Archive/ConsistentlyInconsistentYT--Pixeltovoxelprojector
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Merge 33eb136028 into f9986addbc

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petterreinholdtsen 2025-09-08 10:44:36 -05:00 • committed by GitHub
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1 changed files with 4 additions and 4 deletions
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ray_voxel.cpp
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@ -445,10 +445,10 @@ int main(int argc, char** argv) {
//------------------------------------------ //------------------------------------------
// Basic parameters // Basic parameters
float motion_threshold = 2.0f; // difference threshold float motion_threshold = 2.0f; // difference threshold
float alpha = 0.1f; // distance-based attenuation factor //float alpha = 0.1f; // distance-based attenuation factor
for(auto &kv : frames_by_cam) { for(auto &kv : frames_by_cam) {
int cam_id = kv.first; //int cam_id = kv.first;
auto &cam_frames = kv.second; auto &cam_frames = kv.second;
if(cam_frames.size() < 2) { if(cam_frames.size() < 2) {
@ -521,8 +521,8 @@ int main(int argc, char** argv) {
// Accumulate // Accumulate
for(const auto &rs : steps) { for(const auto &rs : steps) {
float dist = rs.distance; //float dist = rs.distance;
float attenuation = 1.f/(1.f + alpha*dist); //float attenuation = 1.f/(1.f + alpha*dist);
float val = pix_val * 1.f; //attenuation, need to fix this to work better so that it scales with the size of the image as it would appear at that distance but for now this works; float val = pix_val * 1.f; //attenuation, need to fix this to work better so that it scales with the size of the image as it would appear at that distance but for now this works;
int idx = rs.ix*N*N + rs.iy*N + rs.iz; int idx = rs.ix*N*N + rs.iy*N + rs.iz;
voxel_grid[idx] += val; voxel_grid[idx] += val;