New HashTSDFVolumeGPU class #2734
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savuor
reviewed
Nov 2, 2020
modules/rgbd/src/hash_tsdf.cpp
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| { | ||
| int numVisibleBlocks = 0; | ||
| //! TODO: Iterate over map parallely? | ||
| for (const auto& keyvalue : volumeUnits) |
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Two changes are required here for GPU:
- Reduce the sum via reduction
- Check whether the subvolume is in the frustum before counting it
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-
- Is this condition checked now for CPU code?
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Actually on second thought it is not required, since the lastVisibleIdx will be updated in the integrate step only if it is in the frustum.
Perhaps this is why I didn't implement the check again here the first time around.
modules/rgbd/src/hash_tsdf.cpp
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| return -1; | ||
| } | ||
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| void HashTSDFVolumeGPU::integrate(InputArray _depth, float depthFactor, const Matx44f& cameraPose, const Intr& intrinsics, const int frameId) |
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Is this currently a dummy class, since the code is identical to CPU implementation?
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Yes, it is :)
It is a dummy of GPU class and will be rewritten to OpenCL
added 12 commits
November 6, 2020 12:20
added 14 commits
February 17, 2021 13:06
savuor
reviewed
Feb 17, 2021
savuor
reviewed
Feb 17, 2021
savuor
reviewed
Feb 18, 2021
added 2 commits
February 18, 2021 16:27
savuor
approved these changes
Feb 18, 2021
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Pull Request Readiness Checklist
| -- [ WI ] -- |
Done:
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To do:
See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request
Patch to opencv_extra has the same branch name.