
namespace cuda {
+__device__ inline float weighting(float r, float h) {
+ if (r >= h) return 0.0f;
+ float rh = r / h;
+ rh = 1.0f - rh*rh;
+ return rh*rh*rh*rh;
+}
+
/*
* Guennebaud, G.; Gross, M. Algebraic point set surfaces. ACMTransactions on Graphics Vol. 26, No. 3, Article No. 23, 2007.
* Used in: FusionMLS: Highly dynamic 3D reconstruction with consumer-grade RGB-D cameras
* r = distance between points
* h = smoothing parameter in meters (default 4cm)
*/
-__device__ inline float spatialWeighting(float r, float h) {
+__device__ inline float spatialWeighting(const float3 &a, const float3 &b, float h) {
+ const float r = length(a-b);
if (r >= h) return 0.0f;
float rh = r / h;
rh = 1.0f - rh*rh;
return rh*rh*rh*rh;
}
+/*
+ * Colour weighting as suggested in:
+ * C. Kuster et al. Spatio-Temporal Geometry Fusion for Multiple Hybrid Cameras using Moving Least Squares Surfaces. 2014.
+ * c = colour distance
+ */
+ __device__ inline float colourWeighting(uchar4 a, uchar4 b, float h) {
+ const float3 delta = make_float3((float)a.x - (float)b.x, (float)a.y - (float)b.y, (float)a.z - (float)b.z);
+ const float c = length(delta);
+ if (c >= h) return 0.0f;
+ float ch = c / h;
+ ch = 1.0f - ch*ch;
+ return ch*ch*ch*ch;
+}
+
}
}
diff --git a/components/renderers/cpp/src/splatter.cu b/components/renderers/cpp/src/splatter.cu
index 3b1ae4b47ef0fe6b29b15d1fa20fdc9a0fd0b9bb..6b615fa6b9c092cc9bc7856b8e8d36ceb1ddec0d 100644
--- a/components/renderers/cpp/src/splatter.cu
+++ b/components/renderers/cpp/src/splatter.cu
@@ -116,7 +116,7 @@ __global__ void dibr_attribute_contrib_kernel(
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(length(nearest - camPos), SMOOTHING_MULTIPLIER_C*(nearest.z/params.camera.fx));
+ 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;
@@ -187,7 +187,7 @@ __global__ void dibr_attribute_contrib_kernel(
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(length(nearest - camPos), SMOOTHING_MULTIPLIER_C*(nearest.z/params.camera.fx));
+ 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 float wcolour = colour * weight;
//const float4 wnormal = normal * weight;