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clean reproject files

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This commit is contained in:
VahdPourAmin
2021-08-30 13:43:33 +02:00
parent e326715fbf
commit 95dd4a19d3
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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@@ -31,8 +31,8 @@ float3 xyz_cur(float3 cur, float3 ref, float3 ref_feature)
float R20=-sin(pitch);//-sin(pitch)
float R21=cos(pitch)*sin(roll);//0
float R22=cos(pitch)*cos(roll);//cos(pitch)
return (float3)(R00*ref_feature.x+R01*ref_feature.y+R02*ref_feature.z,
R10*ref_feature.x+R11*ref_feature.y+R12*ref_feature.z+error.x,
return (float3)(R00*ref_feature.x+R01*ref_feature.y+R02*ref_feature.z+error.x,
R10*ref_feature.x+R11*ref_feature.y+R12*ref_feature.z,
R20*ref_feature.x+R21*ref_feature.y+R22*ref_feature.z+error.y);
/*
if(ref.z < 0.0)
@@ -112,7 +112,7 @@ float2 uv_ref_i = floor(uv_ref);
if(uv_ref_i.x - (PATCH_HALFSIZE + 1) < 0 || uv_ref_i.y - (PATCH_HALFSIZE + 1) < 0 || uv_ref_i.x + (PATCH_HALFSIZE + 1) >= get_image_dim(image_ref).x || uv_ref_i.y + (PATCH_HALFSIZE + 1) >= get_image_dim(image_ref).y)return;
// evaluate projection jacobian
float frame_jac[6]={0.0}; // 2X3
jacobian_xyz2uv(sqrt(pow(ref_feature[f] - (float3)(0.0, ref_pose[0].x, ref_pose[0].y), 2.0)), &frame_jac);
jacobian_xyz2uv(sqrt(pow(ref_feature[f] - (float3)(ref_pose[0].x, 0.0, ref_pose[0].y), 2.0)), &frame_jac);
// compute bilateral interpolation weights for reference image
float2 subpix= uv_ref - uv_ref_i;