Implements #189 using density to estimate radius

Still need to adjust attrib contributions by surface normal relation to camera direction

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

@@ -11,9 +11,19 @@ namespace cuda {
 void normals(ftl::cuda::TextureObject<float4> &output,
         ftl::cuda::TextureObject<float4> &temp,
         ftl::cuda::TextureObject<float4> &input,
+		int radius,
+		float smoothing,
         const ftl::rgbd::Camera &camera,
         const float3x3 &pose, cudaStream_t stream);
 
+void normals(ftl::cuda::TextureObject<float4> &output,
+        ftl::cuda::TextureObject<float4> &temp,
+        ftl::cuda::TextureObject<int> &input,  // Integer depth values
+		int radius,
+		float smoothing,
+        const ftl::rgbd::Camera &camera,
+        const float3x3 &pose_inv, const float3x3 &pose, cudaStream_t stream);
+
 void normal_visualise(ftl::cuda::TextureObject<float4> &norm,
         ftl::cuda::TextureObject<uchar4> &output,
         const float3 &light, const uchar4 &diffuse, const uchar4 &ambient,