From f9a763aa183d78bc952ef757de372870873d55e6 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Mon, 22 Jul 2019 15:08:29 +0300
Subject: [PATCH] Hack faster colour distance
---
applications/reconstruct/src/depth_camera.cu | 17 +++++++++++------
1 file changed, 11 insertions(+), 6 deletions(-)
diff --git a/applications/reconstruct/src/depth_camera.cu b/applications/reconstruct/src/depth_camera.cu
index 39a6dcf3b..47ecf8822 100644
--- a/applications/reconstruct/src/depth_camera.cu
+++ b/applications/reconstruct/src/depth_camera.cu
@@ -38,14 +38,19 @@ extern __device__ float spatialWeighting(float r);
* Real-time foreground-background segmentation using codebook model.
* Real-Time Imaging. https://doi.org/10.1016/j.rti.2004.12.004
*/
- __device__ float colordiffFloat(const uchar4 &pa, const uchar4 &pb) {
- float x_2 = pb.x * pb.x + pb.y * pb.y + pb.z * pb.z;
- float v_2 = pa.x * pa.x + pa.y * pa.y + pa.z * pa.z;
- float xv_2 = pow(pb.x * pa.x + pb.y * pa.y + pb.z * pa.z, 2);
- float p_2 = xv_2 / v_2;
+ __device__ inline float colordiffFloat(const uchar4 &pa, const uchar4 &pb) {
+ const float x_2 = pb.x * pb.x + pb.y * pb.y + pb.z * pb.z;
+ const float v_2 = pa.x * pa.x + pa.y * pa.y + pa.z * pa.z;
+ const float xv_2 = pow(pb.x * pa.x + pb.y * pa.y + pb.z * pa.z, 2);
+ const float p_2 = xv_2 / v_2;
return sqrt(x_2 - p_2);
}
+__device__ float colordiffFloat2(const uchar4 &pa, const uchar4 &pb) {
+ float3 delta = make_float3((float)pa.x - (float)pb.x, (float)pa.y - (float)pb.y, (float)pa.z - (float)pb.z);
+ return length(delta);
+}
+
/*
* Colour weighting as suggested in:
* C. Kuster et al. Spatio-Temporal Geometry Fusion for Multiple Hybrid Cameras using Moving Least Squares Surfaces. 2014.
@@ -98,7 +103,7 @@ __global__ void mls_smooth_kernel(ftl::cuda::TextureObject<float> output, HashDa
uchar4 c2 = tex2D<uchar4>(camera.colour, screenPos.x+u, screenPos.y+v);
//float4 normal = tex2D<float4>(camera.normal, screenPos.x+u, screenPos.y+v);
const float3 worldPos = camera.pose * camera.params.kinectDepthToSkeleton(screenPos.x+u, screenPos.y+v, depth);
- const float weight = spatialWeighting(length(mPos - worldPos))*colourWeighting(colordiffFloat(c1,c2));
+ const float weight = spatialWeighting(length(mPos - worldPos))*colourWeighting(colordiffFloat2(c1,c2));
wpos += weight*worldPos;
//wnorm += weight*make_float3(normal);
--
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