vendor: OpenCV 5.0.0 snapshot at 40738fb16ceddb5fb3fea747585f7ce6abb0605b
This commit is contained in:
Gitea Mirror Bot
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// This file is part of OpenCV project.
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// It is subject to the license terms in the LICENSE file found in the top-level directory
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// of this distribution and at http://opencv.org/license.html
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// Partially rewritten from https://github.com/Nerei/kinfu_remake
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// Copyright(c) 2012, Anatoly Baksheev. All rights reserved.
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typedef char int8_t;
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typedef int8_t TsdfType;
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typedef uchar WeightType;
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struct TsdfVoxel
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{
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TsdfType tsdf;
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WeightType weight;
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};
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static inline TsdfType floatToTsdf(float num)
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{
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int8_t res = (int8_t) ( (num * (-128)) );
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res = res ? res : (num < 0 ? 1 : -1);
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return res;
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}
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static inline float tsdfToFloat(TsdfType num)
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{
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return ( (float) num ) / (-128);
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}
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__kernel void integrate(__global const char * depthptr,
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int depth_step, int depth_offset,
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int depth_rows, int depth_cols,
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__global struct TsdfVoxel * volumeptr,
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__global const float * vol2camptr,
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const float voxelSize,
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const int4 volResolution4,
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const int4 volDims4,
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const float2 fxy,
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const float2 cxy,
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const float dfac,
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const float truncDist,
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const int maxWeight,
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const __global float * pixNorms)
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{
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int x = get_global_id(0);
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int y = get_global_id(1);
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const int3 volResolution = volResolution4.xyz;
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if(x >= volResolution.x || y >= volResolution.y)
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return;
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// coord-independent constants
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const int3 volDims = volDims4.xyz;
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const float2 limits = (float2)(depth_cols-1, depth_rows-1);
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__global const float* vm = vol2camptr;
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const float4 vol2cam0 = vload4(0, vm);
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const float4 vol2cam1 = vload4(1, vm);
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const float4 vol2cam2 = vload4(2, vm);
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const float truncDistInv = 1.f/truncDist;
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// optimization of camSpace transformation (vector addition instead of matmul at each z)
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float4 inPt = (float4)(x*voxelSize, y*voxelSize, 0, 1);
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float3 basePt = (float3)(dot(vol2cam0, inPt),
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dot(vol2cam1, inPt),
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dot(vol2cam2, inPt));
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float3 camSpacePt = basePt;
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// zStep == vol2cam*(float3(x, y, 1)*voxelSize) - basePt;
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float3 zStep = ((float3)(vol2cam0.z, vol2cam1.z, vol2cam2.z))*voxelSize;
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int volYidx = x*volDims.x + y*volDims.y;
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int startZ, endZ;
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if(fabs(zStep.z) > 1e-5f)
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{
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int baseZ = convert_int(-basePt.z / zStep.z);
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if(zStep.z > 0)
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{
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startZ = baseZ;
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endZ = volResolution.z;
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}
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else
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{
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startZ = 0;
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endZ = baseZ;
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}
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}
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else
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{
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if(basePt.z > 0)
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{
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startZ = 0; endZ = volResolution.z;
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}
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else
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{
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// z loop shouldn't be performed
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//startZ = endZ = 0;
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return;
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}
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}
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startZ = max(0, startZ);
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endZ = min(volResolution.z, endZ);
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for(int z = startZ; z < endZ; z++)
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{
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// optimization of the following:
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//float3 camSpacePt = vol2cam * ((float3)(x, y, z)*voxelSize);
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camSpacePt += zStep;
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if(camSpacePt.z <= 0)
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continue;
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float3 camPixVec = camSpacePt / camSpacePt.z;
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float2 projected = mad(camPixVec.xy, fxy, cxy);
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float v;
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// bilinearly interpolate depth at projected
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if(all(projected >= 0) && all(projected < limits))
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{
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float2 ip = floor(projected);
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int xi = ip.x, yi = ip.y;
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__global const float* row0 = (__global const float*)(depthptr + depth_offset +
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(yi+0)*depth_step);
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__global const float* row1 = (__global const float*)(depthptr + depth_offset +
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(yi+1)*depth_step);
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float v00 = row0[xi+0];
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float v01 = row0[xi+1];
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float v10 = row1[xi+0];
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float v11 = row1[xi+1];
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float4 vv = (float4)(v00, v01, v10, v11);
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// assume correct depth is positive
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if(all(vv > 0))
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{
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float2 t = projected - ip;
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float2 vf = mix(vv.xz, vv.yw, t.x);
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v = mix(vf.s0, vf.s1, t.y);
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}
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else
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continue;
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}
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else
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continue;
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if(v == 0)
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continue;
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int idx = projected.y * depth_cols + projected.x;
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float pixNorm = pixNorms[idx];
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//float pixNorm = length(camPixVec);
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// difference between distances of point and of surface to camera
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float sdf = pixNorm*(v*dfac - camSpacePt.z);
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// possible alternative is:
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// float sdf = length(camSpacePt)*(v*dfac/camSpacePt.z - 1.0);
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if(sdf >= -truncDist)
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{
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float tsdf = fmin(1.0f, sdf * truncDistInv);
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int volIdx = volYidx + z*volDims.z;
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struct TsdfVoxel voxel = volumeptr[volIdx];
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float value = tsdfToFloat(voxel.tsdf);
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int weight = voxel.weight;
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// update TSDF
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value = (value*weight + tsdf) / (weight + 1);
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weight = min(weight + 1, maxWeight);
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voxel.tsdf = floatToTsdf(value);
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voxel.weight = weight;
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volumeptr[volIdx] = voxel;
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}
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}
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}
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inline float interpolateVoxel(float3 p, __global const struct TsdfVoxel* volumePtr,
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int3 volDims, int8 neighbourCoords)
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{
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float3 fip = floor(p);
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int3 ip = convert_int3(fip);
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float3 t = p - fip;
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int3 cmul = volDims*ip;
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int coordBase = cmul.x + cmul.y + cmul.z;
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int nco[8];
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vstore8(neighbourCoords + coordBase, 0, nco);
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float vaz[8];
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for(int i = 0; i < 8; i++)
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vaz[i] = tsdfToFloat(volumePtr[nco[i]].tsdf);
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float8 vz = vload8(0, vaz);
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float4 vy = mix(vz.s0246, vz.s1357, t.z);
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float2 vx = mix(vy.s02, vy.s13, t.y);
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return mix(vx.s0, vx.s1, t.x);
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}
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inline float3 getNormalVoxel(float3 p, __global const struct TsdfVoxel* volumePtr,
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int3 volResolution, int3 volDims, int8 neighbourCoords)
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{
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if(any(p < 1) || any(p >= convert_float3(volResolution - 2)))
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return nan((uint)0);
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float3 fip = floor(p);
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int3 ip = convert_int3(fip);
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float3 t = p - fip;
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int3 cmul = volDims*ip;
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int coordBase = cmul.x + cmul.y + cmul.z;
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int nco[8];
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vstore8(neighbourCoords + coordBase, 0, nco);
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int arDims[3];
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vstore3(volDims, 0, arDims);
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float an[3];
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for(int c = 0; c < 3; c++)
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{
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int dim = arDims[c];
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float vaz[8];
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for(int i = 0; i < 8; i++)
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vaz[i] = tsdfToFloat(volumePtr[nco[i] + dim].tsdf) -
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tsdfToFloat(volumePtr[nco[i] - dim].tsdf);
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float8 vz = vload8(0, vaz);
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float4 vy = mix(vz.s0246, vz.s1357, t.z);
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float2 vx = mix(vy.s02, vy.s13, t.y);
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an[c] = mix(vx.s0, vx.s1, t.x);
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}
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//gradientDeltaFactor is fixed at 1.0 of voxel size
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float3 n = vload3(0, an);
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float Norm = sqrt(n.x*n.x + n.y*n.y + n.z*n.z);
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return Norm < 0.0001f ? nan((uint)0) : n / Norm;
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//return fast_normalize(vload3(0, an));
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}
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typedef float4 ptype;
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__kernel void raycast(__global char * pointsptr,
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int points_step, int points_offset,
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__global char * normalsptr,
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int normals_step, int normals_offset,
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const int2 frameSize,
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__global const struct TsdfVoxel * volumeptr,
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__global const float * vol2camptr,
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__global const float * cam2volptr,
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const float2 fixy,
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const float2 cxy,
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const float4 boxDown4,
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const float4 boxUp4,
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const float tstep,
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const float voxelSize,
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const int4 volResolution4,
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const int4 volDims4,
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const int8 neighbourCoords
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)
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{
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int x = get_global_id(0);
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int y = get_global_id(1);
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if(x >= frameSize.x || y >= frameSize.y)
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return;
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// coordinate-independent constants
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__global const float* cm = cam2volptr;
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const float3 camRot0 = vload4(0, cm).xyz;
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const float3 camRot1 = vload4(1, cm).xyz;
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const float3 camRot2 = vload4(2, cm).xyz;
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const float3 camTrans = (float3)(cm[3], cm[7], cm[11]);
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__global const float* vm = vol2camptr;
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const float3 volRot0 = vload4(0, vm).xyz;
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const float3 volRot1 = vload4(1, vm).xyz;
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const float3 volRot2 = vload4(2, vm).xyz;
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const float3 volTrans = (float3)(vm[3], vm[7], vm[11]);
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const float3 boxDown = boxDown4.xyz;
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const float3 boxUp = boxUp4.xyz;
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const int3 volDims = volDims4.xyz;
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const int3 volResolution = volResolution4.xyz;
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const float invVoxelSize = native_recip(voxelSize);
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// kernel itself
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float3 point = nan((uint)0);
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float3 normal = nan((uint)0);
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float3 orig = camTrans;
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// get direction through pixel in volume space:
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// 1. reproject (x, y) on projecting plane where z = 1.f
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float3 planed = (float3)(((float2)(x, y) - cxy)*fixy, 1.f);
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// 2. rotate to volume space
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planed = (float3)(dot(planed, camRot0),
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dot(planed, camRot1),
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dot(planed, camRot2));
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// 3. normalize
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float3 dir = fast_normalize(planed);
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// compute intersection of ray with all six bbox planes
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float3 rayinv = native_recip(dir);
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float3 tbottom = rayinv*(boxDown - orig);
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float3 ttop = rayinv*(boxUp - orig);
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// re-order intersections to find smallest and largest on each axis
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float3 minAx = min(ttop, tbottom);
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float3 maxAx = max(ttop, tbottom);
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// near clipping plane
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const float clip = 0.f;
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float tmin = max(max(max(minAx.x, minAx.y), max(minAx.x, minAx.z)), clip);
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float tmax = min(min(maxAx.x, maxAx.y), min(maxAx.x, maxAx.z));
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// precautions against getting coordinates out of bounds
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tmin = tmin + tstep;
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tmax = tmax - tstep;
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if(tmin < tmax)
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{
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// interpolation optimized a little
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orig *= invVoxelSize;
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dir *= invVoxelSize;
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float3 rayStep = dir*tstep;
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float3 next = (orig + dir*tmin);
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float f = interpolateVoxel(next, volumeptr, volDims, neighbourCoords);
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float fnext = f;
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// raymarch
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int steps = 0;
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int nSteps = floor(native_divide(tmax - tmin, tstep));
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bool stop = false;
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for(int i = 0; i < nSteps; i++)
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{
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// fix for wrong steps counting
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if(!stop)
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{
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next += rayStep;
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// fetch voxel
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int3 ip = convert_int3(round(next));
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int3 cmul = ip*volDims;
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int idx = cmul.x + cmul.y + cmul.z;
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fnext = tsdfToFloat(volumeptr[idx].tsdf);
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if(fnext != f)
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{
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fnext = interpolateVoxel(next, volumeptr, volDims, neighbourCoords);
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// when ray crosses a surface
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if(signbit(f) != signbit(fnext))
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{
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stop = true; continue;
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}
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f = fnext;
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}
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steps++;
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}
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}
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// if ray penetrates a surface from outside
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// linearly interpolate t between two f values
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if(f > 0 && fnext < 0)
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{
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float3 tp = next - rayStep;
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float ft = interpolateVoxel(tp, volumeptr, volDims, neighbourCoords);
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float ftdt = interpolateVoxel(next, volumeptr, volDims, neighbourCoords);
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// float t = tmin + steps*tstep;
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// float ts = t - tstep*ft/(ftdt - ft);
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float ts = tmin + tstep*(steps - native_divide(ft, ftdt - ft));
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// avoid division by zero
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if(!isnan(ts) && !isinf(ts))
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{
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float3 pv = orig + dir*ts;
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float3 nv = getNormalVoxel(pv, volumeptr, volResolution, volDims, neighbourCoords);
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if(!any(isnan(nv)))
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{
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//convert pv and nv to camera space
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normal = (float3)(dot(nv, volRot0),
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dot(nv, volRot1),
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dot(nv, volRot2));
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// interpolation optimized a little
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pv *= voxelSize;
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point = (float3)(dot(pv, volRot0),
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dot(pv, volRot1),
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dot(pv, volRot2)) + volTrans;
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}
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}
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}
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}
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__global float* pts = (__global float*)(pointsptr + points_offset + y*points_step + x*sizeof(ptype));
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__global float* nrm = (__global float*)(normalsptr + normals_offset + y*normals_step + x*sizeof(ptype));
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vstore4((float4)(point, 0), 0, pts);
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vstore4((float4)(normal, 0), 0, nrm);
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}
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__kernel void getNormals(__global const char * pointsptr,
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int points_step, int points_offset,
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__global char * normalsptr,
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int normals_step, int normals_offset,
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const int2 frameSize,
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__global const struct TsdfVoxel* volumeptr,
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__global const float * volPoseptr,
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__global const float * invPoseptr,
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const float voxelSizeInv,
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const int4 volResolution4,
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const int4 volDims4,
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const int8 neighbourCoords
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)
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{
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int x = get_global_id(0);
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int y = get_global_id(1);
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if(x >= frameSize.x || y >= frameSize.y)
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return;
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// coordinate-independent constants
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||||
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__global const float* vp = volPoseptr;
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const float3 volRot0 = vload4(0, vp).xyz;
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const float3 volRot1 = vload4(1, vp).xyz;
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const float3 volRot2 = vload4(2, vp).xyz;
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const float3 volTrans = (float3)(vp[3], vp[7], vp[11]);
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__global const float* iv = invPoseptr;
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const float3 invRot0 = vload4(0, iv).xyz;
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const float3 invRot1 = vload4(1, iv).xyz;
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const float3 invRot2 = vload4(2, iv).xyz;
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const float3 invTrans = (float3)(iv[3], iv[7], iv[11]);
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const int3 volResolution = volResolution4.xyz;
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const int3 volDims = volDims4.xyz;
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||||
// kernel itself
|
||||
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__global const ptype* ptsRow = (__global const ptype*)(pointsptr +
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points_offset +
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y*points_step);
|
||||
float3 p = ptsRow[x].xyz;
|
||||
float3 n = nan((uint)0);
|
||||
if(!any(isnan(p)))
|
||||
{
|
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float3 voxPt = (float3)(dot(p, invRot0),
|
||||
dot(p, invRot1),
|
||||
dot(p, invRot2)) + invTrans;
|
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voxPt = voxPt * voxelSizeInv;
|
||||
n = getNormalVoxel(voxPt, volumeptr, volResolution, volDims, neighbourCoords);
|
||||
n = (float3)(dot(n, volRot0),
|
||||
dot(n, volRot1),
|
||||
dot(n, volRot2));
|
||||
}
|
||||
|
||||
__global float* nrm = (__global float*)(normalsptr +
|
||||
normals_offset +
|
||||
y*normals_step +
|
||||
x*sizeof(ptype));
|
||||
|
||||
vstore4((float4)(n, 0), 0, nrm);
|
||||
}
|
||||
|
||||
#pragma OPENCL EXTENSION cl_khr_global_int32_base_atomics:enable
|
||||
|
||||
struct CoordReturn
|
||||
{
|
||||
bool result;
|
||||
float3 point;
|
||||
float3 normal;
|
||||
};
|
||||
|
||||
inline struct CoordReturn coord(int x, int y, int z, float3 V, float v0, int axis,
|
||||
__global const struct TsdfVoxel* volumeptr,
|
||||
int3 volResolution, int3 volDims,
|
||||
int8 neighbourCoords,
|
||||
float voxelSize, float voxelSizeInv,
|
||||
const float3 volRot0,
|
||||
const float3 volRot1,
|
||||
const float3 volRot2,
|
||||
const float3 volTrans,
|
||||
bool needNormals,
|
||||
bool scan
|
||||
)
|
||||
{
|
||||
struct CoordReturn cr;
|
||||
|
||||
// 0 for x, 1 for y, 2 for z
|
||||
bool limits = false;
|
||||
int3 shift;
|
||||
float Vc = 0.f;
|
||||
if(axis == 0)
|
||||
{
|
||||
shift = (int3)(1, 0, 0);
|
||||
limits = (x + 1 < volResolution.x);
|
||||
Vc = V.x;
|
||||
}
|
||||
if(axis == 1)
|
||||
{
|
||||
shift = (int3)(0, 1, 0);
|
||||
limits = (y + 1 < volResolution.y);
|
||||
Vc = V.y;
|
||||
}
|
||||
if(axis == 2)
|
||||
{
|
||||
shift = (int3)(0, 0, 1);
|
||||
limits = (z + 1 < volResolution.z);
|
||||
Vc = V.z;
|
||||
}
|
||||
|
||||
if(limits)
|
||||
{
|
||||
int3 ip = ((int3)(x, y, z)) + shift;
|
||||
int3 cmul = ip*volDims;
|
||||
int idx = cmul.x + cmul.y + cmul.z;
|
||||
|
||||
struct TsdfVoxel voxel = volumeptr[idx];
|
||||
float vd = tsdfToFloat(voxel.tsdf);
|
||||
int weight = voxel.weight;
|
||||
|
||||
if(weight != 0 && vd != 1.f)
|
||||
{
|
||||
if((v0 > 0 && vd < 0) || (v0 < 0 && vd > 0))
|
||||
{
|
||||
// calc actual values or estimate amount of space
|
||||
if(!scan)
|
||||
{
|
||||
// linearly interpolate coordinate
|
||||
float Vn = Vc + voxelSize;
|
||||
float dinv = 1.f/(fabs(v0)+fabs(vd));
|
||||
float inter = (Vc*fabs(vd) + Vn*fabs(v0))*dinv;
|
||||
|
||||
float3 p = (float3)(shift.x ? inter : V.x,
|
||||
shift.y ? inter : V.y,
|
||||
shift.z ? inter : V.z);
|
||||
|
||||
cr.point = (float3)(dot(p, volRot0),
|
||||
dot(p, volRot1),
|
||||
dot(p, volRot2)) + volTrans;
|
||||
|
||||
if(needNormals)
|
||||
{
|
||||
float3 nv = getNormalVoxel(p * voxelSizeInv,
|
||||
volumeptr, volResolution, volDims, neighbourCoords);
|
||||
|
||||
cr.normal = (float3)(dot(nv, volRot0),
|
||||
dot(nv, volRot1),
|
||||
dot(nv, volRot2));
|
||||
}
|
||||
}
|
||||
|
||||
cr.result = true;
|
||||
return cr;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
cr.result = false;
|
||||
return cr;
|
||||
}
|
||||
|
||||
|
||||
__kernel void scanSize(__global const struct TsdfVoxel* volumeptr,
|
||||
const int4 volResolution4,
|
||||
const int4 volDims4,
|
||||
const int8 neighbourCoords,
|
||||
__global const float * volPoseptr,
|
||||
const float voxelSize,
|
||||
const float voxelSizeInv,
|
||||
__local int* reducebuf,
|
||||
__global char* groupedSumptr,
|
||||
int groupedSum_slicestep,
|
||||
int groupedSum_step, int groupedSum_offset
|
||||
)
|
||||
{
|
||||
const int3 volDims = volDims4.xyz;
|
||||
const int3 volResolution = volResolution4.xyz;
|
||||
|
||||
int x = get_global_id(0);
|
||||
int y = get_global_id(1);
|
||||
int z = get_global_id(2);
|
||||
|
||||
bool validVoxel = true;
|
||||
if(x >= volResolution.x || y >= volResolution.y || z >= volResolution.z)
|
||||
validVoxel = false;
|
||||
|
||||
const int gx = get_group_id(0);
|
||||
const int gy = get_group_id(1);
|
||||
const int gz = get_group_id(2);
|
||||
|
||||
const int lx = get_local_id(0);
|
||||
const int ly = get_local_id(1);
|
||||
const int lz = get_local_id(2);
|
||||
const int lw = get_local_size(0);
|
||||
const int lh = get_local_size(1);
|
||||
const int ld = get_local_size(2);
|
||||
const int lsz = lw*lh*ld;
|
||||
const int lid = lx + ly*lw + lz*lw*lh;
|
||||
|
||||
// coordinate-independent constants
|
||||
|
||||
__global const float* vp = volPoseptr;
|
||||
const float3 volRot0 = vload4(0, vp).xyz;
|
||||
const float3 volRot1 = vload4(1, vp).xyz;
|
||||
const float3 volRot2 = vload4(2, vp).xyz;
|
||||
const float3 volTrans = (float3)(vp[3], vp[7], vp[11]);
|
||||
|
||||
// kernel itself
|
||||
int npts = 0;
|
||||
if(validVoxel)
|
||||
{
|
||||
int3 ip = (int3)(x, y, z);
|
||||
int3 cmul = ip*volDims;
|
||||
int idx = cmul.x + cmul.y + cmul.z;
|
||||
struct TsdfVoxel voxel = volumeptr[idx];
|
||||
float value = tsdfToFloat(voxel.tsdf);
|
||||
int weight = voxel.weight;
|
||||
|
||||
// if voxel is not empty
|
||||
if(weight != 0 && value != 1.f)
|
||||
{
|
||||
float3 V = (((float3)(x, y, z)) + 0.5f)*voxelSize;
|
||||
|
||||
#pragma unroll
|
||||
for(int i = 0; i < 3; i++)
|
||||
{
|
||||
struct CoordReturn cr;
|
||||
cr = coord(x, y, z, V, value, i,
|
||||
volumeptr, volResolution, volDims,
|
||||
neighbourCoords,
|
||||
voxelSize, voxelSizeInv,
|
||||
volRot0, volRot1, volRot2, volTrans,
|
||||
false, true);
|
||||
if(cr.result)
|
||||
{
|
||||
npts++;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// reducebuf keeps counters for each thread
|
||||
reducebuf[lid] = npts;
|
||||
|
||||
// reduce counter to local mem
|
||||
|
||||
// maxStep = ctz(lsz), ctz isn't supported on CUDA devices
|
||||
const int c = clz(lsz & -lsz);
|
||||
const int maxStep = c ? 31 - c : c;
|
||||
for(int nstep = 1; nstep <= maxStep; nstep++)
|
||||
{
|
||||
if(lid % (1 << nstep) == 0)
|
||||
{
|
||||
int rto = lid;
|
||||
int rfrom = lid + (1 << (nstep-1));
|
||||
reducebuf[rto] += reducebuf[rfrom];
|
||||
}
|
||||
barrier(CLK_LOCAL_MEM_FENCE);
|
||||
}
|
||||
|
||||
if(lid == 0)
|
||||
{
|
||||
__global int* groupedRow = (__global int*)(groupedSumptr +
|
||||
groupedSum_offset +
|
||||
gy*groupedSum_step +
|
||||
gz*groupedSum_slicestep);
|
||||
|
||||
groupedRow[gx] = reducebuf[0];
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
__kernel void fillPtsNrm(__global const struct TsdfVoxel* volumeptr,
|
||||
const int4 volResolution4,
|
||||
const int4 volDims4,
|
||||
const int8 neighbourCoords,
|
||||
__global const float * volPoseptr,
|
||||
const float voxelSize,
|
||||
const float voxelSizeInv,
|
||||
const int needNormals,
|
||||
__local float* localbuf,
|
||||
volatile __global int* atomicCtr,
|
||||
__global const char* groupedSumptr,
|
||||
int groupedSum_slicestep,
|
||||
int groupedSum_step, int groupedSum_offset,
|
||||
__global char * pointsptr,
|
||||
int points_step, int points_offset,
|
||||
__global char * normalsptr,
|
||||
int normals_step, int normals_offset
|
||||
)
|
||||
{
|
||||
const int3 volDims = volDims4.xyz;
|
||||
const int3 volResolution = volResolution4.xyz;
|
||||
|
||||
int x = get_global_id(0);
|
||||
int y = get_global_id(1);
|
||||
int z = get_global_id(2);
|
||||
|
||||
bool validVoxel = true;
|
||||
if(x >= volResolution.x || y >= volResolution.y || z >= volResolution.z)
|
||||
validVoxel = false;
|
||||
|
||||
const int gx = get_group_id(0);
|
||||
const int gy = get_group_id(1);
|
||||
const int gz = get_group_id(2);
|
||||
|
||||
__global int* groupedRow = (__global int*)(groupedSumptr +
|
||||
groupedSum_offset +
|
||||
gy*groupedSum_step +
|
||||
gz*groupedSum_slicestep);
|
||||
|
||||
// this group contains 0 pts, skip it
|
||||
int nptsGroup = groupedRow[gx];
|
||||
if(nptsGroup == 0)
|
||||
return;
|
||||
|
||||
const int lx = get_local_id(0);
|
||||
const int ly = get_local_id(1);
|
||||
const int lz = get_local_id(2);
|
||||
const int lw = get_local_size(0);
|
||||
const int lh = get_local_size(1);
|
||||
const int ld = get_local_size(2);
|
||||
const int lsz = lw*lh*ld;
|
||||
const int lid = lx + ly*lw + lz*lw*lh;
|
||||
|
||||
// coordinate-independent constants
|
||||
|
||||
__global const float* vp = volPoseptr;
|
||||
const float3 volRot0 = vload4(0, vp).xyz;
|
||||
const float3 volRot1 = vload4(1, vp).xyz;
|
||||
const float3 volRot2 = vload4(2, vp).xyz;
|
||||
const float3 volTrans = (float3)(vp[3], vp[7], vp[11]);
|
||||
|
||||
// kernel itself
|
||||
int npts = 0;
|
||||
float3 parr[3], narr[3];
|
||||
if(validVoxel)
|
||||
{
|
||||
int3 ip = (int3)(x, y, z);
|
||||
int3 cmul = ip*volDims;
|
||||
int idx = cmul.x + cmul.y + cmul.z;
|
||||
struct TsdfVoxel voxel = volumeptr[idx];
|
||||
float value = tsdfToFloat(voxel.tsdf);
|
||||
int weight = voxel.weight;
|
||||
|
||||
// if voxel is not empty
|
||||
if(weight != 0 && value != 1.f)
|
||||
{
|
||||
float3 V = (((float3)(x, y, z)) + 0.5f)*voxelSize;
|
||||
|
||||
#pragma unroll
|
||||
for(int i = 0; i < 3; i++)
|
||||
{
|
||||
struct CoordReturn cr;
|
||||
cr = coord(x, y, z, V, value, i,
|
||||
volumeptr, volResolution, volDims,
|
||||
neighbourCoords,
|
||||
voxelSize, voxelSizeInv,
|
||||
volRot0, volRot1, volRot2, volTrans,
|
||||
needNormals, false);
|
||||
|
||||
if(cr.result)
|
||||
{
|
||||
parr[npts] = cr.point;
|
||||
narr[npts] = cr.normal;
|
||||
npts++;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// 4 floats per point or normal
|
||||
const int elemStep = 4;
|
||||
|
||||
__local float* normAddr;
|
||||
__local int localCtr;
|
||||
if(lid == 0)
|
||||
localCtr = 0;
|
||||
|
||||
// push all pts (and nrm) from private array to local mem
|
||||
int privateCtr = 0;
|
||||
barrier(CLK_LOCAL_MEM_FENCE);
|
||||
privateCtr = atomic_add(&localCtr, npts);
|
||||
barrier(CLK_LOCAL_MEM_FENCE);
|
||||
|
||||
for(int i = 0; i < npts; i++)
|
||||
{
|
||||
__local float* addr = localbuf + (privateCtr+i)*elemStep;
|
||||
vstore4((float4)(parr[i], 0), 0, addr);
|
||||
}
|
||||
|
||||
if(needNormals)
|
||||
{
|
||||
normAddr = localbuf + localCtr*elemStep;
|
||||
|
||||
for(int i = 0; i < npts; i++)
|
||||
{
|
||||
__local float* addr = normAddr + (privateCtr+i)*elemStep;
|
||||
vstore4((float4)(narr[i], 0), 0, addr);
|
||||
}
|
||||
}
|
||||
|
||||
// debugging purposes
|
||||
if(lid == 0)
|
||||
{
|
||||
if(localCtr != nptsGroup)
|
||||
{
|
||||
printf("!!! fetchPointsNormals result may be incorrect, npts != localCtr at %3d %3d %3d: %3d vs %3d\n",
|
||||
gx, gy, gz, localCtr, nptsGroup);
|
||||
}
|
||||
}
|
||||
|
||||
// copy local buffer to global mem
|
||||
__local int whereToWrite;
|
||||
if(lid == 0)
|
||||
whereToWrite = atomic_add(atomicCtr, localCtr);
|
||||
barrier(CLK_GLOBAL_MEM_FENCE);
|
||||
|
||||
event_t ev[2];
|
||||
int evn = 0;
|
||||
// points and normals are 1-column matrices
|
||||
__global float* pts = (__global float*)(pointsptr +
|
||||
points_offset +
|
||||
whereToWrite*points_step);
|
||||
ev[evn++] = async_work_group_copy(pts, localbuf, localCtr*elemStep, 0);
|
||||
|
||||
if(needNormals)
|
||||
{
|
||||
__global float* nrm = (__global float*)(normalsptr +
|
||||
normals_offset +
|
||||
whereToWrite*normals_step);
|
||||
ev[evn++] = async_work_group_copy(nrm, normAddr, localCtr*elemStep, 0);
|
||||
}
|
||||
|
||||
wait_group_events(evn, ev);
|
||||
}
|
||||
Reference in New Issue
Block a user