Per pixel depth adjustments

components/operators/src/fusion/correspondence_depth.cu

@@ -85,7 +85,8 @@ __global__ void corresponding_depth_kernel(
 			// the greater they are from the warp concensus best cost
 
 			// Sum all squared distance errors in a 4x4 pixel neighborhood
-			cost = ftl::cuda::halfWarpSum(cost) / 16.0f;
+			float wcost = ftl::cuda::halfWarpSum(cost) / 16.0f;
+			cost = (wcost + cost) / 2.0f;  // Enables per pixel adjustments
 
 			// Record the best result
             bestStep = (cost < bestcost) ? i : bestStep;