From ea38539a95d6407aad82754260d66a53b3b4179e Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Sun, 28 Jul 2019 12:27:35 +0300
Subject: [PATCH] Improve performance of mlsSmooth
---
applications/reconstruct/src/depth_camera.cu | 26 +++++++++++++-------
1 file changed, 17 insertions(+), 9 deletions(-)
diff --git a/applications/reconstruct/src/depth_camera.cu b/applications/reconstruct/src/depth_camera.cu
index a0b87ae53..004bf0fa5 100644
--- a/applications/reconstruct/src/depth_camera.cu
+++ b/applications/reconstruct/src/depth_camera.cu
@@ -140,7 +140,7 @@ __device__ float colordiffFloat2(const uchar4 &pa, const uchar4 &pb) {
return ch*ch*ch*ch;
}
-#define WINDOW_RADIUS 9
+#define WINDOW_RADIUS 5
__device__ float mlsCamera(int cam, const float3 &mPos, uchar4 c1, float3 &wpos) {
const ftl::voxhash::DepthCameraCUDA &camera = c_cameras[cam];
@@ -190,13 +190,19 @@ __device__ float mlsCameraNoColour(int cam, const float3 &mPos, uchar4 c1, float
//if (screenPos.x+u < width && screenPos.y+v < height) { //on creen
float depth = tex2D<float>(camera.depth, screenPos.x+u, screenPos.y+v);
const float3 camPos = camera.params.kinectDepthToSkeleton(screenPos.x+u, screenPos.y+v, depth);
+
+ // TODO:(Nick) dot product of normals < 0 means the point
+ // should be ignored with a weight of 0 since it is facing the wrong direction
+ // May be good to simply weight using the dot product to give
+ // a stronger weight to those whose normals are closer
+
float weight = spatialWeighting(length(pf - camPos), h);
if (weight > 0.0f) {
uchar4 c2 = tex2D<uchar4>(camera.colour, screenPos.x+u, screenPos.y+v);
if (colourWeighting(colordiffFloat2(c1,c2)) > 0.0f) {
- wpos += weight* (camera.pose * camPos);
+ pos += weight*camPos; // (camera.pose * camPos);
weights += weight;
}
}
@@ -204,7 +210,7 @@ __device__ float mlsCameraNoColour(int cam, const float3 &mPos, uchar4 c1, float
}
}
- //wpos += (camera.pose * pos);
+ if (weights > 0.0f) wpos += (camera.pose * (pos / weights)) * weights;
return weights;
}
@@ -294,8 +300,8 @@ __global__ void mls_smooth_kernel(ftl::cuda::TextureObject<float4> output, HashP
if (hashParams.m_flags & ftl::voxhash::kFlagMLS) {
for (uint cam2=0; cam2<numcams; ++cam2) {
- if (cam2 == cam) weights += mlsCameraNoColour(cam2, mPos, c1, wpos, c_hashParams.m_spatialSmoothing*0.1f); //weights += 0.5*mlsCamera(cam2, mPos, c1, wpos);
- weights += mlsCameraNoColour(cam2, mPos, c1, wpos, c_hashParams.m_spatialSmoothing*5.0f);
+ //if (cam2 == cam) weights += mlsCameraNoColour(cam2, mPos, c1, wpos, c_hashParams.m_spatialSmoothing*0.1f); //weights += 0.5*mlsCamera(cam2, mPos, c1, wpos);
+ weights += mlsCameraNoColour(cam2, mPos, c1, wpos, c_hashParams.m_spatialSmoothing); //*((cam == cam2)? 0.1f : 5.0f));
// Previous approach
//if (cam2 == cam) continue;
@@ -309,10 +315,12 @@ __global__ void mls_smooth_kernel(ftl::cuda::TextureObject<float4> output, HashP
//output(x,y) = (weights >= hashParams.m_confidenceThresh) ? make_float4(wpos, 0.0f) : make_float4(MINF,MINF,MINF,MINF);
- const uint2 screenPos = make_uint2(mainCamera.params.cameraToKinectScreenInt(mainCamera.poseInverse * wpos));
- if (screenPos.x < output.width() && screenPos.y < output.height()) {
- output(screenPos.x,screenPos.y) = (weights >= hashParams.m_confidenceThresh) ? make_float4(wpos, 0.0f) : make_float4(MINF,MINF,MINF,MINF);
- }
+ if (weights >= hashParams.m_confidenceThresh) output(x,y) = make_float4(wpos, 0.0f);
+
+ //const uint2 screenPos = make_uint2(mainCamera.params.cameraToKinectScreenInt(mainCamera.poseInverse * wpos));
+ //if (screenPos.x < output.width() && screenPos.y < output.height()) {
+ // output(screenPos.x,screenPos.y) = (weights >= hashParams.m_confidenceThresh) ? make_float4(wpos, 0.0f) : make_float4(MINF,MINF,MINF,MINF);
+ //}
}
}
}
--
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