generic-library/opencv
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minor change

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This commit is contained in:
Maria Dimashova 2012-03-14 11:01:45 +00:00
parent 36890cc959
commit 8ec1c2b03a
1 changed files with 6 additions and 6 deletions

12
modules/contrib/src/rgbdodometry.cpp

@ -531,6 +531,12 @@ bool cv::RGBDOdometry( cv::Mat& Rt, const Mat& initRt,
CV_Assert( level_dI_dx1.type() == CV_16S );
CV_Assert( level_dI_dy1.type() == CV_16S );
const double fx = levelCameraMatrix.at<double>(0,0);
const double fy = levelCameraMatrix.at<double>(1,1);
const double avgf = 0.5 *(fx + fy);
const double normScale = 1./(255*avgf);
const double determinantThreshold = 1e-6;
Mat corresps( levelImage0.size(), levelImage0.type(), CV_32SC1 );
// Run transformation search on current level iteratively.
@ -543,12 +549,6 @@ bool cv::RGBDOdometry( cv::Mat& Rt, const Mat& initRt,
if( correspsCount == 0 )
break;
const double fx = levelCameraMatrix.at<double>(0,0);
const double fy = levelCameraMatrix.at<double>(1,1);
const double avgf = 0.5 *(fx + fy);
const double normScale = 1./(255*avgf);
const double determinantThreshold = 1e-6;
bool solutionExist = computeKsi( transformType,
levelImage0, levelCloud0,
levelImage1, level_dI_dx1, level_dI_dy1,