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opencl kernel clean and aproximately ready to test

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VahdPourAmin
2021-07-25 08:50:54 +02:00
parent a83bba4399
commit dd3cf3de05
2 changed files with 5 additions and 5 deletions
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GPU_version/vio/include/vio/frame.h
+1 -1
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@@ -148,7 +148,7 @@ public:
J(0,0) = -z_inv; // -1/z
J(0,1) = x*z_inv_2; // x/z^2
J(0,2) = -(1.0 + pow(x,2)/z_inv_2); // -(1.0 + x^2/z^2)
J(0,2) = -(1.0 + pow(x,2)*z_inv_2); // -(1.0 + x^2/z^2)
J(1,0) = 1e-19; // 0
J(1,1) = y*z_inv_2; // y/z^2
GPU_version/vio/kernel/compute-residual.cl
+4 -4
View File
@@ -22,9 +22,9 @@ double3 xyz_cur(double cur_x, double cur_z, double cur_pitch, double ref_x, doub
ref_pitch = ref_pitch - 3.1415926535897932384626433832795028841971693993;
double cc_ss = cos(cur_pitch) * cos(ref_pitch) - sin(cur_pitch) * sin(ref_pitch);
double sc_cs = cos(cur_pitch) * sin(ref_pitch) + cos(ref_pitch) * sin(cur_pitch);
return double3(cc_ss * ref_feature.x() + sc_cs * ref_feature.z() + cur_x - ref_x * cos(cur_pitch) - ref_z * sin(cur_pitch),
ref_feature.y(),
-1.0 * sc_cs * ref_feature.x() + cc_ss * ref_feature.z() + cur_z + ref_x * sin(cur_pitch) - ref_z * cos(cur_pitch));
return double3(cc_ss * ref_feature.x + sc_cs * ref_feature.z + cur_x - ref_x * cos(cur_pitch) - ref_z * sin(cur_pitch),
ref_feature.y,
-1.0 * sc_cs * ref_feature.x + cc_ss * ref_feature.z + cur_z + ref_x * sin(cur_pitch) - ref_z * cos(cur_pitch));
}
double3 xyz_ref(double fts_pos_x, double fts_pos_y, double fts_pos_z, double ref_x, double ref_y, double ref_z)
@@ -38,7 +38,7 @@ void jacobian_xyz2uv(double3 xyz_in_f, double* J)
{
*(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 + 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 + 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