Reproject uses high res if available

components/renderers/cpp/src/reprojection.cu

@@ -94,7 +94,10 @@ __global__ void reprojection_kernel(
 	const float dotproduct = (max(dot(ray,n),-0.1f)+0.1) / 1.1f;
     
 	const float d2 = depth_src.tex2D(int(screenPos.x+0.5f), int(screenPos.y+0.5f));
-	const auto input = in.tex2D(screenPos.x, screenPos.y); //generateInput(in.tex2D((int)screenPos.x, (int)screenPos.y), params, worldPos);
+
+	const float inSX = float(in.width()) / float(depth_src.width());
+	const float inSY = float(in.height()) / float(depth_src.height());
+	const auto input = in.tex2D(screenPos.x*inSX, screenPos.y*inSY); //generateInput(in.tex2D((int)screenPos.x, (int)screenPos.y), params, worldPos);
 
 	// TODO: Z checks need to interpolate between neighbors if large triangles are used
 	//float weight = ftl::cuda::weighting(fabs(camPos.z - d2), params.depthThreshold);
@@ -213,7 +216,11 @@ __global__ void reprojection_kernel(
 	if (screenPos.x >= depth_src.width() || screenPos.y >= depth_src.height()) return;
     
 	const float d2 = depth_src.tex2D((int)(screenPos.x+0.5f), (int)(screenPos.y+0.5f));
-	const auto input = in.tex2D(screenPos.x, screenPos.y); //generateInput(in.tex2D((int)screenPos.x, (int)screenPos.y), params, worldPos);
+
+	const float inSX = float(in.width()) / float(depth_src.width());
+	const float inSY = float(in.height()) / float(depth_src.height());
+	const auto input = in.tex2D(screenPos.x*inSX, screenPos.y*inSY); //generateInput(in.tex2D((int)screenPos.x, (int)screenPos.y), params, worldPos);
+
 	float weight = ftl::cuda::weighting(fabs(camPos.z - d2), 0.02f);
 	const B weighted = make<B>(input) * weight;
 

components/renderers/cpp/src/tri_render.cpp

@@ -220,13 +220,13 @@ void Triangular::__reprojectChannel(ftl::rgbd::Frame &output, ftl::codecs::Chann
 		auto &f = scene_->frames[i];
 		auto *s = scene_->sources[i];
 		
-		if (f.get<GpuMat>(in).type() == CV_8UC3) {
+		/*if (f.get<GpuMat>(in).type() == CV_8UC3) {
 			// Convert to 4 channel colour
 			auto &col = f.get<GpuMat>(in);
 			GpuMat tmp(col.size(), CV_8UC4);
 			cv::cuda::swap(col, tmp);
 			cv::cuda::cvtColor(tmp,col, cv::COLOR_BGR2BGRA);
-		}
+		}*/
 
 		auto transform = MatrixConversion::toCUDA(s->getPose().cast<float>().inverse() * t.cast<float>().inverse()) * params_.m_viewMatrixInverse;
 		auto transformR = MatrixConversion::toCUDA(s->getPose().cast<float>().inverse()).getFloat3x3();