Fix problem with normals

components/operators/src/mls.cu

@@ -47,7 +47,7 @@ using ftl::cuda::TextureObject;
 		const float3 Ni = make_float3(normals_in.tex2D((int)(x)+u, (int)(y)+v));
 
 		// Gauss approx weighting function using point distance
-		const float w = ftl::cuda::spatialWeighting(X,Xi,smoothing);
+		const float w = (Ni.x+Ni.y+Ni.z == 0.0f) ? 0.0f : ftl::cuda::spatialWeighting(X,Xi,smoothing);
 
 		aX += Xi*w;
 		nX += Ni*w;
@@ -55,6 +55,7 @@ using ftl::cuda::TextureObject;
     }
 	}
 	
+	if (contrib > 0.0f) {
 		nX /= contrib;  // Weighted average normal
 		aX /= contrib;  // Weighted average point (centroid)
 
@@ -72,6 +73,7 @@ using ftl::cuda::TextureObject;
 		depth_out(x,y) = X.z;
 		normals_out(x,y) = make_half4(nX / length(nX), 0.0f);
 	}
+}
 
 void ftl::cuda::mls_smooth(
 		ftl::cuda::TextureObject<half4> &normals_in,
@@ -137,7 +139,7 @@ void ftl::cuda::mls_smooth(
 		const float3 Ni = make_float3(normals_in.tex2D((int)(x)+u, (int)(y)+v));
 
 		// Gauss approx weighting function using point distance
-		const float w = ftl::cuda::spatialWeighting(X,Xi,smoothing);
+		const float w = (Ni.x+Ni.y+Ni.z == 0.0f) ? 0.0f : ftl::cuda::spatialWeighting(X,Xi,smoothing);
 
 		aX += Xi*w;
 		nX += Ni*w;
@@ -145,6 +147,7 @@ void ftl::cuda::mls_smooth(
     }
 	}
 	
+	if (contrib > 0.0f) {
 		nX /= contrib;  // Weighted average normal
 		aX /= contrib;  // Weighted average point (centroid)
 
@@ -162,6 +165,7 @@ void ftl::cuda::mls_smooth(
 		//depth_out(x,y) = X.z;
 		normals_out(x,y) = make_half4(nX / length(nX), 0.0f);
 	}
+}
 
 void ftl::cuda::mls_smooth(
 		ftl::cuda::TextureObject<half4> &normals_in,

components/renderers/cpp/src/CUDARender.cpp

@@ -508,6 +508,28 @@ void CUDARender::_mesh(ftl::rgbd::Frame &out, const Eigen::Matrix4d &t, cudaStre
 				params_.camera,
 				stream_
 			);
+
+			ftl::cuda::mls_smooth(
+				out.createTexture<half4>(_getNormalsChannel()),
+				temp_.createTexture<half4>(Channel::Normals),
+				out.getTexture<float>(_getDepthChannel()),
+				//out.getTexture<float>(_getDepthChannel()),
+				value("mls_smooth", 0.01f),
+				value("mls_radius", 2),
+				params_.camera,
+				stream_
+			);
+
+			ftl::cuda::mls_smooth(
+				temp_.createTexture<half4>(Channel::Normals),
+				out.createTexture<half4>(_getNormalsChannel()),
+				out.getTexture<float>(_getDepthChannel()),
+				//out.getTexture<float>(_getDepthChannel()),
+				value("mls_smooth", 0.01f),
+				value("mls_radius", 2),
+				params_.camera,
+				stream_
+			);
 		}
 	}
 

components/renderers/cpp/src/carver.cu

@@ -221,13 +221,13 @@ void ftl::cuda::depth_carve(
 
 		// Point and normal of neighbour
 		const float3 Xi = in_2_o * camera_in.screenToCam(s.x+u, s.y+v, d);
-		const float3 Ni = in_2_o33 * make_float3(normals_in[s.x+u+(s.y+v)*npitch_in]);
+		const float3 Ni = make_float3(normals_in[s.x+u+(s.y+v)*npitch_in]);
 
 		// Gauss approx weighting function using point distance
-		const float w = (Ni.x+Ni.y+Ni.z > 0.0f) ? ftl::cuda::spatialWeighting(X,Xi,smoothing) : 0.0f;
+		const float w = (length(Ni) > 0.0f) ? ftl::cuda::spatialWeighting(X,Xi,smoothing) : 0.0f;
 
 		aX += Xi*w;
-		nX += Ni*w;
+		nX += (in_2_o33 * Ni)*w;
 		contrib += w;
     }
 	}
@@ -265,7 +265,8 @@ __global__ void mls_reduce_kernel(
 		normals_out[x+y*npitch] = make_half4(0.0f, 0.0f, 0.0f, 0.0f);
 
 		float d0 = depth[x+y*dpitch];
-		if (d0 < camera.minDepth || d0 > camera.maxDepth || contrib == 0.0f) return;
+		//depth[x+y*dpitch] = 0.0f;
+		if (d0 <= camera.minDepth || d0 >= camera.maxDepth || contrib == 0.0f) return;
 		float3 X = camera.screenToCam((int)(x),(int)(y),d0);
 		
 		nX /= contrib;  // Weighted average normal