From 04b04fe552ea1d4145db9578c52bee073b184897 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Fri, 6 Nov 2020 10:59:46 +0200
Subject: [PATCH] Fix symmetry bug
---
.../src/fusion/smoothing/mls_multi_weighted.cu | 16 ++++++++++------
1 file changed, 10 insertions(+), 6 deletions(-)
diff --git a/components/operators/src/fusion/smoothing/mls_multi_weighted.cu b/components/operators/src/fusion/smoothing/mls_multi_weighted.cu
index a73edc087..fa73444dc 100644
--- a/components/operators/src/fusion/smoothing/mls_multi_weighted.cu
+++ b/components/operators/src/fusion/smoothing/mls_multi_weighted.cu
@@ -57,9 +57,13 @@ __device__ inline float biasedLength(const float3 &Xi, const float3 &X) {
if (x < 0 || y < 0 || x >= camera_origin.width || y >= camera_origin.height) return;
- float3 nX = make_float3(normals_out[y*npitch_out+x]);
- float3 aX = make_float3(centroid_out[y*cpitch_out+x]);
- float contrib = contrib_out[y*wpitch_out+x];
+ //float3 nX = make_float3(normals_out[y*npitch_out+x]);
+ //float3 aX = make_float3(centroid_out[y*cpitch_out+x]);
+ //float contrib = contrib_out[y*wpitch_out+x];
+
+ float3 nX = make_float3(0.0f, 0.0f, 0.0f);
+ float3 aX = make_float3(0.0f, 0.0f, 0.0f);
+ float contrib = 0.0f;
float d0 = depth_origin[x+y*dpitch_o];
if (d0 <= camera_origin.minDepth || d0 >= camera_origin.maxDepth) return;
@@ -166,9 +170,9 @@ __device__ inline float biasedLength(const float3 &Xi, const float3 &X) {
float l = 1.0f - sqrt(symx*symx+symy*symy);
l = l*l;
- normals_out[y*npitch_out+x] = make_half4(nX*l, 0.0f);
- centroid_out[y*cpitch_out+x] = make_float4(aX*l, 0.0f);
- contrib_out[y*wpitch_out+x] = contrib*l;
+ normals_out[y*npitch_out+x] = make_half4(make_float3(normals_out[y*npitch_out+x]) + nX*l, 0.0f);
+ centroid_out[y*cpitch_out+x] = make_float4(make_float3(centroid_out[y*cpitch_out+x]) + aX*l, 0.0f);
+ contrib_out[y*wpitch_out+x] = contrib_out[y*wpitch_out+x] + contrib*l;
}
/**
--
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