Commit 02f6e62d authored by Andrey Filippov's avatar Andrey Filippov

fixed rByRDist calculation error

parent 9b711009
...@@ -1501,9 +1501,9 @@ public class GPUTileProcessor { ...@@ -1501,9 +1501,9 @@ public class GPUTileProcessor {
for (int i = 0; i < texture_indices.length; i++) { for (int i = 0; i < texture_indices.length; i++) {
if (((texture_indices[i] >> CORR_TEXTURE_BIT) & 1) != 0) { if (((texture_indices[i] >> CORR_TEXTURE_BIT) & 1) != 0) {
int ntile = texture_indices[i] >> CORR_NTILE_SHIFT; int ntile = texture_indices[i] >> CORR_NTILE_SHIFT;
if (ntile == 22507) { // if (ntile == 22507) {
System.out.println("i="+i+", ntile="+ntile); // System.out.println("i="+i+", ntile="+ntile);
} // }
for (int l = 0; l < num_tile_extra; l++) { for (int l = 0; l < num_tile_extra; l++) {
extra[l][ntile] = diff_rgb_combo[i * num_tile_extra + l]; extra[l][ntile] = diff_rgb_combo[i * num_tile_extra + l];
} }
......
...@@ -363,8 +363,8 @@ extern "C" __global__ void get_tiles_offsets( ...@@ -363,8 +363,8 @@ extern "C" __global__ void get_tiles_offsets(
(extrinsic_corr.imu_move[0] != 0.0) || (extrinsic_corr.imu_move[0] != 0.0) ||
(extrinsic_corr.imu_move[1] != 0.0) || (extrinsic_corr.imu_move[1] != 0.0) ||
(extrinsic_corr.imu_move[2] != 0.0); (extrinsic_corr.imu_move[2] != 0.0);
// Temporary
imu_exists = 0;
#ifdef DEBUG21 #ifdef DEBUG21
if ((ncam == DBG_CAM) && (task_num == DBG_TILE)){ if ((ncam == DBG_CAM) && (task_num == DBG_TILE)){
printf("\nTile = %d, camera= %d\n", task_num, ncam); printf("\nTile = %d, camera= %d\n", task_num, ncam);
...@@ -733,7 +733,7 @@ extern "C" __global__ void calcReverseDistortionTable( ...@@ -733,7 +733,7 @@ extern "C" __global__ void calcReverseDistortionTable(
} }
if (i == 0){ if (i == 0){
rByRDist[0]= (float) 1.0/d; rByRDist[0]= (float) 1.0/d;
break; continue;
} }
double rDist = RBYRDIST_STEP * i; double rDist = RBYRDIST_STEP * i;
double r = (p == 0) ? rDist : rPrev; double r = (p == 0) ? rDist : rPrev;
......
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