void CUDARayCastSDF::convertToCameraSpace(const DepthCameraData& cameraData)
{
convertDepthFloatToCameraSpaceFloat4(m_data.d_depth4, m_data.d_depth, m_params.m_intrinsicsInverse, m_params.m_width, m_params.m_height, cameraData);
if(!m_params.m_useGradients) {
computeNormals(m_data.d_normals, m_data.d_depth4, m_params.m_width, m_params.m_height);
}
}
HRESULT CUDARGBDSensor::process(ID3D11DeviceContext* context)
{
HRESULT hr = S_OK;
if (m_RGBDAdapter->process(context) == S_FALSE) return S_FALSE;
////////////////////////////////////////////////////////////////////////////////////
// Process Color
////////////////////////////////////////////////////////////////////////////////////
//Start Timing
if (GlobalAppState::get().s_timingsDetailledEnabled) { cutilSafeCall(cudaDeviceSynchronize()); m_timer.start(); }
if (m_bFilterIntensityValues) gaussFilterFloat4Map(m_depthCameraData.d_colorData, m_RGBDAdapter->getColorMapResampledFloat4(), m_fBilateralFilterSigmaDIntensity, m_fBilateralFilterSigmaRIntensity, m_RGBDAdapter->getWidth(), m_RGBDAdapter->getHeight());
else copyFloat4Map(m_depthCameraData.d_colorData, m_RGBDAdapter->getColorMapResampledFloat4(), m_RGBDAdapter->getWidth(), m_RGBDAdapter->getHeight());
// Stop Timing
if (GlobalAppState::get().s_timingsDetailledEnabled) { cutilSafeCall(cudaDeviceSynchronize()); m_timer.stop(); TimingLog::totalTimeFilterColor += m_timer.getElapsedTimeMS(); TimingLog::countTimeFilterColor++; }
////////////////////////////////////////////////////////////////////////////////////
// Process Depth
////////////////////////////////////////////////////////////////////////////////////
//Start Timing
if (GlobalAppState::get().s_timingsDetailledEnabled) { cutilSafeCall(cudaDeviceSynchronize()); m_timer.start(); }
if (m_bFilterDepthValues) gaussFilterFloatMap(d_depthMapFilteredFloat, m_RGBDAdapter->getDepthMapResampledFloat(), m_fBilateralFilterSigmaD, m_fBilateralFilterSigmaR, m_RGBDAdapter->getWidth(), m_RGBDAdapter->getHeight());
else copyFloatMap(d_depthMapFilteredFloat, m_RGBDAdapter->getDepthMapResampledFloat(), m_RGBDAdapter->getWidth(), m_RGBDAdapter->getHeight());
//TODO this call seems not needed as the depth map is overwriten later anyway later anyway...
setInvalidFloatMap(m_depthCameraData.d_depthData, m_RGBDAdapter->getWidth(), m_RGBDAdapter->getHeight());
// Stop Timing
if (GlobalAppState::get().s_timingsDetailledEnabled) { cutilSafeCall(cudaDeviceSynchronize()); m_timer.stop(); TimingLog::totalTimeFilterDepth += m_timer.getElapsedTimeMS(); TimingLog::countTimeFilterDepth++; }
////////////////////////////////////////////////////////////////////////////////////
// Render to Color Space
////////////////////////////////////////////////////////////////////////////////////
//Start Timing
if (GlobalAppState::get().s_timingsDetailledEnabled) { cutilSafeCall(cudaDeviceSynchronize()); m_timer.start(); }
if (GlobalAppState::get().s_bUseCameraCalibration)
{
mat4f depthExt = m_RGBDAdapter->getDepthExtrinsics();
g_CustomRenderTarget.Clear(context);
g_CustomRenderTarget.Bind(context);
g_RGBDRenderer.RenderDepthMap(context,
d_depthMapFilteredFloat, m_depthCameraData.d_colorData, m_RGBDAdapter->getWidth(), m_RGBDAdapter->getHeight(),
m_RGBDAdapter->getDepthIntrinsicsInv(), depthExt, m_RGBDAdapter->getColorIntrinsics(),
g_CustomRenderTarget.getWidth(), g_CustomRenderTarget.getHeight(),
GlobalAppState::get().s_remappingDepthDiscontinuityThresOffset, GlobalAppState::get().s_remappingDepthDiscontinuityThresLin);
g_CustomRenderTarget.Unbind(context);
g_CustomRenderTarget.copyToCuda(m_depthCameraData.d_depthData, 0);
//Util::writeToImage(m_depthCameraData.d_depthData, getDepthWidth(), getDepthHeight(), "depth.png");
//Util::writeToImage(m_depthCameraData.d_colorData, getDepthWidth(), getDepthHeight(), "color.png");
}
else
{
copyFloatMap(m_depthCameraData.d_depthData, d_depthMapFilteredFloat, m_RGBDAdapter->getWidth(), m_RGBDAdapter->getHeight());
}
bool bErode = false;
if (bErode) {
unsigned int numIter = 20;
numIter = 2 * ((numIter + 1) / 2);
for (unsigned int i = 0; i < numIter; i++) {
if (i % 2 == 0) {
erodeDepthMap(d_depthErodeHelper, m_depthCameraData.d_depthData, 5, getDepthWidth(), getDepthHeight(), 0.05f, 0.3f);
}
else {
erodeDepthMap(m_depthCameraData.d_depthData, d_depthErodeHelper, 5, getDepthWidth(), getDepthHeight(), 0.05f, 0.3f);
}
}
}
//TODO check whether the intensity is actually used
convertColorToIntensityFloat(d_intensityMapFilteredFloat, m_depthCameraData.d_colorData, m_RGBDAdapter->getWidth(), m_RGBDAdapter->getHeight());
float4x4 M((m_RGBDAdapter->getColorIntrinsicsInv()).ptr());
m_depthCameraData.updateParams(getDepthCameraParams());
convertDepthFloatToCameraSpaceFloat4(d_cameraSpaceFloat4, m_depthCameraData.d_depthData, M, m_RGBDAdapter->getWidth(), m_RGBDAdapter->getHeight(), m_depthCameraData); // !!! todo
computeNormals(d_normalMapFloat4, d_cameraSpaceFloat4, m_RGBDAdapter->getWidth(), m_RGBDAdapter->getHeight());
float4x4 Mintrinsics((m_RGBDAdapter->getColorIntrinsics()).ptr());
cudaMemcpyToArray(m_depthCameraData.d_depthArray, 0, 0, m_depthCameraData.d_depthData, sizeof(float)*m_depthCameraParams.m_imageHeight*m_depthCameraParams.m_imageWidth, cudaMemcpyDeviceToDevice);
cudaMemcpyToArray(m_depthCameraData.d_colorArray, 0, 0, m_depthCameraData.d_colorData, sizeof(float4)*m_depthCameraParams.m_imageHeight*m_depthCameraParams.m_imageWidth, cudaMemcpyDeviceToDevice);
// Stop Timing
if (GlobalAppState::get().s_timingsDetailledEnabled) { cutilSafeCall(cudaDeviceSynchronize()); m_timer.stop(); TimingLog::totalTimeRemapDepth += m_timer.getElapsedTimeMS(); TimingLog::countTimeRemapDepth++; }
return hr;
}
