Iterate the MLS

components/filters/src/smoothing.cpp

@@ -71,7 +71,11 @@ void MLSSmoother::smooth(ftl::rgbd::Frame &f, ftl::rgbd::Source *s) {
 	bool do_smooth = value("mls_smooth", false);
 	if (!do_smooth) return;
 
-	if (!f.hasChannel(Channel::Normals)) {
+	float thresh = value("mls_threshold", 0.04f);
+	int iters = value("mls_iterations", 1);
+
+	for (int i=0; i<iters; ++i) {
+		if (i > 0 || !f.hasChannel(Channel::Normals)) {
 			ftl::cuda::normals(
 				f.createTexture<float4>(Channel::Normals, ftl::rgbd::Format<float4>(f.get<cv::cuda::GpuMat>(Channel::Depth).size())),
 				f.createTexture<float>(Channel::Depth),
@@ -79,7 +83,6 @@ void MLSSmoother::smooth(ftl::rgbd::Frame &f, ftl::rgbd::Source *s) {
 			);
 		}
 
-	float thresh = value("mls_threshold", 0.04f);
 		ftl::cuda::mls_smooth(
 			f.createTexture<float4>(Channel::Normals),
 			f.createTexture<float>(Channel::Depth),
@@ -91,4 +94,5 @@ void MLSSmoother::smooth(ftl::rgbd::Frame &f, ftl::rgbd::Source *s) {
 
 		f.swapChannels(Channel::Depth, Channel::Depth2);
 	}
+}
 

components/filters/src/smoothing.cu

@@ -79,7 +79,7 @@ void ftl::cuda::mls_smooth(
 	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<3><<<gridSize, blockSize, 0, stream>>>(normals, depth_in, depth_out, smoothing, camera);
+	mls_smooth_kernel<2><<<gridSize, blockSize, 0, stream>>>(normals, depth_in, depth_out, smoothing, camera);
 	cudaSafeCall( cudaGetLastError() );