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Fixed KinFu getCloud() at empty volume #2410

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Merged
merged 2 commits into from
Jan 18, 2020
Merged

Fixed KinFu getCloud() at empty volume #2410

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97c7de0
KinFu getCloud(): an empty volume check added to OCL code
savuor Jan 16, 2020
bf14203
minor
savuor Jan 16, 2020
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64 changes: 34 additions & 30 deletions modules/rgbd/src/tsdf.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1393,7 +1393,7 @@ void TSDFVolumeGPU::fetchPointsNormals(OutputArray points, OutputArray normals)
(int)divUp(globalSize[2], (unsigned int)localSize[2]));

const size_t counterSize = sizeof(int);
size_t lsz = localSize[0]*localSize[1]*localSize[2]*counterSize;
size_t lszscan = localSize[0]*localSize[1]*localSize[2]*counterSize;

const int gsz[3] = {ngroups[2], ngroups[1], ngroups[0]};
UMat groupedSum(3, gsz, CV_32S, Scalar(0));
Expand All @@ -1409,7 +1409,7 @@ void TSDFVolumeGPU::fetchPointsNormals(OutputArray points, OutputArray normals)
ocl::KernelArg::PtrReadOnly(volPoseGpu),
voxelSize,
voxelSizeInv,
ocl::KernelArg::Local(lsz),
ocl::KernelArg::Local(lszscan),
ocl::KernelArg::WriteOnlyNoSize(groupedSum));

if(!kscan.run(3, globalSize, localSize, true))
Expand All @@ -1422,12 +1422,6 @@ void TSDFVolumeGPU::fetchPointsNormals(OutputArray points, OutputArray normals)

// 2. fill output arrays according to per-group points count

ocl::Kernel kfill;
kfill.create("fillPtsNrm", source, options, &errorStr);

if(kfill.empty())
throw std::runtime_error("Failed to create kernel: " + errorStr);

points.create(gpuSum, 1, POINT_TYPE);
UMat pts = points.getUMat();
UMat nrm;
Expand All @@ -1438,31 +1432,41 @@ void TSDFVolumeGPU::fetchPointsNormals(OutputArray points, OutputArray normals)
}
else
{
// it won't access but empty args are forbidden
// it won't be accessed but empty args are forbidden
nrm = UMat(1, 1, POINT_TYPE);
}
UMat atomicCtr(1, 1, CV_32S, Scalar(0));

// mem size to keep pts (and normals optionally) for all work-items in a group
lsz = localSize[0]*localSize[1]*localSize[2]*elemSize;

kfill.args(ocl::KernelArg::PtrReadOnly(volume),
volResGpu.val,
volDims.val,
neighbourCoords.val,
ocl::KernelArg::PtrReadOnly(volPoseGpu),
voxelSize,
voxelSizeInv,
((int)needNormals),
ocl::KernelArg::Local(lsz),
ocl::KernelArg::PtrReadWrite(atomicCtr),
ocl::KernelArg::ReadOnlyNoSize(groupedSum),
ocl::KernelArg::WriteOnlyNoSize(pts),
ocl::KernelArg::WriteOnlyNoSize(nrm)
);

if(!kfill.run(3, globalSize, localSize, true))
throw std::runtime_error("Failed to run kernel");
if (gpuSum)
{
ocl::Kernel kfill;
kfill.create("fillPtsNrm", source, options, &errorStr);

if(kfill.empty())
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kfill.empty()

Put check right after .create()call.

UMat creation between them looks strange.

throw std::runtime_error("Failed to create kernel: " + errorStr);

UMat atomicCtr(1, 1, CV_32S, Scalar(0));

// mem size to keep pts (and normals optionally) for all work-items in a group
size_t lszfill = localSize[0]*localSize[1]*localSize[2]*elemSize;

kfill.args(ocl::KernelArg::PtrReadOnly(volume),
volResGpu.val,
volDims.val,
neighbourCoords.val,
ocl::KernelArg::PtrReadOnly(volPoseGpu),
voxelSize,
voxelSizeInv,
((int)needNormals),
ocl::KernelArg::Local(lszfill),
ocl::KernelArg::PtrReadWrite(atomicCtr),
ocl::KernelArg::ReadOnlyNoSize(groupedSum),
ocl::KernelArg::WriteOnlyNoSize(pts),
ocl::KernelArg::WriteOnlyNoSize(nrm)
);

if(!kfill.run(3, globalSize, localSize, true))
throw std::runtime_error("Failed to run kernel");
}
}
}

Expand Down