Two questions about TSDF

[TheodoreG]

Hi,
Thank you so much for your code, and it helps mu a lot. But I have two problems about the conversion from point cloud to TSDF file.

1. From the PCL tutorial http://pointclouds.org/documentation/tutorials/using_kinfu_large_scale.php and the picture from it we can see that TSDF gird has "1" for area without surface and "0" for area.
   

But from your code it computes "1" for area, like in

3dmatch-toolbox/core/demo.cu

Line 39 in f6496fd

voxel_grid_TDF[voxel_idx] = 1.0f; // on surface

So is there any significant difference between those two format?
2. The dist variable computed from

3dmatch-toolbox/core/demo.cu

Line 52 in f6496fd

float dist = sqrtf(xd * xd + yd * yd + zd * zd) / (float)search_radius;

may be larger than 1.0. Suppose xd=yd=zd=5, search_radius=5, then dist=1.73.
Is it better to change the norm term into "sqrt(3) * search_radius" to make "dist" smaller than 1.0?