diff --git a/components/filters/src/smoothing.cpp b/components/filters/src/smoothing.cpp
index 19360840e65978a684a69edb289a21a430aa6b13..b288d3d5b7e9b248329d746974cdf069a3b9a04f 100644
--- a/components/filters/src/smoothing.cpp
+++ b/components/filters/src/smoothing.cpp
@@ -71,6 +71,7 @@ void MLSSmoother::filter(ftl::rgbd::Frame &f, ftl::rgbd::Source *s, cudaStream_t
 	//bool do_smooth = value("mls_smooth", false);
 	float thresh = value("mls_threshold", 0.04f);
 	int iters = value("mls_iterations", 1);
+	int radius = value("mls_radius",2);
 
 	//if (!do_smooth) return;
 
@@ -89,6 +90,7 @@ void MLSSmoother::filter(ftl::rgbd::Frame &f, ftl::rgbd::Source *s, cudaStream_t
 			f.createTexture<float>(Channel::Depth),
 			f.createTexture<float>(Channel::Depth2, ftl::rgbd::Format<float>(f.get<cv::cuda::GpuMat>(Channel::Depth).size())),
 			thresh,
+			radius,
 			s->parameters(),
 			0
 		);
diff --git a/components/filters/src/smoothing.cu b/components/filters/src/smoothing.cu
index b334d7c0e5de685c8e62363517a2be5398fa8673..903f90a199fb31d017afc1e7dcb5d7ce406848a7 100644
--- a/components/filters/src/smoothing.cu
+++ b/components/filters/src/smoothing.cu
@@ -77,13 +77,20 @@ void ftl::cuda::mls_smooth(
 		ftl::cuda::TextureObject<float> &depth_in,
 		ftl::cuda::TextureObject<float> &depth_out,
 		float smoothing,
+		int radius,
 		const ftl::rgbd::Camera &camera,
 		cudaStream_t stream) {
 
 	const dim3 gridSize((depth_out.width() + T_PER_BLOCK - 1)/T_PER_BLOCK, (depth_out.height() + T_PER_BLOCK - 1)/T_PER_BLOCK);
 	const dim3 blockSize(T_PER_BLOCK, T_PER_BLOCK);
 
-	mls_smooth_kernel<2><<<gridSize, blockSize, 0, stream>>>(normals_in, normals_out, depth_in, depth_out, smoothing, camera);
+	switch (radius) {
+		case 5: mls_smooth_kernel<5><<<gridSize, blockSize, 0, stream>>>(normals_in, normals_out, depth_in, depth_out, smoothing, camera); break;
+		case 4: mls_smooth_kernel<4><<<gridSize, blockSize, 0, stream>>>(normals_in, normals_out, depth_in, depth_out, smoothing, camera); break;
+		case 3: mls_smooth_kernel<3><<<gridSize, blockSize, 0, stream>>>(normals_in, normals_out, depth_in, depth_out, smoothing, camera); break;
+		case 2: mls_smooth_kernel<2><<<gridSize, blockSize, 0, stream>>>(normals_in, normals_out, depth_in, depth_out, smoothing, camera); break;
+		case 1: mls_smooth_kernel<1><<<gridSize, blockSize, 0, stream>>>(normals_in, normals_out, depth_in, depth_out, smoothing, camera); break;
+	}
 	cudaSafeCall( cudaGetLastError() );
 
 
diff --git a/components/filters/src/smoothing_cuda.hpp b/components/filters/src/smoothing_cuda.hpp
index d1ad1ce63859eb8bb983b6362221a419276ffd92..6ebe397e77d410a2559f4b18a44ca2b4127495ef 100644
--- a/components/filters/src/smoothing_cuda.hpp
+++ b/components/filters/src/smoothing_cuda.hpp
@@ -13,6 +13,7 @@ void mls_smooth(
 		ftl::cuda::TextureObject<float> &depth_in,
 		ftl::cuda::TextureObject<float> &depth_out,
 		float smoothing,
+		int radius,
 		const ftl::rgbd::Camera &camera,
 		cudaStream_t stream);