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Commit dd8589c3 authored by StevenPuttemans's avatar StevenPuttemans
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change as suggested by original programmer and user of ecc software

parent 573858f1
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Showing with 1 addition and 5 deletions
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 ...@@ -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];
......
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