extractSurfel.cl File Reference

Macros
#define	SURFEL_MAX   3000000
	maximum number of surfels More...
#define	SUPPORT_MAX   20
	maximum number of support cameras More...
#define	INITIAL_OPTION   1
#define	INITIAL_WIDTH   0
	width of voting window More...
#define	NUM_NORMAL   80
	number of discrete normal candidates More...
#define	WIN_SIZE   5
	window size (= 2*WIN_SIZE+1) for surfel refinement More...
#define	BILINEAR_INTERPOLATION   1
	use bilinear interpolation? More...
#define	NUMCAM   50
	number of cameras for CUDA kernels More...
#define	SMOOTH_OPTION   4
#define	SMOOTH_RAD   3
	radius for surfel smoothing More...
#define	SMOOTH_SIGMA   1.0f
	gaussian standard deviation for surfel smoothing More...
#define	SURFELFILTERING   0
#define	PROP   300000.0f
	proportional constant for dx More...
#define	SURFEL_ORIENTATION_NLINK   1
	exploit surfel orientation for n-links (flux optimization) More...
#define	SURFEL_ORIENTATION_TLINK   2
	exploit surfel orientation for t-links (surfel orientation constraint) More...
#define	MAX_ITER   500
	iteration number for push-relabel algorithm More...
#define	GLRELABEL   100
	cycle for global relabeling More...
#define	SMOOTHRECONSTRUCTION   1
#define	BLOCKSIZEX   32
	CUDA block size. More...
#define	BLOCKSIZEY   8
#define	REDUCBLOCKSIZEX   512
	CUDA block size. More...
#define	REDUCBLOCKSIZEY   1
#define	GPU_PI   3.14159265358979323846
	pi value More...
#define	GRAY_BFS   1
#define	WHITE_BFS   0
#define	BLACK_BFS   2

Typedefs
typedef int	edgeType
	edge data type (int or float) More...

Functions
__kernel void	kernelComputePhotoConsistencyArray (float sigma, int numSurfel, __global float *d_pc, __global int *d_index, __global float *d_score)
__kernel void	kernel_bfs_t (__global edgeType *g_push_reser, __global edgeType *g_sinkedge, __global int *g_graph_heightw, __global unsigned char *g_node_mask, int totnodenum)
__kernel void	kernel_bfs (int N0, int N1, int N2, __global edgeType *edge, __global int *g_graph_height, __global int *g_graph_heightw, int totnodenum, __global unsigned char *g_node_mask, __global bool *g_continue, int g_counter, __global edgeType *g_push_reser, __global bool *g_CutContinue)
__kernel void	kernel_push1_atomic (int N0, int N1, int N2, __global edgeType *edge, __global edgeType *g_sink_weight, __global edgeType *g_push_reser, __global int *g_graph_height, int totnodenumber, __global bool *g_relabel_mask)
__kernel void	kernel_relabel_atomic (int N0, int N1, int N2, __global edgeType *edge, __global edgeType *g_sink_weight, __global edgeType *g_push_reser, __global int *g_graph_height, __global int *g_height_write, int totnodenumber, __global bool *g_relabel_mask)
__kernel void	kernelComputeNlink1 (int N0, int N1, int N2, int numPoint, float dx, __global float *d_pc, __global edgeType *d_edge)
__kernel void	kernelComputeNlink2 (int N0, int N1, int N2, int numPoint, float dx, __global float *d_pc, __global edgeType *d_edge, __global float *d_nx, __global float *d_ny, __global float *d_nz)
__kernel void	kernelComputeNSum (int N0, int N1, int N2, int numPoint, __global edgeType *d_edge, __global edgeType *d_nLinkSum)
__kernel void	kernelGetResult (int totnodenum, __global int *d_graph_heightr, __global unsigned char *d_nodeLabel, __global edgeType *d_push_reser)

Macro Definition Documentation

BILINEAR_INTERPOLATION

#define BILINEAR_INTERPOLATION   1

use bilinear interpolation?

BLACK_BFS

#define BLACK_BFS   2

BLOCKSIZEX

#define BLOCKSIZEX   32

CUDA block size.

BLOCKSIZEY

#define BLOCKSIZEY   8

GLRELABEL

#define GLRELABEL   100

cycle for global relabeling

GPU_PI

#define GPU_PI   3.14159265358979323846

pi value

GRAY_BFS

#define GRAY_BFS   1

INITIAL_OPTION

#define INITIAL_OPTION   1

option for initial surfel construction
0: minimum cost
1: maximum votes

INITIAL_WIDTH

#define INITIAL_WIDTH   0

width of voting window

MAX_ITER

#define MAX_ITER   500

iteration number for push-relabel algorithm

NUM_NORMAL

#define NUM_NORMAL   80

number of discrete normal candidates

NUMCAM

#define NUMCAM   50

number of cameras for CUDA kernels

PROP

#define PROP   300000.0f

proportional constant for dx

REDUCBLOCKSIZEX

#define REDUCBLOCKSIZEX   512

CUDA block size.

REDUCBLOCKSIZEY

#define REDUCBLOCKSIZEY   1

SMOOTH_OPTION

#define SMOOTH_OPTION   4

option for surfel smoothing
0: no smoothing
1: smooth normal
2: smooth score
3: smooth both normal and score
4: smooth and expand normal
5: smooth and expand score
6: smooth and expand both normal and score

SMOOTH_RAD

#define SMOOTH_RAD   3

radius for surfel smoothing

SMOOTH_SIGMA

#define SMOOTH_SIGMA   1.0f

gaussian standard deviation for surfel smoothing

SMOOTHRECONSTRUCTION

#define SMOOTHRECONSTRUCTION   1

option for smoothing surfels
which are added by graph cuts
0 : smoothing off
1 : smoothing on

SUPPORT_MAX

#define SUPPORT_MAX   20

maximum number of support cameras

SURFEL_MAX

#define SURFEL_MAX   3000000

maximum number of surfels

SURFEL_ORIENTATION_NLINK

#define SURFEL_ORIENTATION_NLINK   1

exploit surfel orientation for n-links (flux optimization)

SURFEL_ORIENTATION_TLINK

#define SURFEL_ORIENTATION_TLINK   2

exploit surfel orientation for t-links (surfel orientation constraint)

SURFELFILTERING

#define SURFELFILTERING   0

option for filtering out outliers
0 : filtering off
1 : filtering on

WHITE_BFS

#define WHITE_BFS   0

WIN_SIZE

#define WIN_SIZE   5

window size (= 2*WIN_SIZE+1) for surfel refinement

Typedef Documentation

edgeType

typedef int edgeType

edge data type (int or float)

Function Documentation

kernel_bfs()

__kernel void kernel_bfs	(	int	N0,
		int	N1,
		int	N2,
		__global edgeType *	edge,
		__global int *	g_graph_height,
		__global int *	g_graph_heightw,
		int	totnodenum,
		__global unsigned char *	g_node_mask,
		__global bool *	g_continue,
		int	g_counter,
		__global edgeType *	g_push_reser,
		__global bool *	g_CutContinue
	)

kernel_bfs_t()

__kernel void kernel_bfs_t	(	__global edgeType *	g_push_reser,
		__global edgeType *	g_sinkedge,
		__global int *	g_graph_heightw,
		__global unsigned char *	g_node_mask,
		int	totnodenum
	)

kernel_push1_atomic()

__kernel void kernel_push1_atomic	(	int	N0,
		int	N1,
		int	N2,
		__global edgeType *	edge,
		__global edgeType *	g_sink_weight,
		__global edgeType *	g_push_reser,
		__global int *	g_graph_height,
		int	totnodenumber,
		__global bool *	g_relabel_mask
	)

push-relabel algorithm

kernel_relabel_atomic()

__kernel void kernel_relabel_atomic	(	int	N0,
		int	N1,
		int	N2,
		__global edgeType *	edge,
		__global edgeType *	g_sink_weight,
		__global edgeType *	g_push_reser,
		__global int *	g_graph_height,
		__global int *	g_height_write,
		int	totnodenumber,
		__global bool *	g_relabel_mask
	)

push-relabel algorithm

kernelComputeNlink1()

__kernel void kernelComputeNlink1	(	int	N0,
		int	N1,
		int	N2,
		int	numPoint,
		float	dx,
		__global float *	d_pc,
		__global edgeType *	d_edge
	)

compute nlink

kernelComputeNlink2()

__kernel void kernelComputeNlink2	(	int	N0,
		int	N1,
		int	N2,
		int	numPoint,
		float	dx,
		__global float *	d_pc,
		__global edgeType *	d_edge,
		__global float *	d_nx,
		__global float *	d_ny,
		__global float *	d_nz
	)

compute nlink

kernelComputeNSum()

__kernel void kernelComputeNSum	(	int	N0,
		int	N1,
		int	N2,
		int	numPoint,
		__global edgeType *	d_edge,
		__global edgeType *	d_nLinkSum
	)

compute max nlink sum

kernelComputePhotoConsistencyArray()

__kernel void kernelComputePhotoConsistencyArray	(	float	sigma,
		int	numSurfel,
		__global float *	d_pc,
		__global int *	d_index,
		__global float *	d_score
	)

Compute photo consistency array

kernelGetResult()

__kernel void kernelGetResult	(	int	totnodenum,
		__global int *	d_graph_heightr,
		__global unsigned char *	d_nodeLabel,
		__global edgeType *	d_push_reser
	)

Labeling by using mincut