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added distortion coefs support into gpu::solvePnpRansac

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This commit is contained in:
Alexey Spizhevoy
2011-03-01 07:44:36 +00:00
parent 513997e127
commit 5e85566477
2 changed files with 26 additions and 23 deletions
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8
modules/gpu/src/cuda/calib3d.cu
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@@ -122,7 +122,6 @@ namespace cv { namespace gpu
{
__constant__ float3 crot_matrices[SOLVE_PNP_RANSAC_NUM_ITERS * 3];
__constant__ float3 ctransl_vectors[SOLVE_PNP_RANSAC_NUM_ITERS];
__constant__ float3 ccamera_mat[2];
__device__ float sqr(float x)
{
@@ -146,8 +145,8 @@ namespace cv { namespace gpu
rot_mat[2].x * p.x + rot_mat[2].y * p.y + rot_mat[2].z * p.z + transl_vec.z);
if (p.z > 0)
{
p.x = ccamera_mat[0].x * p.x / p.z + ccamera_mat[0].z;
p.y = ccamera_mat[1].y * p.y / p.z + ccamera_mat[1].z;
p.x /= p.z;
p.y /= p.z;
float2 image_p = image[i];
if (sqr(p.x - image_p.x) + sqr(p.y - image_p.y) < dist_threshold)
++num_inliers;
@@ -172,11 +171,10 @@ namespace cv { namespace gpu
void computeHypothesisScores(
const int num_hypotheses, const int num_points, const float* rot_matrices,
const float3* transl_vectors, const float3* object, const float2* image,
const float3* camera_mat, const float dist_threshold, int* hypothesis_scores)
const float dist_threshold, int* hypothesis_scores)
{
cudaSafeCall(cudaMemcpyToSymbol(crot_matrices, rot_matrices, num_hypotheses * 3 * sizeof(float3)));
cudaSafeCall(cudaMemcpyToSymbol(ctransl_vectors, transl_vectors, num_hypotheses * sizeof(float3)));
cudaSafeCall(cudaMemcpyToSymbol(ccamera_mat, camera_mat, 2 * sizeof(float3)));
dim3 threads(256);
dim3 grid(num_hypotheses);