Working smoothing channel

components/operators/include/ftl/operators/smoothing.hpp

@@ -43,7 +43,7 @@ class SmoothChannel : public ftl::operators::Operator {
     bool apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, ftl::rgbd::Source *src, cudaStream_t stream) override;
 
 	private:
-	ftl::rgbd::Frame temp_[2];
+	ftl::rgbd::Frame temp_[6];
 };
 
 /**

components/operators/src/smoothing.cpp

@@ -71,8 +71,9 @@ SmoothChannel::~SmoothChannel() {
 }
 
 bool SmoothChannel::apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, ftl::rgbd::Source *s, cudaStream_t stream) {
-	int radius = config()->value("radius", 1);
+	int radius = config()->value("radius", 3);
 	float threshold = config()->value("threshold", 30.0f);
+	int iters = max(0, min(6, config()->value("levels", 4)));
 
 	int width = s->parameters().width;
 	int height = s->parameters().height;
@@ -91,24 +92,26 @@ bool SmoothChannel::apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, ftl::rgbd
 		stream
 	);
 
+	for (int i=0; i<iters; ++i) {
 		width /= 2;
 		height /= 2;
 
 		ftl::rgbd::Camera scaledCam = s->parameters().scaled(width, height);
 
 		// Downscale images for next pass
-	cv::cuda::resize(in.get<GpuMat>(Channel::Colour), temp_[0].create<GpuMat>(Channel::Colour), cv::Size(width, height), 0.0, 0.0, cv::INTER_LINEAR);
-	cv::cuda::resize(in.get<GpuMat>(Channel::Depth), temp_[0].create<GpuMat>(Channel::Depth), cv::Size(width, height), 0.0, 0.0, cv::INTER_NEAREST);
+		cv::cuda::resize(in.get<GpuMat>(Channel::Colour), temp_[i].create<GpuMat>(Channel::Colour), cv::Size(width, height), 0.0, 0.0, cv::INTER_LINEAR);
+		cv::cuda::resize(in.get<GpuMat>(Channel::Depth), temp_[i].create<GpuMat>(Channel::Depth), cv::Size(width, height), 0.0, 0.0, cv::INTER_NEAREST);
 
 		ftl::cuda::smooth_channel(
-		temp_[0].createTexture<uchar4>(Channel::Colour),
-		temp_[0].createTexture<float>(Channel::Depth),
+			temp_[i].createTexture<uchar4>(Channel::Colour),
+			temp_[i].createTexture<float>(Channel::Depth),
 			out.getTexture<float>(Channel::Smoothing),
 			scaledCam,
 			threshold,
 			radius,
 			stream
 		);
+	}
 
 	return true;
 }

components/rgbd-sources/src/source.cpp

@@ -285,7 +285,7 @@ Camera Camera::scaled(int width, int height) const {
 	float scaleX = (float)width / (float)cam.width;
 	float scaleY = (float)height / (float)cam.height;
 
-	CHECK( abs(scaleX - scaleY) < 0.000001f );
+	CHECK( abs(scaleX - scaleY) < 0.00000001f );
 
 	Camera newcam = cam;
 	newcam.width = width;