From f5bd6695d3c978f250918d262e2a5cd29ebbb1a2 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Mon, 20 Jul 2020 20:26:35 +0300
Subject: [PATCH] Fixes for point cloud render
---
components/renderers/cpp/src/CUDARender.cpp | 4 ++--
components/renderers/cpp/src/reprojection.cu | 5 +++--
2 files changed, 5 insertions(+), 4 deletions(-)
diff --git a/components/renderers/cpp/src/CUDARender.cpp b/components/renderers/cpp/src/CUDARender.cpp
index 2f7533653..c72d3dace 100644
--- a/components/renderers/cpp/src/CUDARender.cpp
+++ b/components/renderers/cpp/src/CUDARender.cpp
@@ -184,7 +184,7 @@ void CUDARender::_dibr(ftl::rgbd::Frame &out, const Eigen::Matrix4d &t, cudaStre
auto &f = scene_->frames[i].cast<ftl::rgbd::Frame>();
//auto *s = scene_->sources[i];
- if (f.has(Channel::Colour)) {
+ if (!f.has(Channel::Colour)) {
LOG(ERROR) << "Missing required channel";
continue;
}
@@ -462,7 +462,7 @@ void CUDARender::_postprocessColours(ftl::rgbd::Frame &out) {
params_.camera,
stream_
);
- } else if (out.hasChannel(_getDepthChannel()) && out.hasChannel(out_chan_)) {
+ } else if (mesh_ && out.hasChannel(_getDepthChannel()) && out.hasChannel(out_chan_)) {
ftl::cuda::fix_bad_colour(
out.getTexture<float>(_getDepthChannel()),
out.getTexture<uchar4>(out_chan_),
diff --git a/components/renderers/cpp/src/reprojection.cu b/components/renderers/cpp/src/reprojection.cu
index 023208cb2..e58ba6fa7 100644
--- a/components/renderers/cpp/src/reprojection.cu
+++ b/components/renderers/cpp/src/reprojection.cu
@@ -239,7 +239,7 @@ __global__ void reprojection_kernel(
const float d = depth_in.tex2D((int)x, (int)y);
if (d > params.camera.minDepth && d < params.camera.maxDepth) {
//const float2 rpt = convertScreen<VPMODE>(params, x, y);
- const float3 camPos = transform * params.camera.project<PROJECT>(make_float3(x, y, d));
+ const float3 camPos = transform * params.camera.unproject<PROJECT>(make_float3(x, y, d));
if (camPos.z > camera.minDepth && camPos.z < camera.maxDepth) {
const float3 screenPos = camera.project<Projection::PERSPECTIVE>(camPos);
@@ -250,7 +250,8 @@ __global__ void reprojection_kernel(
// Boolean match (0 or 1 weight). 1.0 if depths are sufficiently close
float weight = depthMatching(params, camPos.z, d2);
- weight *= float(weights.tex2D(int(screenPos.x+0.5f), int(screenPos.y+0.5f))) / 32767.0f;
+ if (params.m_flags & ftl::render::kUseWeightsChannel)
+ weight *= float(weights.tex2D(int(screenPos.x+0.5f), int(screenPos.y+0.5f))) / 32767.0f;
const B output = make<B>(input); // * weight; //weightInput(input, weight);
--
GitLab