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change as suggested by original programmer and user of ecc software

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This commit is contained in:
StevenPuttemans 2015-08-06 14:59:15 +02:00
parent 573858f134
commit dd8589c352
1 changed files with 1 additions and 5 deletions
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6
modules/video/src/ecc.cpp
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@ -298,11 +298,7 @@ static void update_warping_matrix_ECC (Mat& map_matrix, const Mat& update, const
} }
if (motionType == MOTION_EUCLIDEAN) { if (motionType == MOTION_EUCLIDEAN) {
double new_theta = updatePtr[0]; double new_theta = updatePtr[0];
if (mapPtr[3]>0) new_theta += asin(mapPtr[3]);
new_theta += acos(mapPtr[0]);
if (mapPtr[3]<0)
new_theta -= acos(mapPtr[0]);
mapPtr[2] += updatePtr[1]; mapPtr[2] += updatePtr[1];
mapPtr[5] += updatePtr[2]; mapPtr[5] += updatePtr[2];