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added check to weight in rgbd
author
Maria Dimashova
<no@email>
Fri, 15 Jun 2012 09:17:10 +0000
(09:17 +0000)
committer
Maria Dimashova
<no@email>
Fri, 15 Jun 2012 09:17:10 +0000
(09:17 +0000)
modules/contrib/src/rgbdodometry.cpp
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diff --git
a/modules/contrib/src/rgbdodometry.cpp
b/modules/contrib/src/rgbdodometry.cpp
index
b7ef933
..
81525f5
100644
(file)
--- a/
modules/contrib/src/rgbdodometry.cpp
+++ b/
modules/contrib/src/rgbdodometry.cpp
@@
-450,7
+450,8
@@
bool computeKsi( int transformType,
double diff = static_cast<double>(image1.at<uchar>(v1,u1)) -
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),
w * sobelScale * dI_dx1.at<short int>(v1,u1),