Minor edits

applications/reconstruct/src/integrators.cu

@@ -228,13 +228,13 @@ __global__ void integrateMLSKernel(HashData hashData, HashParams hashParams, int
 				// For this voxel in hash, get its screen position and check it is on screen
 				if (screenPos.x+u < width && screenPos.y+v < height) {	//on screen
 					float depth = tex2D<float>(camera.depth, screenPos.x+u, screenPos.y+v);
-					float4 normal = tex2D<float4>(camera.normal, screenPos.x+u, screenPos.y+v);
+					//float4 normal = tex2D<float4>(camera.normal, screenPos.x+u, screenPos.y+v);
 					float3 worldPos = camera.pose * camera.params.kinectDepthToSkeleton(screenPos.x+u, screenPos.y+v, depth);
 
 					float weight = spatialWeighting(length(pfb - worldPos));
 
 					wpos += weight*worldPos;
-					wnorm += weight*make_float3(normal);
+					//wnorm += weight*make_float3(normal);
 					weights += weight;				
 				}
 			}
@@ -242,9 +242,10 @@ __global__ void integrateMLSKernel(HashData hashData, HashParams hashParams, int
 	}
 
 	wpos /= weights;
-	wnorm /= weights;
+	//wnorm /= weights;
 
-	float sdf = length(pfb - wpos); //wnorm.x * (pfb.x - wpos.x) + wnorm.y * (pfb.y - wpos.y) + wnorm.z * (pfb.z - wpos.z);
+	float sdf = length(pfb - wpos);
+	//float sdf = wnorm.x * (pfb.x - wpos.x) + wnorm.y * (pfb.y - wpos.y) + wnorm.z * (pfb.z - wpos.z);
 
 	//printf("WEIGHTS: %f\n", weights);
 
@@ -252,7 +253,7 @@ __global__ void integrateMLSKernel(HashData hashData, HashParams hashParams, int
 
 	// Calculate voxel sign values across a warp
 	int warpNum = i / WARP_SIZE;
-	uint solid_ballot = __ballot_sync(0xFFFFFFFF, (fabs(sdf) < 0.04f && weights > 10.0f) ? 1 : 0);
+	uint solid_ballot = __ballot_sync(0xFFFFFFFF, (fabs(sdf) < 0.04f && weights > 20.0f) ? 1 : 0);
 	//uint valid_ballot = __ballot_sync(0xFFFFFFFF, (weights >= 1.0f) ? 1 : 0);
 
 	// Aggregate each warp result into voxel mask