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gfuse
2021-08-18 17:00:06 +02:00
parent 9331b0f553
commit cdf7e77738
1 changed files with 15 additions and 15 deletions
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GPU_version/vio/kernel/compute-residual.cl
+15 -15
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@@ -28,25 +28,25 @@ float3 xyz_cur(float3 cur, float3 ref, float3 ref_feature)
void jacobian_xyz2uv(float3 xyz_in_f, float* J) void jacobian_xyz2uv(float3 xyz_in_f, float* J)
{ {
*(J + 0) = -(1. / xyz_in_f[2]); // -1/z J[0] = -(1. / xyz_in_f[2]); // -1/z
*(J + 1) = (xyz_in_f[0]) * ((1. / xyz_in_f[2]) * (1. / xyz_in_f[2])); // x/z^2 J[1] = (xyz_in_f[0]) * ((1. / xyz_in_f[2]) * (1. / xyz_in_f[2])); // x/z^2
*(J + 2) = -(1.0 + pow((xyz_in_f[0]),2) / ((1. / xyz_in_f[2]) * (1. / xyz_in_f[2]))); // -(1.0 + x^2/z^2) J[2] = -(1.0 + pow((xyz_in_f[0]),2) / ((1. / xyz_in_f[2]) * (1. / xyz_in_f[2]))); // -(1.0 + x^2/z^2)
*(J + 3) = 1e-19; // 0 J[3] = 1e-19; // 0
*(J + 4) = (xyz_in_f[1]) * ((1. / xyz_in_f[2]) * (1. / xyz_in_f[2])); // y/z^2 J[4] = (xyz_in_f[1]) * ((1. / xyz_in_f[2]) * (1. / xyz_in_f[2])); // y/z^2
*(J + 5) = -(xyz_in_f[0]) * (xyz_in_f[1]) / ((1. / xyz_in_f[2]) * (1. / xyz_in_f[2])); // -x*y/z^2 J[5] = -(xyz_in_f[0]) * (xyz_in_f[1]) / ((1. / xyz_in_f[2]) * (1. / xyz_in_f[2])); // -x*y/z^2
} }
void compute_hessain(float3 j, __global float* H, float w) void compute_hessain(float3 j, __global float* H, float w)
{ {
*(H + 0) += j[0] * j[0] * w; H[0] += j[0] * j[0] * w;
*(H + 1) += j[0] * j[1] * w; H[1] += j[0] * j[1] * w;
*(H + 2) += j[0] * j[2] * w; H[2] += j[0] * j[2] * w;
*(H + 3) += j[1] * j[0] * w; H[3] += j[1] * j[0] * w;
*(H + 4) += j[1] * j[1] * w; H[4] += j[1] * j[1] * w;
*(H + 5) += j[1] * j[2] * w; H[5] += j[1] * j[2] * w;
*(H + 6) += j[2] * j[0] * w; H[6] += j[2] * j[0] * w;
*(H + 7) += j[2] * j[1] * w; H[7] += j[2] * j[1] * w;
*(H + 8) += j[2] * j[2] * w; H[8] += j[2] * j[2] * w;
} }
__kernel void compute_residual( __kernel void compute_residual(