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tile_processor_gpu
Commit 3b7241ee authored by Andrey Filippov's avatar Andrey Filippov
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was left not committed since 09/23

parent 5866263d
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src/geometry_correction.cu
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...@@ -671,7 +671,8 @@ extern "C" __global__ void get_tiles_offsets( ...@@ -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] +
......
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