done using color as patch_id

DepthSensing/Shaders/IntegrateFromGlobalHash.hlsl

@@ -41,8 +41,8 @@ static const uint linBlockSize = SDF_BLOCK_SIZE * SDF_BLOCK_SIZE * SDF_BLOCK_SIZ
 [numthreads(groupthreads, 1, 1)]
 void integrateFromGlobalHashPass1CS(int3 dTid : SV_DispatchThreadID, uint3 GTid : SV_GroupThreadID, uint GI: SV_GroupIndex, uint3 GID : SV_GroupID)
 {
-	uint bucketID = start+groupthreads*(GID.x + GID.y * NUM_GROUPS_X)+GI;
-	if(bucketID < g_HashNumBuckets*g_HashBucketSize)
+	uint bucketID = start+groupthreads * (GID.x + GID.y * NUM_GROUPS_X)+GI;
+	if(bucketID < g_HashNumBuckets * g_HashBucketSize)
 	{
 		HashEntry entry = getHashEntry(g_Hash, bucketID);
 
@@ -87,6 +87,7 @@ StructuredBuffer<SDFBlockDesc> g_SDFBLockDescs : register(t0);
 RWBuffer<float> g_SDFBlocksSDF : register(u0);
 RWBuffer<int> g_outputSDFBlocks : register(u1);
 RWBuffer<int> g_SDFBlocksRGBW : register(u2);
+RWBuffer<float> g_SDFBlocksID : register(u3);
 
 [numthreads(SDF_BLOCK_SIZE*SDF_BLOCK_SIZE*SDF_BLOCK_SIZE, 1, 1)]
 void integrateFromGlobalHashPass2CS(int3 dTid : SV_DispatchThreadID, uint3 GTid : SV_GroupThreadID, uint GI: SV_GroupIndex, uint3 GID : SV_GroupID)
@@ -97,13 +98,17 @@ void integrateFromGlobalHashPass2CS(int3 dTid : SV_DispatchThreadID, uint3 GTid
 	{
 		SDFBlockDesc desc = g_SDFBLockDescs[idxBlock];
 
-		// Copy SDF block to CPU
-		g_outputSDFBlocks[2*(linBlockSize*idxBlock+GI)+0] = asint(g_SDFBlocksSDF[desc.ptr+GI]);
-		g_outputSDFBlocks[2*(linBlockSize*idxBlock+GI)+1] = g_SDFBlocksRGBW[desc.ptr+GI];
+		//这里需要针对sdfblockid修改代码！！！从这里开始！！！    
+
+		// Copy SDF block to CPU， 添加了id之后 每个voxel占3个字节
+		g_outputSDFBlocks[3 * (linBlockSize*idxBlock + GI) + 0] = asint(g_SDFBlocksSDF[desc.ptr + GI]);
+		g_outputSDFBlocks[3 * (linBlockSize*idxBlock + GI) + 1] = g_SDFBlocksRGBW[desc.ptr + GI];
+		// wei add, 拷贝sdfblocks中每个voxel的id
+		g_outputSDFBlocks[3 * (linBlockSize*idxBlock + GI) + 2] = g_SDFBlocksID[desc.ptr + GI];
 
 		//// Reset SDF Block
 		//g_SDFBlocks[2*(desc.ptr+GI)+0] = 0;
 		//g_SDFBlocks[2*(desc.ptr+GI)+1] = 0;
-		deleteVoxel(g_SDFBlocksSDF, g_SDFBlocksRGBW, desc.ptr+GI);
+		deleteVoxel(g_SDFBlocksSDF, g_SDFBlocksRGBW, g_SDFBlocksID, desc.ptr + GI);
 	}
 }

DepthSensing/Shaders/PhongLighting.hlsl

@@ -39,6 +39,7 @@ struct VS_OUTPUT
 
 #define MINF asfloat(0xff800000)
 
+
 //这个函数就是实际看到的点的Pixel shader函数
 float4 PhongPS(VS_OUTPUT Input) : SV_TARGET
 {
@@ -47,6 +48,9 @@ float4 PhongPS(VS_OUTPUT Input) : SV_TARGET
 	float3 color = inputColors.Sample(g_PointSampler, Input.vTexcoord).xyz;
 	//wei add
 	float id = inputIDs.Sample(g_PointSampler, Input.vTexcoord);
+	//test using color as id
+	//color.x = 0.01;
+	id = (asint(color.x * 100)) % 4;
 
 	if (id != MINF && position.x != MINF && color.x != MINF && normal.x != MINF)
 	{
@@ -55,17 +59,17 @@ float4 PhongPS(VS_OUTPUT Input) : SV_TARGET
 
 		if(g_useMaterial == 1)
 		{
-			//material = float4(color, 1.0f);
-			if (id == 1.0) {
+			if (id == 0.0f){
+				material = float4(1.0f, 1.0f, 1.0f, 0.0f);
+			}else if (id == 1.0) {
 				material = float4(1.0f, 0.0f, 0.0f, 0.0f);
 			} else if (id == 2.0) {
 				material = float4(0.0f, 1.0f, 0.0f, 0.0f);
 			} else if (id == 3.0) {
 				material = float4(0.0f, 0.0f, 1.0f, 0.0f);
-			} else {
+			} else if (id == 4.0){
 				material = float4(1.0f, 1.0f, 0.0f, 0.0f);
 			}
-		//	material = float4(0.0f, 1.0f, 0.0f, 0.0f);
 		//	material = float4(color, 1.0f);
 		}
 

DepthSensing/Source/DX11SceneRepChunkGrid.cpp

@@ -70,6 +70,9 @@ HRESULT DX11SceneRepChunkGrid::StreamOutToCPUPass0GPU(ID3D11DeviceContext* conte
 
 	ID3D11UnorderedAccessView* hashUAV = sceneRepHashSDF.GetHashUAV();
 	ID3D11UnorderedAccessView* sdfBlocksSDFUAV = sceneRepHashSDF.GetSDFBlocksSDFUAV();
+	//wei add
+	ID3D11UnorderedAccessView* sdfBlocksIDUAV = sceneRepHashSDF.GetSDFBlocksIDUAV();
+
 	ID3D11UnorderedAccessView* sdfBlocksRGBWUAV = sceneRepHashSDF.GetSDFBlocksRGBWUAV();
 	ID3D11UnorderedAccessView* heapAppendUAV = sceneRepHashSDF.GetHeapUAV();
 	ID3D11UnorderedAccessView* hashBucketMutex = sceneRepHashSDF.GetAndClearHashBucketMutex(context);
@@ -109,6 +112,7 @@ HRESULT DX11SceneRepChunkGrid::StreamOutToCPUPass0GPU(ID3D11DeviceContext* conte
 	context->CSSetConstantBuffers(1, 1, &m_constantBufferIntegrateFromGlobalHash);
 	ID3D11Buffer* CBGlobalAppState = GlobalAppState::getInstance().MapAndGetConstantBuffer(context);
 	context->CSSetConstantBuffers(8, 1, &CBGlobalAppState);
+
 	context->CSSetShader(m_pComputeShaderIntegrateFromGlobalHashPass1, 0, 0);
 
 	// Run compute shader
@@ -148,21 +152,24 @@ HRESULT DX11SceneRepChunkGrid::StreamOutToCPUPass0GPU(ID3D11DeviceContext* conte
 		V_RETURN(context->Map(m_constantBufferIntegrateFromGlobalHash, 0, D3D11_MAP_WRITE_DISCARD, 0, &mappedResource));
 		cbuffer = (CBufferIntegrateFromGlobalHash*)mappedResource.pData;
 
-			cbuffer->nSDFBlockDescs = nSDFBlockDescs;
+		cbuffer->nSDFBlockDescs = nSDFBlockDescs;
 
 		context->Unmap(m_constantBufferIntegrateFromGlobalHash, 0);
 
 		// Setup pipeline
 		context->CSSetUnorderedAccessViews(0, 1, &sdfBlocksSDFUAV, 0);
-		//1号位置上的这个UVA是负责接收GPU的输出的，见下面shader的入口函数
+		//1号位置上的这个UVA是负责接收GPU的sdfBlock的输出，见下面shader的入口函数
 		context->CSSetUnorderedAccessViews(1, 1, &m_pSDFBlockOutputUAV, 0);
 		context->CSSetUnorderedAccessViews(2, 1, &sdfBlocksRGBWUAV, 0);
+		//wei add,这个对应于文件IntegrateFromGlobalHash.hlsl的函数integrateFromGlobalHashPass2CS中，register(u3)
+		context->CSSetUnorderedAccessViews(3, 1, &sdfBlocksIDUAV, 0);
+
 		context->CSSetShaderResources(0, 1, &m_pSDFBlockDescOutputSRV);
 		context->CSSetConstantBuffers(0, 1, &CBsceneRepSDF);
 		context->CSSetConstantBuffers(1, 1, &m_constantBufferIntegrateFromGlobalHash);
 		context->CSSetConstantBuffers(8, 1, &CBGlobalAppState);
 
-		//这里是compute shader阶段
+		//这里是compute shader阶段， 对应于integrateFromGlobalHashPass2CS in file “IntegrateFromGlobalHash.hlsl”
 		context->CSSetShader(m_pComputeShaderIntegrateFromGlobalHashPass2, 0, 0);
 
 		// Run compute shader
@@ -179,17 +186,20 @@ HRESULT DX11SceneRepChunkGrid::StreamOutToCPUPass0GPU(ID3D11DeviceContext* conte
 		ID3D11Buffer* nullB2[2] = {NULL, NULL};
 
 		context->CSSetUnorderedAccessViews(0, 3, nullUAV2, 0);
+		//wei add
+		context->CSSetUnorderedAccessViews(3, 1, NULL, 0);
+
 		context->CSSetShaderResources(0, 1, nullSRV);
 		context->CSSetConstantBuffers(0, 2, nullB2);
 		context->CSSetConstantBuffers(8, 1, nullB2);
 		context->CSSetShader(0, 0, 0);
 
 		// Copy to CPU and Integrate
-		const unsigned int linBlockSize = 2*SDF_BLOCK_SIZE*SDF_BLOCK_SIZE*SDF_BLOCK_SIZE;
-		D3D11_BOX sourceRegionDesc = {0, 0, 0, 4*sizeof(int)*nSDFBlockDescs, 1, 1};
+		const unsigned int linBlockSize = 2 * SDF_BLOCK_SIZE * SDF_BLOCK_SIZE * SDF_BLOCK_SIZE;
+		D3D11_BOX sourceRegionDesc = {0, 0, 0, 4 * sizeof(int) * nSDFBlockDescs, 1, 1};
 		context->CopySubresourceRegion(m_pSDFBlockDescOutputCPU, 0, 0, 0, 0, m_pSDFBlockDescOutput, 0, &sourceRegionDesc);
 
-		D3D11_BOX sourceRegionBlock = {0, 0, 0, sizeof(int)*linBlockSize*nSDFBlockDescs, 1, 1};
+		D3D11_BOX sourceRegionBlock = { 0, 0, 0, sizeof(int)*linBlockSize*nSDFBlockDescs, 1, 1 };
 		context->CopySubresourceRegion(m_pSDFBlockOutputCPU, 0, 0, 0, 0, m_pSDFBlockOutput, 0, &sourceRegionBlock);
 	}
 
@@ -433,6 +443,7 @@ HRESULT DX11SceneRepChunkGrid::StreamInToGPUPass1GPU(ID3D11DeviceContext* contex
 		context->CSSetConstantBuffers(1, 1, &m_constantBufferChunkToGlobalHash);
 		ID3D11Buffer* CBGlobalAppState = GlobalAppState::getInstance().MapAndGetConstantBuffer(context);
 		context->CSSetConstantBuffers(8, 1, &CBGlobalAppState);
+		//设置shader语言
 		context->CSSetShader(m_pComputeShaderChunkToGlobalHashPass1, 0, 0);
 
 		// Run compute shader

DepthSensing/Source/DX11SceneRepChunkGrid.h

@@ -1066,8 +1066,8 @@ class DX11SceneRepChunkGrid
 	ID3D11Buffer* m_pSDFBlockDescOutputCPU;
 	ID3D11Buffer* m_pSDFBlockDescInputCPU;
 
-	ID3D11ComputeShader* m_pComputeShaderIntegrateFromGlobalHashPass1;
-	ID3D11ComputeShader* m_pComputeShaderIntegrateFromGlobalHashPass2;
+	ID3D11ComputeShader* m_pComputeShaderIntegrateFromGlobalHashPass1;//这个同步的是heap相关的
+	ID3D11ComputeShader* m_pComputeShaderIntegrateFromGlobalHashPass2;//这个同步的是voxel里面的sdf, weight, id等 
 
 	ID3D11ComputeShader* m_pComputeShaderChunkToGlobalHashPass1;
 	ID3D11ComputeShader* m_pComputeShaderChunkToGlobalHashPass2;

DepthSensing/Source/DX11SceneRepHashSDF.h

@@ -85,6 +85,9 @@ class DX11SceneRepHashSDF	{
 	ID3D11UnorderedAccessView* GetSDFBlocksRGBWUAV() {
 		return m_SDFBlocksRGBWUAV;
 	}
+	ID3D11UnorderedAccessView*	GetSDFBlocksIDUAV() {
+		return m_SDFBlocksIDUAV;
+	}
 	ID3D11UnorderedAccessView*	GetHeapUAV() {
 		return m_HeapUAV;
 	}

DepthSensing/Source/DepthSensing.cpp

@@ -786,6 +786,7 @@ void CALLBACK OnD3D11FrameRender( ID3D11Device* pd3dDevice, ID3D11DeviceContext*
 			GlobalAppState::getInstance().s_Timer.start();
 		}
 
+		//处理新到的每一帧数据！！
 		HRESULT hr0 = g_Sensor.processDepth(pd3dImmediateContext); // shouldn't hr0 and h1 be used to check if new work has to be done? registration etc
 		HRESULT hr1 = g_Sensor.processColor(pd3dImmediateContext);
 
@@ -1051,7 +1052,7 @@ void CALLBACK OnD3D11FrameRender( ID3D11Device* pd3dDevice, ID3D11DeviceContext*
 					GlobalAppState::getInstance().s_Timer.start();
 				}
 
-				//??这个是做什么的？
+				//这个是CPU和GPU同步数据的核心了！！
 				g_SceneRepChunkGrid.StreamOutToCPUPass0GPU(DXUTGetD3D11DeviceContext(), g_SceneRepSDFLocal, p, GlobalAppState::getInstance().s_StreamingRadius, true, true);
 				g_SceneRepChunkGrid.StreamInToGPUPass1GPU(DXUTGetD3D11DeviceContext(), g_SceneRepSDFLocal, true);