From df52b44ebd55c46bd48a3fe7a8c19cf2c9312180 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Sat, 16 Nov 2019 11:02:57 +0200
Subject: [PATCH] Fix point reprojection
---
components/renderers/cpp/src/reprojection.cu | 6 +++---
1 file changed, 3 insertions(+), 3 deletions(-)
diff --git a/components/renderers/cpp/src/reprojection.cu b/components/renderers/cpp/src/reprojection.cu
index 8a075b653..dc636f359 100644
--- a/components/renderers/cpp/src/reprojection.cu
+++ b/components/renderers/cpp/src/reprojection.cu
@@ -203,13 +203,13 @@ __global__ void reprojection_kernel(
const float3 camPos = poseInv * worldPos;
if (camPos.z < camera.minDepth) return;
if (camPos.z > camera.maxDepth) return;
- const uint2 screenPos = camera.camToScreen<uint2>(camPos);
+ const float2 screenPos = camera.camToScreen<float2>(camPos);
// Not on screen so stop now...
if (screenPos.x >= depth_src.width() || screenPos.y >= depth_src.height()) return;
- const float d2 = depth_src.tex2D((int)screenPos.x, (int)screenPos.y);
- const A input = in.tex2D((int)screenPos.x, (int)screenPos.y); //generateInput(in.tex2D((int)screenPos.x, (int)screenPos.y), params, worldPos);
+ const float d2 = depth_src.tex2D((int)(screenPos.x+0.5f), (int)(screenPos.y+0.5f));
+ const auto input = in.tex2D(screenPos.x, screenPos.y); //generateInput(in.tex2D((int)screenPos.x, (int)screenPos.y), params, worldPos);
float weight = ftl::cuda::weighting(fabs(camPos.z - d2), 0.02f);
const B weighted = make<B>(input) * weight;
--
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