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HashTSDF fixes backported #3137

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Merged
merged 2 commits into from
Dec 24, 2021
Merged

HashTSDF fixes backported #3137

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53de543
HashTSDF fixes backported
savuor Dec 22, 2021
46cd314
typo fixed
savuor Dec 23, 2021
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8 changes: 4 additions & 4 deletions modules/rgbd/src/hash_tsdf.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -796,11 +796,11 @@ void HashTSDFVolumeCPU::fetchPointsNormals(OutputArray _points, OutputArray _nor
if (voxel.tsdf != -128 && voxel.weight != 0)
{
Point3f point = base_point + volume.voxelCoordToVolume(voxelIdx);
localPoints.push_back(toPtype(point));
localPoints.push_back(toPtype(this->pose * point));
if (needNormals)
{
Point3f normal = volume.getNormalVoxel(point);
localNormals.push_back(toPtype(normal));
localNormals.push_back(toPtype(this->pose.rotation() * normal));
}
}
}
Expand Down Expand Up @@ -1685,11 +1685,11 @@ void HashTSDFVolumeGPU::fetchPointsNormals(OutputArray _points, OutputArray _nor
{
Point3f point = base_point + volume.voxelCoordToVolume(voxelIdx);

localPoints.push_back(toPtype(point));
localPoints.push_back(toPtype(this->pose * point));
if (needNormals)
{
Point3f normal = volume.getNormalVoxel(point);
localNormals.push_back(toPtype(normal));
localNormals.push_back(toPtype(this->pose.rotation() * normal));
}
}
}
Expand Down