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removed test whether z is negative in gpu::solvePnpRansac (there is no need in this for tests passing)

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Alexey Spizhevoy
2011-03-02 09:40:14 +00:00
parent 74c398e6b7
commit 4e6572acd9
3 changed files with 13 additions and 16 deletions
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modules/gpu/src/calib3d.cpp
+4 -7
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@@ -301,13 +301,10 @@ void cv::gpu::solvePnpRansac(const Mat& object, const Mat& image, const Mat& cam
p_transf.x = rot[0] * p.x + rot[1] * p.y + rot[2] * p.z + transl[0];
p_transf.y = rot[3] * p.x + rot[4] * p.y + rot[5] * p.z + transl[1];
p_transf.z = rot[6] * p.x + rot[7] * p.y + rot[8] * p.z + transl[2];
if (p_transf.z > 0.f)
{
p_proj.x = p_transf.x / p_transf.z;
p_proj.y = p_transf.y / p_transf.z;
if (norm(p_proj - image_normalized.at<Point2f>(0, i)) < params.max_dist)
params.inliers->push_back(i);
}
p_proj.x = p_transf.x / p_transf.z;
p_proj.y = p_transf.y / p_transf.z;
if (norm(p_proj - image_normalized.at<Point2f>(0, i)) < params.max_dist)
params.inliers->push_back(i);
}
}
}