From ac6e526e5c93e8282ff6cfe6b13ef5e2ab8eef4d Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Wed, 2 Oct 2019 18:01:43 +0300
Subject: [PATCH] Increase discontinuity threshold
---
components/renderers/cpp/src/points.cu | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/components/renderers/cpp/src/points.cu b/components/renderers/cpp/src/points.cu
index c06ca43d4..abcb49f2e 100644
--- a/components/renderers/cpp/src/points.cu
+++ b/components/renderers/cpp/src/points.cu
@@ -17,7 +17,7 @@ __global__ void point_cloud_kernel(ftl::cuda::TextureObject<float4> output, ftl:
// Is there a discontinuity nearby?
for (int u=-RADIUS; u<=RADIUS; ++u) {
for (int v=-RADIUS; v<=RADIUS; ++v) {
- if (fabs(depth.tex2D((int)x+u, (int)y+v) - d) > 0.04f) return;
+ if (fabs(depth.tex2D((int)x+u, (int)y+v) - d) > 0.1f) return;
}
}
@@ -30,7 +30,7 @@ void ftl::cuda::point_cloud(ftl::cuda::TextureObject<float4> &output, ftl::cuda:
const dim3 gridSize((params.width + T_PER_BLOCK - 1)/T_PER_BLOCK, (params.height + T_PER_BLOCK - 1)/T_PER_BLOCK);
const dim3 blockSize(T_PER_BLOCK, T_PER_BLOCK);
- point_cloud_kernel<2><<<gridSize, blockSize, 0, stream>>>(output, depth, params, pose);
+ point_cloud_kernel<3><<<gridSize, blockSize, 0, stream>>>(output, depth, params, pose);
cudaSafeCall( cudaGetLastError() );
#ifdef _DEBUG
--
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