Commit 3b7241ee authored by Andrey Filippov's avatar Andrey Filippov
Browse files

was left not committed since 09/23

parent 5866263d

src/geometry_correction.cu

+2 −1
Original line number Original line Diff line number Diff line
@@ -671,7 +671,8 @@ extern "C" __global__ void get_tiles_offsets( 
			dpXci_pYci_imu_lin[0][0] = -wdisparity / k; // dpx/ dworld_X

			dpXci_pYci_imu_lin[0][0] = -wdisparity / k; // dpx/ dworld_X

			dpXci_pYci_imu_lin[1][1] =  wdisparity / k; // dpy/ dworld_Y

			dpXci_pYci_imu_lin[1][1] =  wdisparity / k; // dpy/ dworld_Y

			dpXci_pYci_imu_lin[0][2] =  (xyz[0] / k) * dwdisp_dz; // dpx/ dworld_Z

			dpXci_pYci_imu_lin[0][2] =  (xyz[0] / k) * dwdisp_dz; // dpx/ dworld_Z

			dpXci_pYci_imu_lin[1][2] =  (xyz[1] / k) * dwdisp_dz; // dpy/ dworld_Z

////			dpXci_pYci_imu_lin[1][2] =  (xyz[1] / k) * dwdisp_dz; // dpy/ dworld_Z

			dpXci_pYci_imu_lin[1][2] =  -(xyz[1] / k) * dwdisp_dz; // dpy/ dworld_Z

			ers_x += dpXci_pYci_imu_lin[0][0] * extrinsic_corr.imu_move[0] +

			ers_x += dpXci_pYci_imu_lin[0][0] * extrinsic_corr.imu_move[0] +

					dpXci_pYci_imu_lin[0][2] * extrinsic_corr.imu_move[2];

					dpXci_pYci_imu_lin[0][2] * extrinsic_corr.imu_move[2];

			ers_y += dpXci_pYci_imu_lin[1][1] * extrinsic_corr.imu_move[1] +

			ers_y += dpXci_pYci_imu_lin[1][1] * extrinsic_corr.imu_move[1] +