Ongoing #133 improvements

applications/reconstruct/src/ilw/ilw.cpp

@@ -19,6 +19,9 @@ ILW::ILW(nlohmann::json &config) : ftl::Configurable(config) {
     motion_rate_ = value("motion_rate", 0.4f);
     motion_window_ = value("motion_window", 3);
     use_lab_ = value("use_Lab", false);
+    params_.colour_smooth = value("colour_smooth", 50.0f);
+    params_.spatial_smooth = value("spatial_smooth", 0.04f);
+    params_.cost_ratio = value("cost_ratio", 75.0f);
 
     on("ilw_align", [this](const ftl::config::Event &e) {
         enabled_ = value("ilw_align", true);
@@ -40,18 +43,30 @@ ILW::ILW(nlohmann::json &config) : ftl::Configurable(config) {
         use_lab_ = value("use_Lab", false);
     });
 
-    flags_ = 0;
-    if (value("ignore_bad", false)) flags_ |= ftl::cuda::kILWFlag_IgnoreBad;
-    if (value("restrict_z", true)) flags_ |= ftl::cuda::kILWFlag_RestrictZ;
+    on("colour_smooth", [this](const ftl::config::Event &e) {
+        params_.colour_smooth = value("colour_smooth", 50.0f);
+    });
+
+    on("spatial_smooth", [this](const ftl::config::Event &e) {
+        params_.spatial_smooth = value("spatial_smooth", 0.04f);
+    });
+
+    on("cost_ratio", [this](const ftl::config::Event &e) {
+        params_.cost_ratio = value("cost_ratio", 75.0f);
+    });
+
+    params_.flags = 0;
+    if (value("ignore_bad", false)) params_.flags |= ftl::cuda::kILWFlag_IgnoreBad;
+    if (value("restrict_z", true)) params_.flags |= ftl::cuda::kILWFlag_RestrictZ;
 
     on("ignore_bad", [this](const ftl::config::Event &e) {
-        if (value("ignore_bad", false)) flags_ |= ftl::cuda::kILWFlag_IgnoreBad;
-        else flags_ &= ~ftl::cuda::kILWFlag_IgnoreBad;
+        if (value("ignore_bad", false)) params_.flags |= ftl::cuda::kILWFlag_IgnoreBad;
+        else params_.flags &= ~ftl::cuda::kILWFlag_IgnoreBad;
     });
 
     on("restrict_z", [this](const ftl::config::Event &e) {
-        if (value("restrict_z", false)) flags_ |= ftl::cuda::kILWFlag_RestrictZ;
-        else flags_ &= ~ftl::cuda::kILWFlag_RestrictZ;
+        if (value("restrict_z", false)) params_.flags |= ftl::cuda::kILWFlag_RestrictZ;
+        else params_.flags &= ~ftl::cuda::kILWFlag_RestrictZ;
     });
 }
 
@@ -163,7 +178,7 @@ bool ILW::_phase1(ftl::rgbd::FrameSet &fs, int win, cudaStream_t stream) {
                 pose1,
                 pose2,
                 s2->parameters(),
-                flags_,
+                params_,
                 win,
                 stream
             );