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Implements #133 point alignment

Merged Implements #133 point alignment
feature/133/ilw into master
Merged Nicolas Pope requested to merge feature/133/ilw into master
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components/renderers/cpp/src/splat_render.cpp
+ 46
− 38
@@ -49,6 +49,11 @@ Splatter::Splatter(nlohmann::json &config, ftl::rgbd::FrameSet *fs) : ftl::rende
on("clipping_enabled", [this](const ftl::config::Event &e) {
clipping_ = value("clipping_enabled", true);
});
norm_filter_ = value("normal_filter", -1.0f);
on("normal_filter", [this](const ftl::config::Event &e) {
norm_filter_ = value("normal_filter", -1.0f);
});
}
Splatter::~Splatter() {
@@ -80,22 +85,6 @@ void Splatter::renderChannel(
continue;
}
// Needs to create points channel first?
if (!f.hasChannel(Channel::Points)) {
//LOG(INFO) << "Creating points... " << s->parameters().width;
auto &t = f.createTexture<float4>(Channel::Points, Format<float4>(f.get<GpuMat>(Channel::Colour).size()));
auto pose = MatrixConversion::toCUDA(s->getPose().cast<float>()); //.inverse());
ftl::cuda::point_cloud(t, f.createTexture<float>(Channel::Depth), s->parameters(), pose, stream);
//LOG(INFO) << "POINTS Added";
}
// Clip first?
if (clipping_) {
ftl::cuda::clipping(f.createTexture<float4>(Channel::Points), clip_, stream);
}
ftl::cuda::dibr_merge(
f.createTexture<float4>(Channel::Points),
temp_.getTexture<int>(Channel::Depth),
@@ -235,9 +224,10 @@ bool Splatter::render(ftl::rgbd::VirtualSource *src, ftl::rgbd::Frame &out, cuda
// Parameters object to pass to CUDA describing the camera
SplatParams params;
params.m_flags = 0;
if (src->value("splatting", true) == false) params.m_flags |= ftl::render::kNoSplatting;
if (src->value("upsampling", true) == false) params.m_flags |= ftl::render::kNoUpsampling;
if (src->value("texturing", true) == false) params.m_flags |= ftl::render::kNoTexturing;
if (src->value("show_discontinuity_mask", false)) params.m_flags |= ftl::render::kShowDisconMask;
//if (src->value("splatting", true) == false) params.m_flags |= ftl::render::kNoSplatting;
//if (src->value("upsampling", true) == false) params.m_flags |= ftl::render::kNoUpsampling;
//if (src->value("texturing", true) == false) params.m_flags |= ftl::render::kNoTexturing;
params.m_viewMatrix = MatrixConversion::toCUDA(src->getPose().cast<float>().inverse());
params.m_viewMatrixInverse = MatrixConversion::toCUDA(src->getPose().cast<float>());
params.camera = camera;
@@ -251,38 +241,56 @@ bool Splatter::render(ftl::rgbd::VirtualSource *src, ftl::rgbd::Frame &out, cuda
temp_.createTexture<int>(Channel::Depth);
renderChannel(params, out, Channel::Colour, stream);
Channel chan = src->getChannel();
if (chan == Channel::Depth)
{
temp_.get<GpuMat>(Channel::Depth).convertTo(out.get<GpuMat>(Channel::Depth), CV_32F, 1.0f / 1000.0f, cvstream);
} else if (chan == Channel::Normals) {
//temp_.get<GpuMat>(Channel::Depth).convertTo(out.get<GpuMat>(Channel::Depth), CV_32F, 1.0f / 1000.0f, cvstream);
//ftl::cuda::point_cloud(temp_.createTexture<float4>(Channel::Points, Format<float4>(camera.width, camera.height)),
// temp_.createTexture<float>(Channel::Depth), camera, params.m_viewMatrixInverse, stream);
//ftl::cuda::normals(temp_.getTexture<float4>(Channel::Normals), temp_.getTexture<float4>(Channel::Points), stream);
//ftl::cuda::normal_visualise(temp_.getTexture<float4>(Channel::Normals), temp_.getTexture<float>(Channel::Contribution), camera);
// First make sure each input has normals
temp_.createTexture<float4>(Channel::Normals);
for (auto &f : scene_->frames) {
for (int i=0; i<scene_->frames.size(); ++i) {
auto &f = scene_->frames[i];
auto s = scene_->sources[i];
// Needs to create points channel first?
if (!f.hasChannel(Channel::Points)) {
//LOG(INFO) << "Creating points... " << s->parameters().width;
auto &t = f.createTexture<float4>(Channel::Points, Format<float4>(f.get<GpuMat>(Channel::Colour).size()));
auto pose = MatrixConversion::toCUDA(s->getPose().cast<float>()); //.inverse());
ftl::cuda::point_cloud(t, f.createTexture<float>(Channel::Depth), s->parameters(), pose, 0, stream);
//LOG(INFO) << "POINTS Added";
}
// Clip first?
if (clipping_) {
ftl::cuda::clipping(f.createTexture<float4>(Channel::Points), clip_, stream);
}
if (!f.hasChannel(Channel::Normals)) {
auto &g = f.get<GpuMat>(Channel::Colour);
LOG(INFO) << "Make normals channel";
ftl::cuda::normals(f.createTexture<float4>(Channel::Normals, Format<float4>(g.cols, g.rows)),
temp_.getTexture<float4>(Channel::Normals), // FIXME: Uses assumption of vcam res same as input res
f.getTexture<float4>(Channel::Points), stream);
if (norm_filter_ > -0.1f) {
Eigen::Matrix4f matrix = s->getPose().cast<float>();
auto pose = MatrixConversion::toCUDA(matrix);
ftl::cuda::normal_filter(f.getTexture<float4>(Channel::Normals), f.getTexture<float4>(Channel::Points), s->parameters(), pose, norm_filter_, stream);
}
}
}
renderChannel(params, out, Channel::Colour, stream);
Channel chan = src->getChannel();
if (chan == Channel::Depth)
{
temp_.get<GpuMat>(Channel::Depth).convertTo(out.get<GpuMat>(Channel::Depth), CV_32F, 1.0f / 1000.0f, cvstream);
} else if (chan == Channel::Normals) {
out.create<GpuMat>(Channel::Normals, Format<float4>(camera.width, camera.height));
// Render normal attribute
renderChannel(params, out, Channel::Normals, stream);
// Convert normal to single float value
ftl::cuda::normal_visualise(out.getTexture<float4>(Channel::Normals), temp_.getTexture<float>(Channel::Contribution), camera, params.m_viewMatrix, stream);
ftl::cuda::normal_visualise(out.getTexture<float4>(Channel::Normals), temp_.getTexture<float>(Channel::Contribution), camera, params.m_viewMatrixInverse, stream);
// Put in output as single float
cv::cuda::swap(temp_.get<GpuMat>(Channel::Contribution), out.create<GpuMat>(Channel::Normals));