Merge branch '2-fix_kpt_cal' into 'main'

キーポイント角度計算の不具合修正

See merge request tech/adaskit/cuda-efficient-features!1

Author: atakagi-fixstars

modules/cuda_efficient_features/src/cuda_efficient_features.cpp

@@ -181,14 +181,6 @@ static void createMask(GpuMat& mask, Size imgSize, int border, Stream& stream)
 	mask(ROI).setTo(Scalar::all(255), stream);
 }
 
-static inline float convertToDegree(float angle)
-{
-	constexpr float PI = static_cast<float>(CV_PI);
-	if (angle < 0)
-		angle += 2.f * PI;
-	return (180.f / PI) * angle;
-}
-
 class EfficientFeaturesImpl : public EfficientFeatures
 {
 public:
@@ -349,7 +341,7 @@ class EfficientFeaturesImpl : public EfficientFeatures
 			KeyPoint kpt;
 			kpt.pt = Point2f(points[i][0], points[i][1]);
 			kpt.response = responses[i];
-			kpt.angle = convertToDegree(angles[i]);
+			kpt.angle = angles[i];
 			kpt.octave = octaves[i];
 			kpt.size = sizes[i];
 			dst[i] = kpt;

modules/cuda_efficient_features/src/cuda_efficient_features.cu

@@ -51,6 +51,14 @@ static __device__ inline int distanceSq(short2 pt1, short2 pt2)
 	return dx * dx + dy * dy;
 }
 
+static __device__ inline float convertToDegree(float angle)
+{
+	constexpr float PI = static_cast<float>(CV_PI);
+	if (angle < 0)
+		angle += 2.f * PI;
+	return (180.f / PI) * angle;
+}
+
 static __device__ inline bool IsMaxPoint(int idx1, const short2* points, const float* responses,
 	const int* blockPtr, const int* pointIds, int gridW, int gridH, int imageRadius, int blockRadius)
 {
@@ -160,7 +168,7 @@ static __device__ float IC_Angle(PtrStepb image, short2 pt)
 		m_01 += dy * y_sum;
 	}
 
-	return ::atan2f((float)m_01, (float)m_10);
+	return convertToDegree(::atan2f((float)m_01, (float)m_10));
 }
 
 __global__ void nptPerBlockKernel(const short2* points, int npoints, int* nptPerBlock, int gridStep)