Correct bug in garbage collect kernel

applications/reconstruct/src/garbage.cu

@@ -137,7 +137,7 @@ void ftl::cuda::garbageCollectIdentify(HashData& hashData, const HashParams& has
 __global__ void garbageCollectFreeKernel(HashData hashData) {
 
 	// Stride over all allocated blocks
-	for (int bi=blockIdx.x*blockDim.x + threadIdx.x; bi<*hashData.d_hashCompactifiedCounter; bi+=NUM_CUDA_BLOCKS) {
+	for (int bi=blockIdx.x*blockDim.x + threadIdx.x; bi<*hashData.d_hashCompactifiedCounter; bi+=NUM_CUDA_BLOCKS*blockDim.x) {
 
 	if (hashData.d_hashDecision[bi] != 0) {	//decision to delete the hash entry
 

applications/reconstruct/src/integrators.cu

@@ -245,7 +245,7 @@ __global__ void integrateRegistrationKernel(HashData hashData, HashParams hashPa
 
 				out.color.x = v1.color.x*redshift;
 				out.color.y = v1.color.y*redshift;
-				out.color.z = v1.color.z*(1.0f / redshift);
+				out.color.z = v1.color.z; //*(1.0f / redshift);
 
 				out.sdf = (v0.sdf * (float)v0.weight + v1.sdf * (float)v1.weight) / ((float)v0.weight + (float)v1.weight);
 				out.weight = min(c_hashParams.m_integrationWeightMax, (unsigned int)v0.weight + (unsigned int)v1.weight);

applications/reconstruct/src/voxel_scene.cpp

@@ -149,7 +149,7 @@ void SceneRep::integrate() {
 		//volumetrically integrate the depth data into the depth SDFBlocks
 		_integrateDepthMap(cam.gpu, cam.params);
 
-		//_garbageCollect(cam.gpu);
+		//_garbageCollect();
 
 		m_numIntegratedFrames++;
 	}
@@ -205,6 +205,7 @@ void SceneRep::nextFrame() {
 		_destroy();
 		_create(_parametersFromConfig());
 	} else {
+		//ftl::cuda::compactifyAllocated(m_hashData, m_hashParams, integ_stream_);
 		if (reg_mode_) ftl::cuda::clearVoxels(m_hashData, m_hashParams); 
 		else ftl::cuda::starveVoxels(m_hashData, m_hashParams);
 		m_numIntegratedFrames = 0;