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merged the trunk r8669:8702

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This commit is contained in:
Marina Kolpakova
2012-06-28 15:41:27 +00:00
parent 150aeee58f
commit 6cca6a4548
50 changed files with 2997 additions and 897 deletions
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12
modules/contrib/src/rgbdodometry.cpp
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@@ -48,10 +48,12 @@
#include <iostream>
#if defined(HAVE_EIGEN) && EIGEN_WORLD_VERSION == 3
#include <Eigen/Core>
#include <unsupported/Eigen/MatrixFunctions>
#include <Eigen/Dense>
# include <Eigen/Core>
# ifdef ANDROID
template <typename Scalar> Scalar log2(Scalar v) { using std::log; return log(v)/log(Scalar(2)); }
# endif
# include <unsupported/Eigen/MatrixFunctions>
# include <Eigen/Dense>
#endif
#include <limits>
@@ -581,7 +583,7 @@ bool cv::RGBDOdometry( cv::Mat& Rt, const Mat& initRt,
const double fy = levelCameraMatrix.at<double>(1,1);
const double determinantThreshold = 1e-6;
Mat corresps( levelImage0.size(), levelImage0.type(), CV_32SC1 );
Mat corresps( levelImage0.size(), levelImage0.type() );
// Run transformation search on current level iteratively.
for( int iter = 0; iter < (*iterCountsPtr)[level]; iter ++ )