Fix incorrect colour map when splatting

applications/reconstruct/src/dibr.cu

@@ -518,6 +518,8 @@ __global__ void dibr_attribute_contrib_kernel(
         
 	const ftl::voxhash::DepthCameraCUDA &camera = c_cameras[cam];
 
+	const int tid = (threadIdx.x + threadIdx.y * blockDim.x);
+	const int warp = tid / WARP_SIZE;
 	const int x = (blockIdx.x*blockDim.x + threadIdx.x) / WARP_SIZE;
 	const int y = blockIdx.y*blockDim.y + threadIdx.y;
 
@@ -546,7 +548,7 @@ __global__ void dibr_attribute_contrib_kernel(
     const float4 normal = tex2D<float4>(camera.normal, x, y);
 
 	// Each thread in warp takes an upsample point and updates corresponding depth buffer.
-	const int lane = threadIdx.x % WARP_SIZE;
+	const int lane = tid % WARP_SIZE;
 	for (int i=lane; i<upsample*upsample; i+=WARP_SIZE) {
 		const float u = (i % upsample) - (upsample / 2);
 		const float v = (i / upsample) - (upsample / 2);
@@ -559,7 +561,9 @@ __global__ void dibr_attribute_contrib_kernel(
         const float weight = ftl::cuda::spatialWeighting(length(nearest - camPos), SPATIAL_SMOOTHING);
         if (screenPos.x+u < colour_out.width() && screenPos.y+v < colour_out.height() && weight > 0.0f) {  // TODO: Use confidence threshold here
             const float4 wcolour = colour * weight;
-            const float4 wnormal = normal * weight;
+			const float4 wnormal = normal * weight;
+			
+			//printf("Z %f\n", d);
 
             // Add this points contribution to the pixel buffer
             atomicAdd((float*)&colour_out(screenPos.x+u, screenPos.y+v), wcolour.x);

applications/reconstruct/src/splat_render.cpp

@@ -90,7 +90,7 @@ void Splatter::render(ftl::rgbd::Source *src, cudaStream_t stream) {
 			if (src->value("splatting",  false)) {
 				//ftl::cuda::splat_points(depth1_, colour1_, normal1_, depth2_, colour2_, params, stream);
 				ftl::cuda::int_to_float(depth1_, depth2_, 1.0f / 1000.0f, stream);
-				src->writeFrames(colour2_, depth2_, stream);
+				src->writeFrames(colour1_, depth2_, stream);
 			} else {
 				ftl::cuda::int_to_float(depth1_, depth2_, 1.0f / 1000.0f, stream);
 				src->writeFrames(colour1_, depth2_, stream);
@@ -108,7 +108,7 @@ void Splatter::render(ftl::rgbd::Source *src, cudaStream_t stream) {
 		} else {
 			if (src->value("splatting",  false)) {
 				//ftl::cuda::splat_points(depth1_, colour1_, normal1_, depth2_, colour2_, params, stream);
-				src->writeFrames(colour2_, depth2_, stream);
+				src->writeFrames(colour1_, depth2_, stream);
 			} else {
 				ftl::cuda::int_to_float(depth1_, depth2_, 1.0f / 1000.0f, stream);
 				src->writeFrames(colour1_, depth2_, stream);