Merge pull request #2822 from DumDereDum:hash_tsdf_bug_fix

alalek · alalek · commit 0b6b8ff9dd32 · 2021-01-15T18:21:33.000Z
diff --git a/modules/rgbd/src/hash_tsdf.cpp b/modules/rgbd/src/hash_tsdf.cpp
@@ -108,7 +108,7 @@ void HashTSDFVolumeCPU::integrate(InputArray _depth, float depthFactor, const Ma
 
                 for (int i = lower_bound[0]; i <= upper_bound[0]; i++)
                     for (int j = lower_bound[1]; j <= upper_bound[1]; j++)
-                        for (int k = lower_bound[2]; k <= lower_bound[2]; k++)
+                        for (int k = lower_bound[2]; k <= upper_bound[2]; k++)
                         {
                             const Vec3i tsdf_idx = Vec3i(i, j, k);
                             if (!localAccessVolUnits.count(tsdf_idx))

Original file line number	Diff line number	Diff line change
`@@ -108,7 +108,7 @@ void HashTSDFVolumeCPU::integrate(InputArray _depth, float depthFactor, const Ma`
`108`	`108`
`109`	`109`	`for (int i = lower_bound[0]; i <= upper_bound[0]; i++)`
`110`	`110`	`for (int j = lower_bound[1]; j <= upper_bound[1]; j++)`
`111`		`- for (int k = lower_bound[2]; k <= lower_bound[2]; k++)`
	`111`	`+ for (int k = lower_bound[2]; k <= upper_bound[2]; k++)`
`112`	`112`	`{`
`113`	`113`	`const Vec3i tsdf_idx = Vec3i(i, j, k);`
`114`	`114`	`if (!localAccessVolUnits.count(tsdf_idx))`