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added check to weight in rgbd

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This commit is contained in:
Maria Dimashova 2012-06-15 09:17:10 +00:00
parent fed67b3719
commit 5df3c44d30
1 changed files with 2 additions and 1 deletions
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modules/contrib/src/rgbdodometry.cpp
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@ -450,7 +450,8 @@ bool computeKsi( int transformType,
double diff = static_cast<double>(image1.at<uchar>(v1,u1)) - double diff = static_cast<double>(image1.at<uchar>(v1,u1)) -
static_cast<double>(image0.at<uchar>(v0,u0)); static_cast<double>(image0.at<uchar>(v0,u0));
double w = 1./(sigma + std::abs(diff)); double w = sigma + std::abs(diff);
w = w > DBL_EPSILON ? 1./w : 1.;
(*computeCFuncPtr)( (double*)C.ptr(pointCount), (*computeCFuncPtr)( (double*)C.ptr(pointCount),
w * sobelScale * dI_dx1.at<short int>(v1,u1), w * sobelScale * dI_dx1.at<short int>(v1,u1),