Increased colour smoothing

applications/reconstruct/src/dibr.cu

@@ -400,8 +400,9 @@ __device__ inline float warpMin(float e) {
 }
 
 #define ENERGY_THRESHOLD 0.1f
-#define SMOOTHING_MULTIPLIER_A 10.0f
-#define SMOOTHING_MULTIPLIER_B 5.0f
+#define SMOOTHING_MULTIPLIER_A 10.0f	// For surface search
+#define SMOOTHING_MULTIPLIER_B 5.0f		// For z contribution
+#define SMOOTHING_MULTIPLIER_C 5.0f		// For colour contribution
 
 
 /*
@@ -588,7 +589,7 @@ __global__ void dibr_attribute_contrib_kernel(
 	if (camPos.z > params.camera.m_sensorDepthWorldMax) return;
 	const uint2 screenPos = params.camera.cameraToKinectScreen(camPos);
 
-    const int upsample = min(UPSAMPLE_MAX, int((5.0f*r) * params.camera.fx / camPos.z));
+    const int upsample = 8; //min(UPSAMPLE_MAX, int((5.0f*r) * params.camera.fx / camPos.z));
 
 	// Not on screen so stop now...
 	if (screenPos.x < 0 || screenPos.y < 0 ||
@@ -613,7 +614,7 @@ __global__ void dibr_attribute_contrib_kernel(
 		const float3 nearest = params.camera.kinectDepthToSkeleton((int)(screenPos.x+u),(int)(screenPos.y+v),d);
 
         // What is contribution of our current point at this pixel?
-        const float weight = ftl::cuda::spatialWeighting(length(nearest - camPos), SMOOTHING_MULTIPLIER_B*(nearest.z/params.camera.fx));
+        const float weight = ftl::cuda::spatialWeighting(length(nearest - camPos), SMOOTHING_MULTIPLIER_C*(nearest.z/params.camera.fx));
         if (screenPos.x+u < colour_out.width() && screenPos.y+v < colour_out.height() && weight > 0.0f) {  // TODO: Use confidence threshold here
             const float4 wcolour = colour * weight;
 			const float4 wnormal = normal * weight;