Add flags and ignore bad points

applications/reconstruct/src/ilw/ilw.cpp

@@ -19,6 +19,14 @@ ILW::ILW(nlohmann::json &config) : ftl::Configurable(config) {
     on("ilw_align", [this](const ftl::config::Event &e) {
         enabled_ = value("ilw_align", true);
     });
+
+    flags_ = 0;
+    if (value("ignore_bad", false)) flags_ |= ftl::cuda::kILWFlag_IgnoreBad;
+
+    on("ignore_bad", [this](const ftl::config::Event &e) {
+        if (value("ignore_bad", false)) flags_ |= ftl::cuda::kILWFlag_IgnoreBad;
+        else flags_ &= ~ftl::cuda::kILWFlag_IgnoreBad;
+    });
 }
 
 ILW::~ILW() {
@@ -120,6 +128,7 @@ bool ILW::_phase1(ftl::rgbd::FrameSet &fs, cudaStream_t stream) {
                 f1.getTexture<float>(Channel::Energy),
                 pose,
                 s2->parameters(),
+                flags_,
                 stream
             );
             } catch (ftl::exception &e) {

applications/reconstruct/src/ilw/ilw.cu

@@ -35,7 +35,7 @@ __global__ void correspondence_energy_vector_kernel(
         TextureObject<float4> vout,
         TextureObject<float> eout,
         float4x4 pose2,  // Inverse
-        Camera cam2) {
+        Camera cam2, uint flags) {
 
     // Each warp picks point in p1
     const int tid = (threadIdx.x + threadIdx.y * blockDim.x);
@@ -61,13 +61,13 @@ __global__ void correspondence_energy_vector_kernel(
         const float v = (i / COR_WIN_RADIUS) - (COR_WIN_RADIUS / 2);
         
         const float3 world2 = make_float3(p2.tex2D(screen2.x+u, screen2.y+v));
+        if (flags & ftl::cuda::kILWFlag_IgnoreBad && world2.x == MINF) continue;
         const uchar4 colour2 = c2.tex2D(screen2.x+u, screen2.y+v);
-		if (world2.x == MINF) continue;
 
         // Determine degree of correspondence
 		float cost = 1.0f - ftl::cuda::spatialWeighting(world1, world2, 0.04f);
 		// Point is too far away to even count
-		if (cost == 1.0f) continue;
+		if (world2.x != MINF && cost == 1.0f) continue;
 
 		// Mix ratio of colour and distance costs
         cost = 0.75f * (1.0f - ftl::cuda::colourWeighting(colour1, colour2, 50.0f)) + 0.25 * cost;
@@ -75,7 +75,7 @@ __global__ void correspondence_energy_vector_kernel(
 
 		++count;
 		avgcost += cost;
-        if (cost < bestcost) {
+        if (world2.x != MINF && cost < bestcost) {
             bestpoint = world2;
             bestcost = cost;
         }
@@ -113,7 +113,7 @@ void ftl::cuda::correspondence_energy_vector(
         TextureObject<float4> &vout,
         TextureObject<float> &eout,
         float4x4 &pose2,
-        const Camera &cam2,
+        const Camera &cam2, uint flags,
         cudaStream_t stream) {
 
     const dim3 gridSize((p1.width() + 2 - 1)/2, (p1.height() + T_PER_BLOCK - 1)/T_PER_BLOCK);
@@ -122,7 +122,7 @@ void ftl::cuda::correspondence_energy_vector(
     //printf("COR SIZE %d,%d\n", p1.width(), p1.height());
 
     correspondence_energy_vector_kernel<<<gridSize, blockSize, 0, stream>>>(
-        p1, p2, c1, c2, vout, eout, pose2, cam2
+        p1, p2, c1, c2, vout, eout, pose2, cam2, flags
     );
     cudaSafeCall( cudaGetLastError() );
 }

applications/reconstruct/src/ilw/ilw.hpp

@@ -60,6 +60,7 @@ class ILW : public ftl::Configurable {
 
     std::vector<detail::ILWData> data_;
     bool enabled_;
+    unsigned int flags_;
 };
 
 }

applications/reconstruct/src/ilw/ilw_cuda.hpp

@@ -8,6 +8,8 @@
 namespace ftl {
 namespace cuda {
 
+static const uint kILWFlag_IgnoreBad = 0x0001;
+
 void correspondence_energy_vector(
     ftl::cuda::TextureObject<float4> &p1,
     ftl::cuda::TextureObject<float4> &p2,
@@ -17,6 +19,7 @@ void correspondence_energy_vector(
     ftl::cuda::TextureObject<float> &eout,
     float4x4 &pose2,
     const ftl::rgbd::Camera &cam2,
+    uint flags,
     cudaStream_t stream
 );