From f9d94b8a9853c923025d00c27fcd48d3fb74d2d8 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Sun, 3 Nov 2019 12:20:42 +0200
Subject: [PATCH] Add radius option and correct coord bug
---
components/operators/src/smoothchan.cu | 21 ++++++++++++++++-----
components/operators/src/smoothing.cpp | 3 ++-
2 files changed, 18 insertions(+), 6 deletions(-)
diff --git a/components/operators/src/smoothchan.cu b/components/operators/src/smoothchan.cu
index 963fc85ff..edf53be23 100644
--- a/components/operators/src/smoothchan.cu
+++ b/components/operators/src/smoothchan.cu
@@ -18,8 +18,8 @@ __global__ void smooth_chan_kernel(
const unsigned int y = blockIdx.y*blockDim.y + threadIdx.y;
if (x < smoothing_out.width() && y < smoothing_out.height()) {
- const int ix = (float)x / (float)smoothing_out.width() * (float)colour_in.width();
- const int iy = (float)x / (float)smoothing_out.height() * (float)colour_in.height();
+ const int ix = int(((float)x / (float)smoothing_out.width()) * (float)colour_in.width());
+ const int iy = int(((float)y / (float)smoothing_out.height()) * (float)colour_in.height());
// A distance has already been found
if (smoothing_out(x,y) < 1.0f) return;
@@ -27,13 +27,18 @@ __global__ void smooth_chan_kernel(
float mindist = 1.0f;
const uchar4 c0 = colour_in.tex2D(ix, iy);
- const float3 pos = camera.screenToCam(ix, iy, depth_in.tex2D(ix, iy));
+ const float d0 = depth_in.tex2D(ix, iy);
+ if (d0 < camera.minDepth || d0 > camera.maxDepth) return;
+
+ const float3 pos = camera.screenToCam(ix, iy, d0);
for (int v=-RADIUS; v<=RADIUS; ++v) {
#pragma unroll
for (int u=-RADIUS; u<=RADIUS; ++u) {
const uchar4 c = colour_in.tex2D(ix+u, iy+v);
- const float3 posN = camera.screenToCam(ix+u, iy+v, depth_in.tex2D(ix+u, iy+v));
+ const float d = depth_in.tex2D(ix+u, iy+v);
+ if (d < camera.minDepth || d > camera.maxDepth) continue;
+ const float3 posN = camera.screenToCam(ix+u, iy+v, d);
if (ftl::cuda::colourDistance(c, c0) >= alpha) mindist = min(mindist, length(pos - posN));
}
@@ -56,7 +61,13 @@ void ftl::cuda::smooth_channel(
const dim3 blockSize(T_PER_BLOCK, T_PER_BLOCK);
- smooth_chan_kernel<1><<<gridSize, blockSize, 0, stream>>>(colour_in, depth_in, smoothing_out, camera, alpha);
+ switch (radius) {
+ case 5: smooth_chan_kernel<5><<<gridSize, blockSize, 0, stream>>>(colour_in, depth_in, smoothing_out, camera, alpha); break;
+ case 4: smooth_chan_kernel<4><<<gridSize, blockSize, 0, stream>>>(colour_in, depth_in, smoothing_out, camera, alpha); break;
+ case 3: smooth_chan_kernel<3><<<gridSize, blockSize, 0, stream>>>(colour_in, depth_in, smoothing_out, camera, alpha); break;
+ case 2: smooth_chan_kernel<2><<<gridSize, blockSize, 0, stream>>>(colour_in, depth_in, smoothing_out, camera, alpha); break;
+ case 1: smooth_chan_kernel<1><<<gridSize, blockSize, 0, stream>>>(colour_in, depth_in, smoothing_out, camera, alpha); break;
+ }
cudaSafeCall( cudaGetLastError() );
diff --git a/components/operators/src/smoothing.cpp b/components/operators/src/smoothing.cpp
index 284658e86..01f7f7de6 100644
--- a/components/operators/src/smoothing.cpp
+++ b/components/operators/src/smoothing.cpp
@@ -8,6 +8,7 @@ using ftl::operators::SimpleMLS;
using ftl::operators::ColourMLS;
using ftl::operators::SmoothChannel;
using ftl::codecs::Channel;
+using ftl::rgbd::Format;
using cv::cuda::GpuMat;
HFSmoother::HFSmoother(ftl::Configurable *cfg) : ftl::operators::Operator(cfg) {
@@ -74,7 +75,7 @@ bool SmoothChannel::apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, ftl::rgbd
float threshold = config()->value("threshold", 30.0f);
// Clear to max smoothing
- out.get<GpuMat>(Channel::Smoothing).setTo(cv::Scalar(1.0f));
+ out.create<GpuMat>(Channel::Smoothing, Format<float>(s->parameters().width, s->parameters().height)).setTo(cv::Scalar(1.0f));
// Reduce to nearest
ftl::cuda::smooth_channel(
--
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