Allow light source location

components/renderers/cpp/include/ftl/cuda/normals.hpp

@@ -14,7 +14,7 @@ void normals(ftl::cuda::TextureObject<float4> &output,
 
 void normal_visualise(ftl::cuda::TextureObject<float4> &norm,
         ftl::cuda::TextureObject<float> &output,
-        const ftl::rgbd::Camera &camera, const float4x4 &pose,
+        const float3 &light,
         cudaStream_t stream);
 
 void normal_filter(ftl::cuda::TextureObject<float4> &norm,

components/renderers/cpp/src/normals.cu

@@ -90,14 +90,14 @@ void ftl::cuda::normals(ftl::cuda::TextureObject<float4> &output,
 
 __global__ void vis_normals_kernel(ftl::cuda::TextureObject<float4> norm,
         ftl::cuda::TextureObject<float> output,
-        ftl::rgbd::Camera camera, float4x4 pose) {
+        float3 light) {
     const unsigned int x = blockIdx.x*blockDim.x + threadIdx.x;
     const unsigned int y = blockIdx.y*blockDim.y + threadIdx.y;
 
     if(x >= norm.width() || y >= norm.height()) return;
 
     output(x,y) = 0.0f;
-    float3 ray = pose.getFloat3x3() * camera.screenToCam(x,y,1.0f);
+    float3 ray = light; //pose.getFloat3x3() * camera.screenToCam(x,y,1.0f);
     ray = ray / length(ray);
     float3 n = make_float3(norm.tex2D((int)x,(int)y));
     float l = length(n);
@@ -114,13 +114,13 @@ __global__ void vis_normals_kernel(ftl::cuda::TextureObject<float4> norm,
 
 void ftl::cuda::normal_visualise(ftl::cuda::TextureObject<float4> &norm,
         ftl::cuda::TextureObject<float> &output,
-        const ftl::rgbd::Camera &camera, const float4x4 &pose,
+        const float3 &light,
         cudaStream_t stream) {
 
     const dim3 gridSize((norm.width() + T_PER_BLOCK - 1)/T_PER_BLOCK, (norm.height() + T_PER_BLOCK - 1)/T_PER_BLOCK);
     const dim3 blockSize(T_PER_BLOCK, T_PER_BLOCK);
 
-    vis_normals_kernel<<<gridSize, blockSize, 0, stream>>>(norm, output, camera, pose);
+    vis_normals_kernel<<<gridSize, blockSize, 0, stream>>>(norm, output, light);
 
     cudaSafeCall( cudaGetLastError() );
 #ifdef _DEBUG

components/renderers/cpp/src/splat_render.cpp

@@ -323,7 +323,7 @@ bool Splatter::render(ftl::rgbd::VirtualSource *src, ftl::rgbd::Frame &out, cuda
 
 		// Convert normal to single float value
 		temp_.create<GpuMat>(Channel::Contribution, Format<float>(camera.width, camera.height));
-		ftl::cuda::normal_visualise(out.getTexture<float4>(Channel::Normals), temp_.createTexture<float>(Channel::Contribution), camera, params.m_viewMatrixInverse, stream);
+		ftl::cuda::normal_visualise(out.getTexture<float4>(Channel::Normals), temp_.createTexture<float>(Channel::Contribution), make_float3(0.0f, 0.0f, 1.0f), stream);
 
 		// Put in output as single float
 		cv::cuda::swap(temp_.get<GpuMat>(Channel::Contribution), out.create<GpuMat>(Channel::Normals));