removed test whether z is negative in gpu::solvePnpRansac (there is no need in…

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

modules/gpu/src/calib3d.cpp

@@ -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);
         }
     }
 }

modules/gpu/src/cuda/calib3d.cu

@@ -143,14 +143,11 @@ namespace cv { namespace gpu
                         rot_mat[0].x * p.x + rot_mat[0].y * p.y + rot_mat[0].z * p.z + transl_vec.x,
                         rot_mat[1].x * p.x + rot_mat[1].y * p.y + rot_mat[1].z * p.z + transl_vec.y,
                         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 /= 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;
-                }
+                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;
             }
 
             extern __shared__ float s_num_inliers[];

modules/gpu/test/test_calib3d.cpp

@@ -128,7 +128,10 @@ TEST(solvePnpRansac, accuracy)
 
     Mat rvec;
     Mat tvec;
-    solvePnpRansac(object, image, camera_mat, Mat(), rvec, tvec, SolvePnpRansacParams());
+    SolvePnpRansacParams params;
+    vector<int> inliers;
+    params.inliers = &inliers;
+    solvePnpRansac(object, image, camera_mat, Mat(), rvec, tvec, params);
 
     ASSERT_LE(norm(rvec - rvec_gold), 1e-3f);
     ASSERT_LE(norm(tvec - tvec_gold), 1e-3f);