Fixes for point cloud render

components/renderers/cpp/src/CUDARender.cpp

@@ -184,7 +184,7 @@ void CUDARender::_dibr(ftl::rgbd::Frame &out, const Eigen::Matrix4d &t, cudaStre
 		auto &f = scene_->frames[i].cast<ftl::rgbd::Frame>();
 		//auto *s = scene_->sources[i];
 
-		if (f.has(Channel::Colour)) {
+		if (!f.has(Channel::Colour)) {
 			LOG(ERROR) << "Missing required channel";
 			continue;
 		}
@@ -462,7 +462,7 @@ void CUDARender::_postprocessColours(ftl::rgbd::Frame &out) {
 			params_.camera,
 			stream_
 		);
-	} else if (out.hasChannel(_getDepthChannel()) && out.hasChannel(out_chan_)) {
+	} else if (mesh_ && out.hasChannel(_getDepthChannel()) && out.hasChannel(out_chan_)) {
 		ftl::cuda::fix_bad_colour(
 			out.getTexture<float>(_getDepthChannel()),
 			out.getTexture<uchar4>(out_chan_),

components/renderers/cpp/src/reprojection.cu

@@ -239,7 +239,7 @@ __global__ void reprojection_kernel(
 	const float d = depth_in.tex2D((int)x, (int)y);
 	if (d > params.camera.minDepth && d < params.camera.maxDepth) {
 		//const float2 rpt = convertScreen<VPMODE>(params, x, y);
-		const float3 camPos = transform * params.camera.project<PROJECT>(make_float3(x, y, d));
+		const float3 camPos = transform * params.camera.unproject<PROJECT>(make_float3(x, y, d));
 		if (camPos.z > camera.minDepth && camPos.z < camera.maxDepth) {
 			const float3 screenPos = camera.project<Projection::PERSPECTIVE>(camPos);
 
@@ -250,6 +250,7 @@ __global__ void reprojection_kernel(
 
 				// Boolean match (0 or 1 weight). 1.0 if depths are sufficiently close
 				float weight = depthMatching(params, camPos.z, d2);
+				if (params.m_flags & ftl::render::kUseWeightsChannel)
 					weight *= float(weights.tex2D(int(screenPos.x+0.5f), int(screenPos.y+0.5f))) / 32767.0f;
 
 				const B output = make<B>(input);  // * weight; //weightInput(input, weight);