Merge branch 'feature/263/scaling' into 'master'

Implements #263 reconstruction scaling

Closes #263

See merge request nicolas.pope/ftl!190

applications/reconstruct/src/reconstruction.cpp

@@ -107,5 +107,6 @@ void Reconstruction::render(ftl::rgbd::VirtualSource *vs, ftl::rgbd::Frame &out)
 	//	transform.setIdentity();
 	//}
 
-	renderer_->render(vs, out, transform);
+	Eigen::Affine3d sm = Eigen::Affine3d(Eigen::Scaling(double(value("scale", 1.0f))));
+	renderer_->render(vs, out, sm.matrix() * transform);
 }
\ No newline at end of file

components/renderers/cpp/include/ftl/render/tri_render.hpp

@@ -42,6 +42,8 @@ class Triangular : public ftl::render::Renderer {
 	ftl::render::SplatParams params_;
 	cudaStream_t stream_;
 	float3 light_pos_;
+	Eigen::Matrix4d transform_;
+	float scale_;
 
 	cv::cuda::GpuMat env_image_;
 	ftl::cuda::TextureObject<uchar4> env_tex_;

components/renderers/cpp/src/tri_render.cpp

@@ -228,8 +228,8 @@ void Triangular::__reprojectChannel(ftl::rgbd::Frame &output, ftl::codecs::Chann
 			cv::cuda::cvtColor(tmp,col, cv::COLOR_BGR2BGRA);
 		}
 
-		auto transform = MatrixConversion::toCUDA(t.cast<float>().inverse() * s->getPose().cast<float>().inverse()) * params_.m_viewMatrixInverse;
-		auto transformR = MatrixConversion::toCUDA(t.cast<float>().inverse() * s->getPose().cast<float>().inverse()).getFloat3x3();
+		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();
 
 		if (mesh_) {
 			ftl::cuda::reproject(