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#ifndef _FTL_CUDA_SMOOTHING_HPP_
#define _FTL_CUDA_SMOOTHING_HPP_
#include <ftl/rgbd/camera.hpp>
#include <ftl/cuda_common.hpp>
namespace ftl {
namespace cuda {
void mls_smooth(
ftl::cuda::TextureObject<float4> &normals_in,
ftl::cuda::TextureObject<float4> &normals_out,
ftl::cuda::TextureObject<float> &depth_in,
ftl::cuda::TextureObject<float> &depth_out,
float smoothing,
int radius,
const ftl::rgbd::Camera &camera,
cudaStream_t stream);
void colour_mls_smooth(
ftl::cuda::TextureObject<float4> &normals_in,
ftl::cuda::TextureObject<float4> &normals_out,
ftl::cuda::TextureObject<float> &depth_in,
ftl::cuda::TextureObject<float> &depth_out,
ftl::cuda::TextureObject<uchar4> &colour_in,
float smoothing,
float colour_smoothing,
int radius,
const ftl::rgbd::Camera &camera,
cudaStream_t stream);
void adaptive_mls_smooth(
ftl::cuda::TextureObject<float4> &normals_in,
ftl::cuda::TextureObject<float4> &normals_out,
ftl::cuda::TextureObject<float> &depth_in,
ftl::cuda::TextureObject<float> &depth_out,
ftl::cuda::TextureObject<float> &smoothing,
int radius,
const ftl::rgbd::Camera &camera,
cudaStream_t stream);
void smooth_channel(
ftl::cuda::TextureObject<uchar4> &colour_in,
//ftl::cuda::TextureObject<float> &depth_in,
ftl::cuda::TextureObject<float> &smoothing_out,
const ftl::rgbd::Camera &camera,
float alpha,
float scale,
int radius,
cudaStream_t stream);
void depth_smooth(
ftl::cuda::TextureObject<float> &depth_in,
ftl::cuda::TextureObject<uchar4> &colour_in,
ftl::cuda::TextureObject<float> &depth_out,
const ftl::rgbd::Camera &camera,
int radius, float factor, float thresh, int iters,
cudaStream_t stream);
void smoothing_factor(
ftl::cuda::TextureObject<float> &depth_in,
//ftl::cuda::TextureObject<float> &depth_tmp,
ftl::cuda::TextureObject<float> &temp,
//ftl::cuda::TextureObject<uchar4> &colour_in,
ftl::cuda::TextureObject<float> &smoothing,
float thresh,
const ftl::rgbd::Camera &camera,
cudaStream_t stream);
}
}
#endif // _FTL_CUDA_SMOOTHING_HPP_