Clamp reg indication colours

applications/reconstruct/src/integrators.cu

@@ -241,11 +241,11 @@ __global__ void integrateRegistrationKernel(HashData hashData, HashParams hashPa
 				const Voxel &v1 = curr;
 				const Voxel &v0 = hashData.d_SDFBlocks[idx];
 
-				float redshift = (v0.weight > 0) ? 1.0f - ((v1.sdf - v0.sdf) / hashParams.m_truncation) : 1.0f;
+				float redshift = (v0.weight > 0) ? 1.0f - ((v1.sdf - v0.sdf) / hashParams.m_truncation)*0.5f : 1.0f;
 
-				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.x = min(max(v1.color.x*redshift,0.0f),255.0f);
+				out.color.y = min(max(v1.color.y*redshift,0.0f),255.0f);
+				out.color.z = min(max(v1.color.z*(1.0f / redshift),0.0f),255.0f);
 
 				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);