Implements #228 adaptive MLS and smoothing channel

Could do with a lot of improvement, but moving in right direction

components/operators/src/smoothchan.cu

@@ -9,10 +9,10 @@ using ftl::cuda::TextureObject;
 template <int RADIUS>
 __global__ void smooth_chan_kernel(
 		ftl::cuda::TextureObject<uchar4> colour_in,
-		ftl::cuda::TextureObject<float> depth_in,
+		//ftl::cuda::TextureObject<float> depth_in,
 		ftl::cuda::TextureObject<float> smoothing_out,
 		ftl::rgbd::Camera camera,
-		float alpha) {
+		float alpha, float scale) {
 
 	const unsigned int x = blockIdx.x*blockDim.x + threadIdx.x;
 	const unsigned int y = blockIdx.y*blockDim.y + threadIdx.y;
@@ -24,27 +24,29 @@ __global__ void smooth_chan_kernel(
 		// A distance has already been found
 		if (smoothing_out(x,y) < 1.0f) return;
 
-		float mindist = 1.0f;
+		float mindist = 50.0f;
 
 		const uchar4 c0 = colour_in.tex2D(ix, iy);
-		const float d0 = depth_in.tex2D(ix, iy);
-		if (d0 < camera.minDepth || d0 > camera.maxDepth) return;
+		//const float d0 = depth_in.tex2D(ix, iy);
+		//if (d0 < camera.minDepth || d0 > camera.maxDepth) return;
 
-		const float3 pos = camera.screenToCam(ix, iy, d0);
+		//const float3 pos = camera.screenToCam(ix, iy, d0);
 
 		for (int v=-RADIUS; v<=RADIUS; ++v) {
 			#pragma unroll
 			for (int u=-RADIUS; u<=RADIUS; ++u) {
 				const uchar4 c = colour_in.tex2D(ix+u, iy+v);
-				const float d = depth_in.tex2D(ix+u, iy+v);
-				if (d < camera.minDepth || d > camera.maxDepth) continue;
-				const float3 posN = camera.screenToCam(ix+u, iy+v, d);
+				//const float d = depth_in.tex2D(ix+u, iy+v);
+				//if (d < camera.minDepth || d > camera.maxDepth) continue;
+				//const float3 posN = camera.screenToCam(ix+u, iy+v, d);
 
-				if (ftl::cuda::colourDistance(c, c0) >= alpha) mindist = min(mindist, length(pos - posN));
+				float d = sqrt((float)u*(float)u + (float)v*(float)v) * scale;
+
+				if (ftl::cuda::colourDistance(c, c0) >= alpha) mindist = min(mindist, (float)d);
 			}
 		}
 
-		smoothing_out(x,y) = min(mindist, 1.0f);
+		smoothing_out(x,y) = min(mindist / 50.0f, 1.0f);
 	}
 }
 
@@ -54,6 +56,7 @@ void ftl::cuda::smooth_channel(
 		ftl::cuda::TextureObject<float> &smoothing_out,
 		const ftl::rgbd::Camera &camera,
 		float alpha,
+		float scale,
 		int radius,
 		cudaStream_t stream) {
 
@@ -62,11 +65,11 @@ void ftl::cuda::smooth_channel(
 
 
 	switch (radius) {
-		case 5: smooth_chan_kernel<5><<<gridSize, blockSize, 0, stream>>>(colour_in, depth_in, smoothing_out, camera, alpha); break;
-		case 4: smooth_chan_kernel<4><<<gridSize, blockSize, 0, stream>>>(colour_in, depth_in, smoothing_out, camera, alpha); break;
-		case 3: smooth_chan_kernel<3><<<gridSize, blockSize, 0, stream>>>(colour_in, depth_in, smoothing_out, camera, alpha); break;
-		case 2: smooth_chan_kernel<2><<<gridSize, blockSize, 0, stream>>>(colour_in, depth_in, smoothing_out, camera, alpha); break;
-		case 1: smooth_chan_kernel<1><<<gridSize, blockSize, 0, stream>>>(colour_in, depth_in, smoothing_out, camera, alpha); break;
+		case 5: smooth_chan_kernel<5><<<gridSize, blockSize, 0, stream>>>(colour_in, smoothing_out, camera, alpha, scale); break;
+		case 4: smooth_chan_kernel<4><<<gridSize, blockSize, 0, stream>>>(colour_in, smoothing_out, camera, alpha, scale); break;
+		case 3: smooth_chan_kernel<3><<<gridSize, blockSize, 0, stream>>>(colour_in, smoothing_out, camera, alpha, scale); break;
+		case 2: smooth_chan_kernel<2><<<gridSize, blockSize, 0, stream>>>(colour_in, smoothing_out, camera, alpha, scale); break;
+		case 1: smooth_chan_kernel<1><<<gridSize, blockSize, 0, stream>>>(colour_in, smoothing_out, camera, alpha, scale); break;
 	}