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removed unused disparity uncertainty computation

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Christian Forster
2014-04-29 11:44:45 +02:00
parent 922d73236b
commit 6ba28f50cf
1 changed files with 2 additions and 9 deletions
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svo/src/depth_filter.cpp
+2 -9
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@@ -221,9 +221,8 @@ void DepthFilter::updateSeeds(FramePtr frame)
++it; // behind the camera ++it; // behind the camera
continue; continue;
} }
const Vector2d px(it->ftr->frame->f2c(xyz_f)); if(!it->ftr->frame->cam_->isInFrame(it->ftr->frame->f2c(xyz_f).cast<int>())) {
if(!it->ftr->frame->cam_->isInFrame(px.cast<int>())) { ++it; // point does not project in image
++it;
continue; continue;
} }
@@ -241,12 +240,6 @@ void DepthFilter::updateSeeds(FramePtr frame)
continue; continue;
} }
if(options_.use_photometric_disparity_error && h_inv > 0)
{
px_noise = fmax(2.0*options_.sigma_i_sq*h_inv, 1.0);
px_error_angle = atan(px_noise/(2.0*focal_length))*2.0; // law of chord (sehnensatz)
}
// compute tau // compute tau
double tau = computeTau(T_ref_cur, it->ftr->f, z, px_error_angle); double tau = computeTau(T_ref_cur, it->ftr->f, z, px_error_angle);
double tau_inverse = 0.5 * (1.0/max(0.0000001, z-tau) - 1.0/(z+tau)); double tau_inverse = 0.5 * (1.0/max(0.0000001, z-tau) - 1.0/(z+tau));