cl_int2 PointSmoother::SearchLinearDirection(cl_float4* pointCloud, const cl_int2& pixel, cl_float4& normal)
{
// direc.x, y <= MG
static const cl_int2 direc[] = {{2,0}, {2,2}, {0,2}, {-2,2}};
const int szdir = 4;
const cl_float4& herept = pointCloud[PIXIDX(pixel)];
const float distUppLimit = clDot(normal, herept)*0.002f;
float flatness, minDist = distUppLimit;
int minIndex = -1;
// search flattest direction
for(int i=0; i<szdir; i++)
{
const cl_float4& leftpt = pointCloud[IMGIDX(pixel.y-direc[i].y, pixel.x-direc[i].x)];
const cl_float4& righpt = pointCloud[IMGIDX(pixel.y+direc[i].y, pixel.x+direc[i].x)];
if(clIsNull(leftpt) || clIsNull(righpt))
continue;
flatness = fabs(clDot(normal, (leftpt - righpt)));
if(flatness < minDist)
{
minDist = flatness;
minIndex = i;
}
}
if(minIndex < 0)
return (cl_int2) {
0,0
};
else
return direc[minIndex];
}
void DescriptorMakerCpu::ComputeDescriptors(const cl_float4* pointCloud, const cl_float4* normalCloud
, const cl_int* neighborIndices, const cl_int* numNeighbors, int maxNeighbs
, DescType* descriptors)
{
// int ptpos = 150*IMAGE_WIDTH + 150;
// if(IsInvalidPoint(pointCloud[ptpos]) || clIsNull(normalCloud[ptpos]))
// return;
// if(numNeighbors[ptpos] < maxNeighbs/2)
// return;
// descriptors[ptpos] = ComputeEachDescriptor(pointCloud[ptpos], normalCloud[ptpos]
// , pointCloud, neighborIndices, ptpos*maxNeighbs, numNeighbors[ptpos], true);
// return;
//#pragma omp parallel for
for(int y=0; y<IMAGE_HEIGHT; y++)
{
for(int x=0; x<IMAGE_WIDTH; x++)
{
int ptpos = y*IMAGE_WIDTH + x;
if(IsInvalidPoint(pointCloud[ptpos]) || clIsNull(normalCloud[ptpos]))
continue;
if(numNeighbors[ptpos] < maxNeighbs/2)
continue;
descriptors[ptpos] = ComputeEachDescriptor(pointCloud[ptpos], normalCloud[ptpos]
, pointCloud, neighborIndices, ptpos*maxNeighbs, numNeighbors[ptpos]);
}
}
}
cl_uchar* Experimenter::CreateNullityMap(SharedData* shdDat)
{
static ArrayData<cl_uchar> nullData(IMAGE_HEIGHT*IMAGE_WIDTH);
cl_uchar* nullityMap = nullData.GetArrayPtr();
const cl_float4* pointCloud = shdDat->ConstPointCloud();
const cl_float4* normalCloud = shdDat->ConstNormalCloud();
for(int i=0; i<IMAGE_HEIGHT*IMAGE_WIDTH; i++)
{
nullityMap[i] = NullID::NoneNull;
if(clIsNull(pointCloud[i]))
nullityMap[i] = NullID::PointNull;
else if(clIsNull(normalCloud[i]))
nullityMap[i] = NullID::NormalNull;
}
return nullityMap;
}
