refineSurfel.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

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

Functions
__kernel void	computeSurfelCost1 (__global float *d_cost, int numSurfel, __global float *d_x, __global float *d_y, __global float *d_z, __global int *d_refCam, __global int *d_supportCam, int numCam, int width, int height, __global float *d_P, __global float *d_RinvKinv, __global float *d_RinvT, int numNormal, __global float *d_samples, __global unsigned char *d_sampleCam, __global float *d_imgR, __global float *d_imgG, __global float *d_imgB)
__kernel void	computeSurfelCost2 (__global float *d_cost, __global int *d_num, int supportIdx, int numSurfel, __global float *d_x, __global float *d_y, __global float *d_z, __global int *d_refCam, __global int *d_supportCam, int numCam, int width, int height, __global float *d_P, __global float *d_RinvKinv, __global float *d_RinvT, int numNormal, __global float *d_samples, __global unsigned char *d_sampleCam, __read_only image3d_t d_imgR, __read_only image3d_t d_imgG, __read_only image3d_t d_imgB)
__kernel void	computeSurfelCost3 (__global float *d_cost, __global int *d_num, int supportIdx, int numSurfel, __global float *d_x, __global float *d_y, __global float *d_z, __global int *d_refCam, __global int *d_supportCam, int numCam, int width, int height, __global float *d_P, __global float *d_RinvKinv, __global float *d_RinvT, int numNormal, __global float *d_samples, __global unsigned char *d_sampleCam, __global unsigned char *img)

Variables
const sampler_t	sampler = CLK_NORMALIZED_COORDS_FALSE | CLK_ADDRESS_CLAMP_TO_EDGE | CLK_FILTER_NEAREST

Macro Definition Documentation

BILINEAR_INTERPOLATION

#define BILINEAR_INTERPOLATION   1

use bilinear interpolation?

BLOCKSIZEX

#define BLOCKSIZEX   32

CUDA block size.

BLOCKSIZEY

#define BLOCKSIZEY   8

GLRELABEL

#define GLRELABEL   100

cycle for global relabeling

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

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

computeSurfelCost1()

__kernel void computeSurfelCost1	(	__global float *	d_cost,
		int	numSurfel,
		__global float *	d_x,
		__global float *	d_y,
		__global float *	d_z,
		__global int *	d_refCam,
		__global int *	d_supportCam,
		int	numCam,
		int	width,
		int	height,
		__global float *	d_P,
		__global float *	d_RinvKinv,
		__global float *	d_RinvT,
		int	numNormal,
		__global float *	d_samples,
		__global unsigned char *	d_sampleCam,
		__global float *	d_imgR,
		__global float *	d_imgG,
		__global float *	d_imgB
	)

Compute surfel cost

Parameters

d_imgR	__global float*
d_imgG	__global float*
d_imgB	__global float*

computeSurfelCost2()

__kernel void computeSurfelCost2	(	__global float *	d_cost,
		__global int *	d_num,
		int	supportIdx,
		int	numSurfel,
		__global float *	d_x,
		__global float *	d_y,
		__global float *	d_z,
		__global int *	d_refCam,
		__global int *	d_supportCam,
		int	numCam,
		int	width,
		int	height,
		__global float *	d_P,
		__global float *	d_RinvKinv,
		__global float *	d_RinvT,
		int	numNormal,
		__global float *	d_samples,
		__global unsigned char *	d_sampleCam,
		__read_only image3d_t	d_imgR,
		__read_only image3d_t	d_imgG,
		__read_only image3d_t	d_imgB
	)

Compute surfel cost

Parameters

d_imgR	__read_only image3d_t
d_imgG	__read_only image3d_t
d_imgB	__read_only image3d_t

computeSurfelCost3()

__kernel void computeSurfelCost3	(	__global float *	d_cost,
		__global int *	d_num,
		int	supportIdx,
		int	numSurfel,
		__global float *	d_x,
		__global float *	d_y,
		__global float *	d_z,
		__global int *	d_refCam,
		__global int *	d_supportCam,
		int	numCam,
		int	width,
		int	height,
		__global float *	d_P,
		__global float *	d_RinvKinv,
		__global float *	d_RinvT,
		int	numNormal,
		__global float *	d_samples,
		__global unsigned char *	d_sampleCam,
		__global unsigned char *	img
	)

Compute surfel cost

Parameters

img	__global unsigned char*

Variable Documentation

sampler

const sampler_t sampler = CLK_NORMALIZED_COORDS_FALSE | CLK_ADDRESS_CLAMP_TO_EDGE | CLK_FILTER_NEAREST