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Signed-off-by: Jonathan Swartz <jonathan@jswartz.info>
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src/fvdb/detail/ops/IntegrateTSDF.cu

Lines changed: 4 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -447,17 +447,17 @@ doIntegrate(const float truncationMargin,
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tsdf.scalar_type(),
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"integrateTSDFKernel",
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AT_WRAP([&]() {
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using shared_scalar_t = typename OpType<scalar_t>::type;
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using SharedMat3T = nanovdb::math::Mat3<shared_scalar_t>;
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using SharedMat4T = nanovdb::math::Mat4<shared_scalar_t>;
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using shared_scalar_t = typename OpType<scalar_t>::type;
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using SharedMat3T = nanovdb::math::Mat3<shared_scalar_t>;
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using SharedMat4T = nanovdb::math::Mat4<shared_scalar_t>;
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constexpr uint64_t VOXELS_PER_LEAF = nanovdb::OnIndexTree::LeafNodeType::NUM_VALUES;
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const auto numUnionLeaves = unionGrid.totalLeaves();
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const auto numSharedScalars = 2 * batchSize * 3 * 3 + 2 * batchSize * 4 * 4;
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const auto problemSize =
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std::max(numUnionLeaves * VOXELS_PER_LEAF, uint64_t(numSharedScalars));
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const auto sharedMemSize =
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2 * batchSize * sizeof(SharedMat3T) + 2 * batchSize * sizeof(SharedMat4T);
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const auto numBlocks = GET_BLOCKS(problemSize, DEFAULT_BLOCK_DIM);
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const auto numBlocks = GET_BLOCKS(problemSize, DEFAULT_BLOCK_DIM);
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const auto dtype = tsdf.scalar_type();
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const auto projMatsCasted = projectionMatrices.to(dtype);

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