Add ambient diffuse colours

components/renderers/cpp/include/ftl/cuda/normals.hpp

@@ -14,7 +14,7 @@ void normals(ftl::cuda::TextureObject<float4> &output,
 
 void normal_visualise(ftl::cuda::TextureObject<float4> &norm,
         ftl::cuda::TextureObject<uchar4> &output,
-        const float3 &light,
+        const float3 &light, const float3 &diffuse, const float3 &ambient,
         cudaStream_t stream);
 
 void normal_filter(ftl::cuda::TextureObject<float4> &norm,

components/renderers/cpp/src/normals.cu

@@ -90,14 +90,14 @@ void ftl::cuda::normals(ftl::cuda::TextureObject<float4> &output,
 
 __global__ void vis_normals_kernel(ftl::cuda::TextureObject<float4> norm,
         ftl::cuda::TextureObject<uchar4> output,
-        float3 light) {
+        float3 direction, float3 diffuse, float3 ambient) {
     const unsigned int x = blockIdx.x*blockDim.x + threadIdx.x;
     const unsigned int y = blockIdx.y*blockDim.y + threadIdx.y;
 
     if(x >= norm.width() || y >= norm.height()) return;
 
     output(x,y) = make_uchar4(0,0,0,0);
-    float3 ray = light; //pose.getFloat3x3() * camera.screenToCam(x,y,1.0f);
+    float3 ray = direction;
     ray = ray / length(ray);
     float3 n = make_float3(norm.tex2D((int)x,(int)y));
     float l = length(n);
@@ -105,22 +105,21 @@ __global__ void vis_normals_kernel(ftl::cuda::TextureObject<float4> norm,
     n /= l;
 
     const float d = max(dot(ray, n), 0.0f);
-    output(x,y) = make_uchar4(200*d,200*d,200*d,255);
-    
-    //if (d > 0.2f) {
-    //    output(x,y) = d * 7.0f;
-    //}
+    output(x,y) = make_uchar4(
+		min(255.0f, diffuse.x*d + ambient.x),
+		min(255.0f, diffuse.y*d + ambient.y),
+		min(255.0f, diffuse.z*d + ambient.z), 255);
 }
 
 void ftl::cuda::normal_visualise(ftl::cuda::TextureObject<float4> &norm,
         ftl::cuda::TextureObject<uchar4> &output,
-        const float3 &light,
+        const float3 &light, const float3 &diffuse, const float3 &ambient,
         cudaStream_t stream) {
 
     const dim3 gridSize((norm.width() + T_PER_BLOCK - 1)/T_PER_BLOCK, (norm.height() + T_PER_BLOCK - 1)/T_PER_BLOCK);
     const dim3 blockSize(T_PER_BLOCK, T_PER_BLOCK);
 
-    vis_normals_kernel<<<gridSize, blockSize, 0, stream>>>(norm, output, light);
+    vis_normals_kernel<<<gridSize, blockSize, 0, stream>>>(norm, output, light, diffuse, ambient);
 
     cudaSafeCall( cudaGetLastError() );
 #ifdef _DEBUG

components/renderers/cpp/src/splat_render.cpp

@@ -323,7 +323,10 @@ bool Splatter::render(ftl::rgbd::VirtualSource *src, ftl::rgbd::Frame &out, cuda
 
 		// Convert normal to single float value
 		temp_.create<GpuMat>(Channel::Colour, Format<uchar4>(camera.width, camera.height));
-		ftl::cuda::normal_visualise(out.getTexture<float4>(Channel::Normals), temp_.createTexture<uchar4>(Channel::Colour), make_float3(0.0f, 0.0f, 1.0f), stream);
+		ftl::cuda::normal_visualise(out.getTexture<float4>(Channel::Normals), temp_.createTexture<uchar4>(Channel::Colour),
+				make_float3(0.0f, 0.0f, 1.0f),
+				make_float3(220,220,220),
+				make_float3(30,30,30), stream);
 
 		// Put in output as single float
 		cv::cuda::swap(temp_.get<GpuMat>(Channel::Colour), out.create<GpuMat>(Channel::Normals));