removed unused disparity uncertainty computation

ancientbees · Apr 29, 2014 · 6ba28f5 · 6ba28f5
1 parent 922d732
commit 6ba28f5
Showing 1 changed file with 2 additions and 9 deletions.
diff --git a/svo/src/depth_filter.cpp b/svo/src/depth_filter.cpp
@@ -221,9 +221,8 @@ void DepthFilter::updateSeeds(FramePtr frame)
       ++it; // behind the camera
       continue;
     }
-    const Vector2d px(it->ftr->frame->f2c(xyz_f));
-    if(!it->ftr->frame->cam_->isInFrame(px.cast<int>())) {
-      ++it;
+    if(!it->ftr->frame->cam_->isInFrame(it->ftr->frame->f2c(xyz_f).cast<int>())) {
+      ++it; // point does not project in image
       continue;
     }
 
@@ -241,12 +240,6 @@ void DepthFilter::updateSeeds(FramePtr frame)
       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
     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));