Implements #189 using density to estimate radius

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

components/renderers/cpp/src/normals.cu

@@ -57,7 +57,7 @@ __global__ void computeNormals_kernel(ftl::cuda::TextureObject<float4> output,
 			const float  l = length(n);
 
 			if(l > 0.0f) {
-				output(x,y) = make_float4(pose * (n/-l), 1.0f);
+				output(x,y) = make_float4((n/-l), 1.0f);
 			}
 		}
 	}
@@ -131,22 +131,22 @@ __global__ void smooth_normals_kernel(ftl::cuda::TextureObject<float4> norms,
 
             //if (s > 0.0f) {
                 const float4 n = norms.tex2D((int)x+u,(int)y+v);
-                //if (n.w > 0.0f) {
+                if (n.w > 0.0f) {
                     nsum += make_float3(n) * s;
                     contrib += s;
-                //}
+                }
             //}
         }
     }
 
     // Compute dot product of normal with camera to obtain measure of how
     // well this point faces the source camera, a measure of confidence
-    float3 ray = pose * camera.screenToCam(x, y, 1.0f);
+    float3 ray = camera.screenToCam(x, y, 1.0f);
     ray = ray / length(ray);
     nsum /= contrib;
     nsum /= length(nsum);
 
-    output(x,y) = (contrib > 0.0f) ? make_float4(nsum, 1.0f) : make_float4(0.0f); //dot(nsum, ray)
+    output(x,y) = (contrib > 0.0f) ? make_float4(pose*nsum, 1.0f) : make_float4(0.0f);
 }
 
 void ftl::cuda::normals(ftl::cuda::TextureObject<float4> &output,
@@ -163,9 +163,10 @@ void ftl::cuda::normals(ftl::cuda::TextureObject<float4> &output,
     cudaSafeCall( cudaGetLastError() );
 
 	switch (radius) {
-	case 7: smooth_normals_kernel<7><<<gridSize, blockSize, 0, stream>>>(temp, output, input, camera, pose, smoothing);
-	case 5: smooth_normals_kernel<5><<<gridSize, blockSize, 0, stream>>>(temp, output, input, camera, pose, smoothing);
-	case 3: smooth_normals_kernel<3><<<gridSize, blockSize, 0, stream>>>(temp, output, input, camera, pose, smoothing);
+	case 9: smooth_normals_kernel<9><<<gridSize, blockSize, 0, stream>>>(temp, output, input, camera, pose, smoothing); break;
+	case 7: smooth_normals_kernel<7><<<gridSize, blockSize, 0, stream>>>(temp, output, input, camera, pose, smoothing); break;
+	case 5: smooth_normals_kernel<5><<<gridSize, blockSize, 0, stream>>>(temp, output, input, camera, pose, smoothing); break;
+	case 3: smooth_normals_kernel<3><<<gridSize, blockSize, 0, stream>>>(temp, output, input, camera, pose, smoothing); break;
 	}
     cudaSafeCall( cudaGetLastError() );
 
@@ -189,9 +190,9 @@ void ftl::cuda::normals(ftl::cuda::TextureObject<float4> &output,
 	cudaSafeCall( cudaGetLastError() );
 
 	switch (radius) {
-	case 7: smooth_normals_kernel<7><<<gridSize, blockSize, 0, stream>>>(temp, output, input, camera, pose_inv, smoothing);
-	case 5: smooth_normals_kernel<5><<<gridSize, blockSize, 0, stream>>>(temp, output, input, camera, pose_inv, smoothing);
-	case 3: smooth_normals_kernel<3><<<gridSize, blockSize, 0, stream>>>(temp, output, input, camera, pose_inv, smoothing);
+	case 7: smooth_normals_kernel<7><<<gridSize, blockSize, 0, stream>>>(temp, output, input, camera, pose, smoothing);
+	case 5: smooth_normals_kernel<5><<<gridSize, blockSize, 0, stream>>>(temp, output, input, camera, pose, smoothing);
+	case 3: smooth_normals_kernel<3><<<gridSize, blockSize, 0, stream>>>(temp, output, input, camera, pose, smoothing);
 	}
 	cudaSafeCall( cudaGetLastError() );