Implements #146 upsampling option

applications/reconstruct/src/dibr.cu

@@ -447,6 +447,8 @@ __device__ inline float warpMin(float e) {
 	// Preload valid neighbour points from within a window. A point is valid
 	// if it is within a specific distance of the minimum.
 	// Also calculate the maximum at the same time.
+	// TODO: Could here do a small search in each camera? This would allow all
+	// points to be considered, even those masked in our depth input.
 	const float3 minPos = params.camera.kinectDepthToSkeleton(x, y, minDepth);
 
 	for (int i=lane; i<NEIGHBOR_WINDOW; i+=WARP_SIZE) {
@@ -550,11 +552,11 @@ __global__ void dibr_attribute_contrib_kernel(
 	if (camPos.z > params.camera.m_sensorDepthWorldMax) return;
 	const uint2 screenPos = params.camera.cameraToKinectScreen(camPos);
 
-    const int upsample = min(UPSAMPLE_MAX, int((10.0f*r) * params.camera.fx / camPos.z));
+    const int upsample = min(UPSAMPLE_MAX, int((5.0f*r) * params.camera.fx / camPos.z));
 
 	// Not on screen so stop now...
-	if (screenPos.x + upsample < 0 || screenPos.y + upsample < 0 ||
-            screenPos.x - upsample >= depth_in.width() || screenPos.y - upsample >= depth_in.height()) return;
+	if (screenPos.x < 0 || screenPos.y < 0 ||
+            screenPos.x >= depth_in.width() || screenPos.y >= depth_in.height()) return;
             
     // Is this point near the actual surface and therefore a contributor?
     const float d = ((float)depth_in.tex2D((int)screenPos.x, (int)screenPos.y)/1000.0f);