diff --git a/applications/reconstruct/src/dibr.cu b/applications/reconstruct/src/dibr.cu
index 8c2f20c6ae77f24925555d5f89e6435794d158b9..615bdd5b08e65ae9e1f47441fb1259ba726255ca 100644
--- a/applications/reconstruct/src/dibr.cu
+++ b/applications/reconstruct/src/dibr.cu
@@ -14,7 +14,7 @@
#define DEPTH_THRESHOLD 0.05f
#define UPSAMPLE_MAX 60
#define MAX_ITERATIONS 10
-#define SPATIAL_SMOOTHING 0.01f
+#define SPATIAL_SMOOTHING 0.005f
using ftl::cuda::TextureObject;
using ftl::render::SplatParams;
@@ -67,7 +67,7 @@ __device__ inline bool isStable(const float3 &previous, const float3 &estimate,
if (camPos.z < params.camera.m_sensorDepthWorldMin) return;
if (camPos.z > params.camera.m_sensorDepthWorldMax) return;
- const int upsample = min(UPSAMPLE_MAX-2, int((r) * params.camera.fx / camPos.z))+2;
+ const int upsample = min(UPSAMPLE_MAX-2, int((2.0f*r) * params.camera.fx / camPos.z))+2;
const float interval = 1.0f / float(upsample / 2);
@@ -123,7 +123,7 @@ __global__ void OLD_dibr_visibility_kernel(TextureObject<int> depth, int cam, Sp
if (camPos.z > params.camera.m_sensorDepthWorldMax) return;
const uint2 screenPos = params.camera.cameraToKinectScreen(camPos);
- const int upsample = min(UPSAMPLE_MAX, int((5.0f*r) * params.camera.fx / camPos.z));
+ const int upsample = min(UPSAMPLE_MAX, int((r) * params.camera.fx / camPos.z));
// Not on screen so stop now...
if (screenPos.x + upsample < 0 || screenPos.y + upsample < 0 ||
@@ -345,9 +345,9 @@ __global__ void OLD_dibr_visibility_kernel(TextureObject<int> depth, int cam, Sp
}
}
-#define NEIGHBOR_RADIUS_2 10
+#define NEIGHBOR_RADIUS_2 2
#define NEIGHBOR_WINDOW ((NEIGHBOR_RADIUS_2*2+1)*(NEIGHBOR_RADIUS_2*2+1))
-#define MAX_NEIGHBORS_2 20
+#define MAX_NEIGHBORS_2 10
/*
@@ -382,15 +382,12 @@ __global__ void OLD_dibr_visibility_kernel(TextureObject<int> depth, int cam, Sp
if (camPos.z > params.camera.m_sensorDepthWorldMax) return;
const uint2 screenPos = params.camera.cameraToKinectScreen(camPos);
- const int upsample = 10; //min(UPSAMPLE_MAX, int((4.0f*r) * params.camera.fx / camPos.z));
+ const int upsample = 16; //min(UPSAMPLE_MAX, int((4.0f*r) * params.camera.fx / camPos.z));
// Not on screen so stop now...
//if (screenPos.x + upsample < 0 || screenPos.y + upsample < 0 ||
// screenPos.x - upsample >= depth.width() || screenPos.y - upsample >= depth.height()) return;
-
- // TODO:(Nick) Check depth buffer and don't do anything if already hidden?
- // TODO:(Nick) Preload point neighbors and transform to eye
const int lane = threadIdx.x % WARP_SIZE;
if (lane == 0) {
minimum[warp] = 100000000;
@@ -400,12 +397,17 @@ __global__ void OLD_dibr_visibility_kernel(TextureObject<int> depth, int cam, Sp
__syncwarp();
+ // Preload valid neighbour points from within a window
+ // TODO: Should be nearest neighbours, which it currently isn't if there are
+ // more than MAX_NEIGHBOUR_2 points.
for (int i=lane; i<NEIGHBOR_WINDOW; i+=WARP_SIZE) {
const int u = (i % (2*NEIGHBOR_RADIUS_2+1)) - NEIGHBOR_RADIUS_2;
const int v = (i / (2*NEIGHBOR_RADIUS_2+1)) - NEIGHBOR_RADIUS_2;
const float3 point = params.camera.kinectDepthToSkeleton(x+u, y+v, float(point_in.tex2D(x+u, y+v)) / 1000.0f);
+ // If it is close enough...
if (length(point - camPos) <= SPATIAL_SMOOTHING) {
+ // Append to neighbour list
unsigned int idx = atomicInc(&nidx[warp], MAX_NEIGHBORS_2-1);
neighborhood_cache[warp][idx] = point;
atomicMin(&minimum[warp], point.z*1000.0f);
@@ -418,62 +420,44 @@ __global__ void OLD_dibr_visibility_kernel(TextureObject<int> depth, int cam, Sp
const float interval = (float(maximum[warp])/1000.0f - float(minimum[warp]) / 1000.0f) / float(MAX_ITERATIONS);
//if (y == 200) printf("interval: %f\n", interval);
- // TODO:(Nick) Find min and max depths of neighbors to estimate z bounds
-
// Each thread in warp takes an upsample point and updates corresponding depth buffer.
+ // TODO: Don't do this step, simply update the current pixel to either fill or replace existing value
+ // use warp threads to do the iteration samples ... 32 samples per pixel.
+ // could iterate each thread to perform more checks within likely range.
for (int i=lane; i<upsample*upsample; i+=WARP_SIZE) {
const float u = (i % upsample) - (upsample / 2);
const float v = (i / upsample) - (upsample / 2);
// Make an initial estimate of the points location
- // Use centroid depth as estimate...?
- //float3 nearest = ftl::cuda::screen_centroid<1>(camera.points, make_float2(screenPos.x+u, screenPos.y+v), make_int2(x,y), params, upsample);
-
- // Use current points z as estimate
- // TODO: Use min point as estimate
+ // Use minimum z as first estimate
float3 nearest = params.camera.kinectDepthToSkeleton(screenPos.x+u,screenPos.y+v,float(minimum[warp])/1000.0f);
-
- // Or calculate upper and lower bounds for depth and do gradient
- // descent until the gradient change is too small or max iter is reached
- // and depth remains within the bounds.
- // How to find min and max depths?
-
- // TODO: (Nick) Estimate depth using points plane, but needs better normals.
- //float t;
- //if (ftl::cuda::intersectPlane(normal, worldPos, rayOrigin, rayDir, t)) {
- // Plane based estimate of surface at this pixel
- //const float3 nearest = rayOrigin + rayDir * camPos.z;
-
- // Use MLS of camera neighbor points to get more exact estimate
- // Iterate until pixel is stable on the surface.
- for (int k=0; k<MAX_ITERATIONS; ++k) {
+ float lastenergy = 0.0f;
+ float lastdepth = nearest.z;
- // TODO:(Nick) Should perhaps use points from all cameras?
- // Instead of doing each camera separately...
- // If the depth already is close then it has already been done and can skip this point
- const float energy = ftl::cuda::mls_point_energy<MAX_NEIGHBORS_2>(neighborhood_cache[warp], nearest, nidx[warp], SPATIAL_SMOOTHING);
-
- if (energy <= 0.0f) break;
-
- //ftl::cuda::render_depth(depth, params, output);
+ // Search for best or threshold energy
+ for (int k=0; k<MAX_ITERATIONS; ++k) {
- // This is essentially the SDF function f(x), only the normal should be estimated also from the weights
- //const float d = nearest.z + (normal.x*output.x + normal.y*output.y + normal.z*output.z);
-
- const float d = nearest.z;
- nearest = params.camera.kinectDepthToSkeleton(screenPos.x+u,screenPos.y+v,d+interval);
-
- if (energy >= 0.1f) {
- const unsigned int cx = screenPos.x+u;
- const unsigned int cy = screenPos.y+v;
- if (d > params.camera.m_sensorDepthWorldMin && d < params.camera.m_sensorDepthWorldMax && cx < depth.width() && cy < depth.height()) {
- // Transform estimated point to virtual cam space and output z
- atomicMin(&depth(cx,cy), d * 1000.0f);
- }
- break;
+ const float energy = ftl::cuda::mls_point_energy<MAX_NEIGHBORS_2>(neighborhood_cache[warp], nearest, nidx[warp], SPATIAL_SMOOTHING);
+
+ //if (energy <= 0.0f) break;
+
+ const float d = nearest.z;
+ nearest = params.camera.kinectDepthToSkeleton(screenPos.x+u,screenPos.y+v,d+interval);
+
+ // Search for first energy maximum above a threshold
+ if (lastenergy >= 0.01f && energy < lastenergy) {
+ const unsigned int cx = screenPos.x+u;
+ const unsigned int cy = screenPos.y+v;
+ if (lastdepth > params.camera.m_sensorDepthWorldMin && lastdepth < params.camera.m_sensorDepthWorldMax && cx < depth.width() && cy < depth.height()) {
+ // Transform estimated point to virtual cam space and output z
+ atomicMin(&depth(cx,cy), lastdepth * 1000.0f);
}
+ break;
}
- //}
+
+ lastenergy = energy;
+ lastdepth = d;
+ }
}
}