Fix skeleton gen

xuhao1 · Jan 13, 2023 · 5d616cb · 5d616cb
1 parent 8935e46
commit 5d616cb
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Showing 2 changed files with 7 additions and 5 deletions.
diff --git a/taichi_slam/mapping/dense_tsdf.py b/taichi_slam/mapping/dense_tsdf.py
@@ -247,8 +247,8 @@ def process_new_pcl(self):
             z = self.new_pcl_z[i, j, k]/c
             self.occupy[self.sxyz_to_ijk(submap_id, pos_p)] = 1
             ray_cast_voxels = ti.min(len_pos_s2p/self.voxel_scale+ti.static(self.internal_voxels), self.max_ray_length/self.voxel_scale)
-            j_f = ti.cast(ray_cast_voxels, ti.f32)/2
-            for _j in range(ray_cast_voxels/2, ray_cast_voxels):
+            j_f = 0.0
+            for _j in range(ray_cast_voxels):
                 j_f += 1.0
                 x_ = d_s2p*j_f*self.voxel_scale + self.input_T[None]
                 xi = self.sxyz_to_ijk(submap_id, x_)
@@ -301,8 +301,10 @@ def fuse_submaps_kernel(self, num_submaps: ti.i32, TSDF:ti.template(), W_TSDF:ti
                                 coord = ijk_low+ti.Vector([0, di, dj, dk])
                                 coord_f32 = ti.cast(coord, ti.f32)
                                 weight = (1 - ti.abs(coord_f32[1] - ijk[0])) * (1 - ti.abs(coord_f32[2] - ijk[1])) * (1 - ti.abs(coord_f32[3] - ijk[2]))
-                                self.fuse_with_interploation(coord, TSDF[s, i, j, k], W_TSDF[s, i, j, k]*weight, OCC[s, i, j, k], COLOR[s, i, j, k])
-
+                                if ti.static(self.enable_texture):
+                                    self.fuse_with_interploation(coord, TSDF[s, i, j, k], W_TSDF[s, i, j, k]*weight, OCC[s, i, j, k], COLOR[s, i, j, k])
+                                else:
+                                    self.fuse_with_interploation(coord, TSDF[s, i, j, k], W_TSDF[s, i, j, k]*weight, OCC[s, i, j, k], 0)
 
     def reset(self):
         self.B.parent().deactivate_all()

diff --git a/taichi_slam/mapping/topo_graph.py b/taichi_slam/mapping/topo_graph.py
@@ -400,7 +400,7 @@ def add_mesh(self, mesh: ti.types.ndarray(), neighbors:ti.types.ndarray(), last_
             for j in range(ti.static(3)):
                 self.tri_colors[facelet_idx*3 + j] = self.colormap[self.num_nodes[None]]
                 if self.facelets[facelet_idx].is_frontier:
-                    self.tri_colors[facelet_idx*3 + j][3] = ti.static(self.transparent_frontier)
+                    self.tri_colors[facelet_idx*3 + j][3] = self.transparent_frontier
         new_node_center = center_pos/center_count
         self.nodes[self.num_nodes[None]].init(self.num_nodes[None], last_node_idx, facelet_start_idx, facelet_start_idx + num_facelets, new_node_center)
         if last_node_idx >= 0: