Working adaptive smoothing

applications/reconstruct/src/dibr.cu

@@ -550,7 +550,7 @@ __device__ inline float warpMin(float e) {
 	if (maxenergy >= ENERGY_THRESHOLD) return;
 
 	// Move to next possible surface...
-	clusterBase = minDepth + 0.01f;
+	clusterBase = minDepth + SMOOTHING_MULTIPLIER_B*(minDepth / params.camera.fx);
 
 	};
 }
@@ -613,7 +613,7 @@ __global__ void dibr_attribute_contrib_kernel(
 		const float3 nearest = params.camera.kinectDepthToSkeleton((int)(screenPos.x+u),(int)(screenPos.y+v),d);
 
         // What is contribution of our current point at this pixel?
-        const float weight = ftl::cuda::spatialWeighting(length(nearest - camPos), SPATIAL_SMOOTHING);
+        const float weight = ftl::cuda::spatialWeighting(length(nearest - camPos), SMOOTHING_MULTIPLIER_B*(nearest.z/params.camera.fx));
         if (screenPos.x+u < colour_out.width() && screenPos.y+v < colour_out.height() && weight > 0.0f) {  // TODO: Use confidence threshold here
             const float4 wcolour = colour * weight;
 			const float4 wnormal = normal * weight;