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double to float replacing

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VahdPourAmin
2021-08-18 08:28:20 +02:00
parent 3c4561eed2
commit 82d59b88a8
1 changed files with 3 additions and 3 deletions
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GPU_version/vio/kernel/compute-residual.cl
+3 -3
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@@ -36,10 +36,10 @@ void jacobian_xyz2uv(float3 xyz_in_f, float* J)
*(J + 5) = -(xyz_in_f[0]) * (xyz_in_f[1]) / ((1. / xyz_in_f[2]) * (1. / xyz_in_f[2])); // -x*y/z^2
}
<<<<<<< HEAD
void jacobian_xyz2uv_2(double3 xyz_in_f, double3 ref_pose, double3 cur_pose, double* J)
void jacobian_xyz2uv_2(float3 xyz_in_f, float3 ref_pose, float3 cur_pose, float* J)
{
double3 txtytetha = cur_pose - ref_pose;
double2 uv = world2cam(xyz_in_f);
float3 txtytetha = cur_pose - ref_pose;
float2 uv = world2cam(xyz_in_f);
*(J + 0) = 1.0;
*(J + 1) = 0.0;
*(J + 2) = ((-1 * sin(txtytetha[2]) * cos(ref_pose[2])) - (cos(txtytetha[2]) * sin(ref_pose[2]))) * uv[0] + ((cos(txtytetha[2]) * cos(ref_pose[2])) - (sin(txtytetha[2]) * sin(ref_pose[2]))) * uv[1];