From e52095f79306b2bed8bba8f7e0468dc00e1b3ca5 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Sun, 21 Jul 2019 22:12:11 +0300
Subject: [PATCH] Remove block overlap
---
applications/reconstruct/include/ftl/voxel_hash.hpp | 2 +-
applications/reconstruct/src/integrators.cu | 4 +++-
applications/reconstruct/src/splat_render.cu | 2 +-
3 files changed, 5 insertions(+), 3 deletions(-)
diff --git a/applications/reconstruct/include/ftl/voxel_hash.hpp b/applications/reconstruct/include/ftl/voxel_hash.hpp
index acad30d41..d35df92d2 100644
--- a/applications/reconstruct/include/ftl/voxel_hash.hpp
+++ b/applications/reconstruct/include/ftl/voxel_hash.hpp
@@ -37,7 +37,7 @@ typedef signed char schar;
#include <ftl/depth_camera.hpp>
#define SDF_BLOCK_SIZE 8
-#define SDF_BLOCK_SIZE_OLAP 7
+#define SDF_BLOCK_SIZE_OLAP 8
#ifndef MINF
#define MINF __int_as_float(0xff800000)
diff --git a/applications/reconstruct/src/integrators.cu b/applications/reconstruct/src/integrators.cu
index 203b19801..49b7ffcea 100644
--- a/applications/reconstruct/src/integrators.cu
+++ b/applications/reconstruct/src/integrators.cu
@@ -185,7 +185,7 @@ __global__ void integrateDepthMapsKernel(HashData hashData, HashParams hashParam
}
}
-#define WINDOW_RADIUS 7
+#define WINDOW_RADIUS 5
__global__ void integrateMLSKernel(HashData hashData, HashParams hashParams, int numcams) {
__shared__ uint voxels[16];
@@ -215,6 +215,7 @@ __global__ void integrateMLSKernel(HashData hashData, HashParams hashParams, int
float3 wnorm = make_float3(0.0f);
float weights = 0.0f;
+ //uint cam=0;
for (uint cam=0; cam<numcams; ++cam) {
const ftl::voxhash::DepthCameraCUDA &camera = c_cameras[cam];
const uint height = camera.params.m_imageHeight;
@@ -223,6 +224,7 @@ __global__ void integrateMLSKernel(HashData hashData, HashParams hashParams, int
float3 pf = camera.poseInverse * pfb;
uint2 screenPos = make_uint2(camera.params.cameraToKinectScreenInt(pf));
+ #pragma unroll
for (int v=-WINDOW_RADIUS; v<=WINDOW_RADIUS; ++v) {
for (int u=-WINDOW_RADIUS; u<=WINDOW_RADIUS; ++u) {
// For this voxel in hash, get its screen position and check it is on screen
diff --git a/applications/reconstruct/src/splat_render.cu b/applications/reconstruct/src/splat_render.cu
index 9fcb55de0..486ee7f85 100644
--- a/applications/reconstruct/src/splat_render.cu
+++ b/applications/reconstruct/src/splat_render.cu
@@ -111,7 +111,7 @@ __global__ void isosurface_image_kernel(ftl::voxhash::HashData hashData, Texture
//__syncthreads();
//if (voxels[j].weight == 0) continue;
- if (vp.x == 7 || vp.y == 7 || vp.z == 7) continue;
+ //if (vp.x == 7 || vp.y == 7 || vp.z == 7) continue;
int edgeX = (vp.x == 0 ) ? 1 : 0;
--
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