Add full 3D MLS and carving

A new fusion operator that uses actual MLS of all sources combined with a visibility carving step. Next task is to construct a 4D scene model and fusion with that also.

components/operators/src/mls.cu

@@ -47,7 +47,7 @@ using ftl::cuda::TextureObject;
 		const float3 Ni = make_float3(normals_in.tex2D((int)(x)+u, (int)(y)+v));
 
 		// Gauss approx weighting function using point distance
-		const float w = ftl::cuda::spatialWeighting(X,Xi,smoothing);
+		const float w = (Ni.x+Ni.y+Ni.z == 0.0f) ? 0.0f : ftl::cuda::spatialWeighting(X,Xi,smoothing);
 
 		aX += Xi*w;
 		nX += Ni*w;
@@ -55,22 +55,24 @@ using ftl::cuda::TextureObject;
     }
 	}
 	
-	nX /= contrib;  // Weighted average normal
-	aX /= contrib;  // Weighted average point (centroid)
+	if (contrib > 0.0f) {
+		nX /= contrib;  // Weighted average normal
+		aX /= contrib;  // Weighted average point (centroid)
 
-	// Signed-Distance Field function
-	float fX = nX.x * (X.x - aX.x) + nX.y * (X.y - aX.y) + nX.z * (X.z - aX.z);
+		// Signed-Distance Field function
+		float fX = nX.x * (X.x - aX.x) + nX.y * (X.y - aX.y) + nX.z * (X.z - aX.z);
 
-	// Calculate new point using SDF function to adjust depth (and position)
-	X = X - nX * fX;
-	
-	//uint2 screen = camera.camToScreen<uint2>(X);
+		// Calculate new point using SDF function to adjust depth (and position)
+		X = X - nX * fX;
+		
+		//uint2 screen = camera.camToScreen<uint2>(X);
 
-    //if (screen.x < depth_out.width() && screen.y < depth_out.height()) {
-    //    depth_out(screen.x,screen.y) = X.z;
-	//}
-	depth_out(x,y) = X.z;
-	normals_out(x,y) = make_half4(nX / length(nX), 0.0f);
+		//if (screen.x < depth_out.width() && screen.y < depth_out.height()) {
+		//    depth_out(screen.x,screen.y) = X.z;
+		//}
+		depth_out(x,y) = X.z;
+		normals_out(x,y) = make_half4(nX / length(nX), 0.0f);
+	}
 }
 
 void ftl::cuda::mls_smooth(
@@ -137,7 +139,7 @@ void ftl::cuda::mls_smooth(
 		const float3 Ni = make_float3(normals_in.tex2D((int)(x)+u, (int)(y)+v));
 
 		// Gauss approx weighting function using point distance
-		const float w = ftl::cuda::spatialWeighting(X,Xi,smoothing);
+		const float w = (Ni.x+Ni.y+Ni.z == 0.0f) ? 0.0f : ftl::cuda::spatialWeighting(X,Xi,smoothing);
 
 		aX += Xi*w;
 		nX += Ni*w;
@@ -145,22 +147,24 @@ void ftl::cuda::mls_smooth(
     }
 	}
 	
-	nX /= contrib;  // Weighted average normal
-	aX /= contrib;  // Weighted average point (centroid)
+	if (contrib > 0.0f) {
+		nX /= contrib;  // Weighted average normal
+		aX /= contrib;  // Weighted average point (centroid)
 
-	// Signed-Distance Field function
-	float fX = nX.x * (X.x - aX.x) + nX.y * (X.y - aX.y) + nX.z * (X.z - aX.z);
+		// Signed-Distance Field function
+		float fX = nX.x * (X.x - aX.x) + nX.y * (X.y - aX.y) + nX.z * (X.z - aX.z);
 
-	// Calculate new point using SDF function to adjust depth (and position)
-	X = X - nX * fX;
-	
-	//uint2 screen = camera.camToScreen<uint2>(X);
+		// Calculate new point using SDF function to adjust depth (and position)
+		X = X - nX * fX;
+		
+		//uint2 screen = camera.camToScreen<uint2>(X);
 
-    //if (screen.x < depth_out.width() && screen.y < depth_out.height()) {
-    //    depth_out(screen.x,screen.y) = X.z;
-	//}
-	//depth_out(x,y) = X.z;
-	normals_out(x,y) = make_half4(nX / length(nX), 0.0f);
+		//if (screen.x < depth_out.width() && screen.y < depth_out.height()) {
+		//    depth_out(screen.x,screen.y) = X.z;
+		//}
+		//depth_out(x,y) = X.z;
+		normals_out(x,y) = make_half4(nX / length(nX), 0.0f);
+	}
 }
 
 void ftl::cuda::mls_smooth(