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andyzeng / tsdf-fusion

Fuse multiple depth frames into a TSDF voxel volume.
http://andyzeng.github.io/
BSD 2-Clause "Simplified" License
713 stars 133 forks source link

code problem #6

Closed jamestodo closed 6 years ago

jamestodo commented 6 years ago

In demo.cu function ::Integrate,the distant is got by the code float diff = (depth_val - pt_cam_z) * sqrtf(1 + powf((pt_cam_x / pt_cam_z), 2) + powf((pt_cam_y / pt_cam_z), 2)).

But i don't know why multiply sqrtf(1 + powf((pt_cam_x / pt_cam_z), 2) + powf((pt_cam_y / pt_cam_z), 2)).

Is there anyone could give me some help?Thanks a lot!

andyzeng commented 6 years ago

It's a bug - a relic from previous versions of the code and should not be there. I've removed it from the Integrate function in the latest commit. Thanks for the catch!