added check to weight in rgbd

13 years ago · 5df3c44d30
parent fed67b3719
commit 5df3c44d30
1 changed files with 2 additions and 1 deletions
--- 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),