generic-library/opencv
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

minor change

Browse Source
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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

12
modules/contrib/src/rgbdodometry.cpp
View File

@ -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_dx1.type() == CV_16S );
CV_Assert( level_dI_dy1.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 ); Mat corresps( levelImage0.size(), levelImage0.type(), CV_32SC1 );
// Run transformation search on current level iteratively. // Run transformation search on current level iteratively.
@ -543,12 +549,6 @@ bool cv::RGBDOdometry( cv::Mat& Rt, const Mat& initRt,
if( correspsCount == 0 ) if( correspsCount == 0 )
break; 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, bool solutionExist = computeKsi( transformType,
levelImage0, levelCloud0, levelImage0, levelCloud0,
levelImage1, level_dI_dx1, level_dI_dy1, levelImage1, level_dI_dx1, level_dI_dy1,