Commit 223a3cda authored by Alexander Alekhin's avatar Alexander Alekhin
Browse files

Merge remote-tracking branch 'upstream/3.4' into merge-3.4

parents c8b405eb 5834bea0

modules/surface_matching/src/icp.cpp

+2 −4
Original line number Diff line number Diff line
@@ -246,6 +246,7 @@ static hashtable_int* getHashtable(int* data, size_t length, int numMaxElement) 
int ICP::registerModelToScene(const Mat& srcPC, const Mat& dstPC, double& residual, Matx44d& pose)

{

  int n = srcPC.rows;

  CV_CheckGT(n, 0, "");



  const bool useRobustReject = m_rejectionScale>0;
@@ -280,10 +281,7 @@ int ICP::registerModelToScene(const Mat& srcPC, const Mat& dstPC, double& residu 
  // walk the pyramid

  for (int level = m_numLevels-1; level >=0; level--)

  {

    const double impact = 2;

    double div = pow((double)impact, (double)level);

    //double div2 = div*div;

    const int numSamples = cvRound((double)(n/(div)));

    const int numSamples = divUp(n, 1 << level);

    const double TolP = m_tolerance*(double)(level+1)*(level+1);

    const int MaxIterationsPyr = cvRound((double)m_maxIterations/(level+1));