Allow disable of filling

applications/reconstruct/src/ilw/ilw.cpp

@@ -23,6 +23,11 @@ ILW::ILW(nlohmann::json &config) : ftl::Configurable(config) {
     params_.spatial_smooth = value("spatial_smooth", 0.04f);
     params_.cost_ratio = value("cost_ratio", 0.2f);
 	discon_mask_ = value("discontinuity_mask",2);
+	fill_depth_ = value("fill_depth", true);
+
+    on("fill_depth", [this](const ftl::config::Event &e) {
+        fill_depth_ = value("fill_depth", true);
+    });
 
 	on("ilw_align", [this](const ftl::config::Event &e) {
         enabled_ = value("ilw_align", true);
@@ -160,6 +165,20 @@ bool ILW::_phase0(ftl::rgbd::FrameSet &fs, cudaStream_t stream) {
 		f.createTexture<int>(Channel::Mask, Format<int>(f.get<GpuMat>(Channel::Colour).size()));
         f.createTexture<uchar4>(Channel::Colour);
 		f.createTexture<float>(Channel::Depth);
+    }
+
+    return true;
+}
+
+bool ILW::_phase1(ftl::rgbd::FrameSet &fs, int win, cudaStream_t stream) {
+    // Run correspondence kernel to create an energy vector
+    cv::cuda::Stream cvstream = cv::cuda::StreamAccessor::wrapStream(stream);
+
+	// First do any preprocessing
+	if (fill_depth_) {
+		for (size_t i=0; i<fs.frames.size(); ++i) {
+			auto &f = fs.frames[i];
+            auto s = fs.sources[i];
 
 			ftl::cuda::preprocess_depth(
 				f.getTexture<float>(Channel::Depth),
@@ -174,14 +193,8 @@ bool ILW::_phase0(ftl::rgbd::FrameSet &fs, cudaStream_t stream) {
 			//cv::cuda::swap(f.get<GpuMat>(Channel::Depth),f.get<GpuMat>(Channel::Depth2)); 
 			f.swapChannels(Channel::Depth, Channel::Depth2);
 		}
-
-    return true;
 	}
 
-bool ILW::_phase1(ftl::rgbd::FrameSet &fs, int win, cudaStream_t stream) {
-    // Run correspondence kernel to create an energy vector
-    cv::cuda::Stream cvstream = cv::cuda::StreamAccessor::wrapStream(stream);
-
 	// For each camera combination
     for (size_t i=0; i<fs.frames.size(); ++i) {
         auto &f1 = fs.frames[i];

applications/reconstruct/src/ilw/ilw.hpp

@@ -70,6 +70,7 @@ class ILW : public ftl::Configurable {
     int motion_window_;
     bool use_lab_;
 	int discon_mask_;
+	bool fill_depth_;
 };
 
 }