1 files changed, 55 insertions, 23 deletions

diff --git a/workspaces/main/shaders/cnn/cnn_conv5x5.wgsl b/workspaces/main/shaders/cnn/cnn_conv5x5.wgsl
index bd9abfa..5136740 100644
--- a/workspaces/main/shaders/cnn/cnn_conv5x5.wgsl
+++ b/workspaces/main/shaders/cnn/cnn_conv5x5.wgsl
@@ -1,53 +1,85 @@
-// 5x5 convolution with 25 samples
-// Applies mat4 weights per sample
-
-fn cnn_conv5x5(
+// 5×5 variant for 7→4 channels (RGBD output)
+// Assumes 'tex' and 'original' are already normalized to [-1,1]
+// UV coordinates remain in [0,1] and are normalized internally
+// weights: array<array<f32, 8>, 100> (25 positions × 4 channels, each with 7 weights + bias)
+fn cnn_conv5x5_7to4(
   tex: texture_2d<f32>,
   samp: sampler,
   uv: vec2<f32>,
   resolution: vec2<f32>,
-  weights: array<mat4x4<f32>, 25>,
-  bias: vec4<f32>
+  original: vec4<f32>,
+  weights: array<array<f32, 8>, 100>
 ) -> vec4<f32> {
   let step = 1.0 / resolution;
-  var sum = bias;
-  var idx = 0;
+
+  let gray = 0.2126*original.r + 0.7152*original.g + 0.0722*original.b;
+  let uv_norm = (uv - 0.5) * 2.0;
+
+  var sum = vec4<f32>(0.0);
+  var pos = 0;
 
   for (var dy = -2; dy <= 2; dy++) {
     for (var dx = -2; dx <= 2; dx++) {
       let offset = vec2<f32>(f32(dx), f32(dy)) * step;
-      let sample = textureSample(tex, samp, uv + offset);
-      sum += weights[idx] * sample;
-      idx++;
+      let rgbd = textureSample(tex, samp, uv + offset);  // Already in [-1,1]
+
+      let inputs = array<f32, 7>(
+        rgbd.r, rgbd.g, rgbd.b, rgbd.a,
+        uv_norm.x, uv_norm.y, gray
+      );
+
+      for (var out_c = 0; out_c < 4; out_c++) {
+        let idx = pos * 4 + out_c;
+        var channel_sum = weights[idx][7];
+        for (var in_c = 0; in_c < 7; in_c++) {
+          channel_sum += weights[idx][in_c] * inputs[in_c];
+        }
+        sum[out_c] += channel_sum;
+      }
+      pos++;
     }
   }
 
   return sum;
 }
 
-fn cnn_conv5x5_with_coord(
+// 5×5 variant for 7→1 channel (scalar output)
+// Assumes 'tex' and 'original' are already normalized to [-1,1]
+// UV coordinates remain in [0,1] and are normalized internally
+// weights: array<array<f32, 8>, 25> (25 positions, each with 7 weights + bias)
+fn cnn_conv5x5_7to1(
   tex: texture_2d<f32>,
   samp: sampler,
   uv: vec2<f32>,
   resolution: vec2<f32>,
-  rgba_weights: array<mat4x4<f32>, 25>,
-  coord_weights: mat2x4<f32>,
-  bias: vec4<f32>
-) -> vec4<f32> {
+  original: vec4<f32>,
+  weights: array<array<f32, 8>, 25>
+) -> f32 {
   let step = 1.0 / resolution;
-  var sum = bias;
 
-  sum += coord_weights * uv;
+  let gray = 0.2126*original.r + 0.7152*original.g + 0.0722*original.b;
+  let uv_norm = (uv - 0.5) * 2.0;
+
+  var sum = 0.0;
+  var pos = 0;
 
-  var idx = 0;
   for (var dy = -2; dy <= 2; dy++) {
     for (var dx = -2; dx <= 2; dx++) {
       let offset = vec2<f32>(f32(dx), f32(dy)) * step;
-      let rgba = textureSample(tex, samp, uv + offset);
-      sum += rgba_weights[idx] * rgba;
-      idx++;
+      let rgbd = textureSample(tex, samp, uv + offset);  // Already in [-1,1]
+
+      sum += weights[pos][0] * rgbd.r;
+      sum += weights[pos][1] * rgbd.g;
+      sum += weights[pos][2] * rgbd.b;
+      sum += weights[pos][3] * rgbd.a;
+      sum += weights[pos][4] * uv_norm.x;
+      sum += weights[pos][5] * uv_norm.y;
+      sum += weights[pos][6] * gray;
+      sum += weights[pos][7];  // Bias
+
+      pos++;
     }
   }
 
-  return sum;
+  return sum;  // Output in [-1,1]
 }