From fc6fdd5aeafa9e05bd188fa89f22682141e3e4f9 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Fri, 4 Oct 2019 14:26:40 +0300
Subject: [PATCH] Change the motion properties
---
applications/reconstruct/src/ilw/ilw.cu | 6 +++---
1 file changed, 3 insertions(+), 3 deletions(-)
diff --git a/applications/reconstruct/src/ilw/ilw.cu b/applications/reconstruct/src/ilw/ilw.cu
index 450259905..298075fda 100644
--- a/applications/reconstruct/src/ilw/ilw.cu
+++ b/applications/reconstruct/src/ilw/ilw.cu
@@ -128,7 +128,7 @@ __global__ void correspondence_energy_vector_kernel(
vout(x,y) = make_float4(
depth1, // * (1.0f - mincost) * confidence,
0.0f, // * (1.0f - mincost) * confidence,
- bestdepth-depth1, // * (1.0f - mincost) * confidence,
+ bestdepth, // * (1.0f - mincost) * confidence,
(1.0f - mincost) * confidence);
}
@@ -203,14 +203,14 @@ __global__ void move_points_kernel(
const float3 pn = make_float3(p.tex2D((int)x+u,(int)y+v));
if (pn.x == MINF) continue;
- const float s = ftl::cuda::spatialWeighting(pn, make_float3(world), 0.04f);
+ const float s = ftl::cuda::weighting(fabs(vec0.x - vecn.x), 0.04f);
contrib += vecn.w * s;
delta += vecn.w * s * vecn.z;
}
}
if (contrib > 0.0f) {
- const float3 newworld = pose * camera.screenToCam(x, y, vec0.x + rate * (delta / contrib));
+ const float3 newworld = pose * camera.screenToCam(x, y, vec0.x + rate * ((delta / contrib) - vec0.x));
p(x,y) = make_float4(newworld, world.w); //world + rate * (vec / contrib);
}
}
--
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