Allow config of discon mask size

applications/reconstruct/src/ilw/ilw.cpp

@@ -22,6 +22,7 @@ ILW::ILW(nlohmann::json &config) : ftl::Configurable(config) {
     params_.colour_smooth = value("colour_smooth", 50.0f);
     params_.spatial_smooth = value("spatial_smooth", 0.04f);
     params_.cost_ratio = value("cost_ratio", 0.75f);
+	discon_mask_ = value("discontinuity_mask",2);
 
     on("ilw_align", [this](const ftl::config::Event &e) {
         enabled_ = value("ilw_align", true);
@@ -39,6 +40,10 @@ ILW::ILW(nlohmann::json &config) : ftl::Configurable(config) {
         motion_window_ = value("motion_window", 3);
     });
 
+	on("discontinuity_mask", [this](const ftl::config::Event &e) {
+        discon_mask_ = value("discontinuity_mask", 2);
+    });
+
     on("use_Lab", [this](const ftl::config::Event &e) {
         use_lab_ = value("use_Lab", false);
     });
@@ -116,7 +121,7 @@ bool ILW::_phase0(ftl::rgbd::FrameSet &fs, cudaStream_t stream) {
 			
         auto &t = f.createTexture<float4>(Channel::Points, Format<float4>(f.get<GpuMat>(Channel::Colour).size()));
         auto pose = MatrixConversion::toCUDA(s->getPose().cast<float>()); //.inverse());
-        ftl::cuda::point_cloud(t, f.createTexture<float>(Channel::Depth), s->parameters(), pose, 2, stream);
+        ftl::cuda::point_cloud(t, f.createTexture<float>(Channel::Depth), s->parameters(), pose, discon_mask_, stream);
 
         // TODO: Create energy vector texture and clear it
         // Create energy and clear it

applications/reconstruct/src/ilw/ilw.hpp

@@ -69,6 +69,7 @@ class ILW : public ftl::Configurable {
     float motion_rate_;
     int motion_window_;
     bool use_lab_;
+	int discon_mask_;
 };
 
 }

components/renderers/cpp/src/points.cu

@@ -51,6 +51,7 @@ void ftl::cuda::point_cloud(ftl::cuda::TextureObject<float4> &output, ftl::cuda:
 	const dim3 blockSize(T_PER_BLOCK, T_PER_BLOCK);
 
 	switch (discon) {
+	case 4 :	point_cloud_kernel<4><<<gridSize, blockSize, 0, stream>>>(output, depth, params, pose); break;
 	case 3 :	point_cloud_kernel<3><<<gridSize, blockSize, 0, stream>>>(output, depth, params, pose); break;
 	case 2 :	point_cloud_kernel<2><<<gridSize, blockSize, 0, stream>>>(output, depth, params, pose); break;
 	case 1 :	point_cloud_kernel<1><<<gridSize, blockSize, 0, stream>>>(output, depth, params, pose); break;

components/renderers/cpp/src/splat_render.cpp

@@ -85,22 +85,6 @@ void Splatter::renderChannel(
 			continue;
 		}
 
-		// Needs to create points channel first?
-		if (!f.hasChannel(Channel::Points)) {
-			//LOG(INFO) << "Creating points... " << s->parameters().width;
-			
-			auto &t = f.createTexture<float4>(Channel::Points, Format<float4>(f.get<GpuMat>(Channel::Colour).size()));
-			auto pose = MatrixConversion::toCUDA(s->getPose().cast<float>()); //.inverse());
-			ftl::cuda::point_cloud(t, f.createTexture<float>(Channel::Depth), s->parameters(), pose, 0, stream);
-
-			//LOG(INFO) << "POINTS Added";
-		}
-
-		// Clip first?
-		if (clipping_) {
-			ftl::cuda::clipping(f.createTexture<float4>(Channel::Points), clip_, stream);
-		}
-
 		ftl::cuda::dibr_merge(
 			f.createTexture<float4>(Channel::Points),
 			temp_.getTexture<int>(Channel::Depth),
@@ -262,6 +246,22 @@ bool Splatter::render(ftl::rgbd::VirtualSource *src, ftl::rgbd::Frame &out, cuda
 		auto &f = scene_->frames[i];
 		auto s = scene_->sources[i];
 
+		// Needs to create points channel first?
+		if (!f.hasChannel(Channel::Points)) {
+			//LOG(INFO) << "Creating points... " << s->parameters().width;
+			
+			auto &t = f.createTexture<float4>(Channel::Points, Format<float4>(f.get<GpuMat>(Channel::Colour).size()));
+			auto pose = MatrixConversion::toCUDA(s->getPose().cast<float>()); //.inverse());
+			ftl::cuda::point_cloud(t, f.createTexture<float>(Channel::Depth), s->parameters(), pose, 0, stream);
+
+			//LOG(INFO) << "POINTS Added";
+		}
+
+		// Clip first?
+		if (clipping_) {
+			ftl::cuda::clipping(f.createTexture<float4>(Channel::Points), clip_, stream);
+		}
+
 		if (!f.hasChannel(Channel::Normals)) {
 			auto &g = f.get<GpuMat>(Channel::Colour);
 			ftl::cuda::normals(f.createTexture<float4>(Channel::Normals, Format<float4>(g.cols, g.rows)),