Commit c8b405eb authored by Rostislav Vasilikhin's avatar Rostislav Vasilikhin Committed by Alexander Alekhin
Browse files

Merge pull request #2410 from savuor:fix/kinfu_fetch_checkzero 

Fixed KinFu getCloud() at empty volume

* KinFu getCloud(): an empty volume check added to OCL code

* minor
parent 9c3e86b7

modules/rgbd/src/tsdf.cpp

+34 −30
Original line number Diff line number Diff line
@@ -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));
@@ -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))
@@ -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;
@@ -1438,13 +1432,22 @@ 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);

        }



        if (gpuSum)

        {

            ocl::Kernel kfill;

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



            if(kfill.empty())

                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

        lsz = localSize[0]*localSize[1]*localSize[2]*elemSize;

            size_t lszfill = localSize[0]*localSize[1]*localSize[2]*elemSize;



            kfill.args(ocl::KernelArg::PtrReadOnly(volume),

                       volResGpu.val,
@@ -1454,7 +1457,7 @@ void TSDFVolumeGPU::fetchPointsNormals(OutputArray points, OutputArray normals) 
                       voxelSize,

                       voxelSizeInv,

                       ((int)needNormals),

                   ocl::KernelArg::Local(lsz),

                       ocl::KernelArg::Local(lszfill),

                       ocl::KernelArg::PtrReadWrite(atomicCtr),

                       ocl::KernelArg::ReadOnlyNoSize(groupedSum),

                       ocl::KernelArg::WriteOnlyNoSize(pts),
@@ -1465,6 +1468,7 @@ void TSDFVolumeGPU::fetchPointsNormals(OutputArray points, OutputArray normals) 
                throw std::runtime_error("Failed to run kernel");

        }

    }

}



#endif