WIP output reset

applications/reconstruct/src/depth_camera.cu

@@ -29,6 +29,9 @@ __global__ void mls_smooth_kernel(ftl::cuda::TextureObject<float> output, HashDa
 	const DepthCameraCUDA &mainCamera = c_cameras[cam];
 
 	if (x < width && y < height) {
+		output(x,y) = 1000.0f;
+		__syncthreads();
+
 		float depth = tex2D<float>(mainCamera.depth2, x, y);
 
 		float3 wpos = make_float3(0.0f);
@@ -67,7 +70,12 @@ __global__ void mls_smooth_kernel(ftl::cuda::TextureObject<float> output, HashDa
 			wpos /= weights;
 		}
 
-		output(x,y) = (weights >= 20.0f) ? (mainCamera.poseInverse * wpos).z : 1000.0f;
+		wpos = mainCamera.poseInverse * wpos;
+		const uint2 screenPos = make_uint2(mainCamera.params.cameraToKinectScreenInt(wpos));
+		if (screenPos.x < output.width() && screenPos.y < output.height()) {
+			output(screenPos.x,screenPos.y) = (weights >= hashParams.m_confidenceThresh) ? wpos.z : 1000.0f;
+			//output(x,y) = (weights >= hashParams.m_confidenceThresh) ? wpos.z : 1000.0f;
+		}
 	}
 }