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Fix patch jacobians

This commit is contained in:
Vladyslav Usenko 2020-01-08 16:52:35 +01:00
parent 2af4a6fa3d
commit c45ee335dc
1 changed files with 6 additions and 4 deletions
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10
include/basalt/optical_flow/patch.h
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@ -105,10 +105,12 @@ struct OpticalFlowPatch {
for (int i = 0; i < PATTERN_SIZE; i++) { for (int i = 0; i < PATTERN_SIZE; i++) {
if (data[i] >= 0) { if (data[i] >= 0) {
const Scalar data_i = data[i];
const Vector2 grad_i = grad.row(i);
grad.row(i) =
num_valid_points * (grad_i * sum - grad_sum * data_i) / (sum * sum);
data[i] *= mean_inv; data[i] *= mean_inv;
Vector2 grad_i = grad.row(i);
grad.row(i) = num_valid_points * (grad_i * sum - grad_sum * data[i]) /
(sum * sum);
} else { } else {
grad.row(i).setZero(); grad.row(i).setZero();
} }
@ -148,7 +150,7 @@ struct OpticalFlowPatch {
for (int i = 0; i < PATTERN_SIZE; i++) { for (int i = 0; i < PATTERN_SIZE; i++) {
if (residual[i] >= 0 && data[i] >= 0) { if (residual[i] >= 0 && data[i] >= 0) {
Scalar val = residual[i]; const Scalar val = residual[i];
residual[i] = num_valid_points * val / sum - data[i]; residual[i] = num_valid_points * val / sum - data[i];
num_residuals++; num_residuals++;