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authorStanislaw Halik <sthalik@misaki.pl>2016-04-23 13:21:45 +0200
committerStanislaw Halik <sthalik@misaki.pl>2016-04-23 13:24:14 +0200
commit6f93d32fba2c1ce1f074bc339c52c27894b39740 (patch)
treee8c46a8d4403833f534d2c8bdb91288994490071
parent2f9489fbf4b6c4fa9814fb4e402293dbb957f869 (diff)
tracker/pt: add caveat to POSIT
causes breakage. even with denormal flush to zero it's not correct to compare to epsilon.
-rwxr-xr-x[-rw-r--r--]tracker-pt/point_tracker.cpp1
1 files changed, 1 insertions, 0 deletions
diff --git a/tracker-pt/point_tracker.cpp b/tracker-pt/point_tracker.cpp
index 599ce2d3..493f311c 100644..100755
--- a/tracker-pt/point_tracker.cpp
+++ b/tracker-pt/point_tracker.cpp
@@ -194,6 +194,7 @@ int PointTracker::POSIT(const PointModel& model, const PointOrder& order_, float
float IJ0 = I0.dot(J0);
float JJ0 = J0.dot(J0);
float rho, theta;
+ // CAVEAT don't change to comparison with a small epsilon, e.g. 1e-4. -sh 20160423
if (JJ0 == II0) {
rho = std::sqrt(std::abs(2*IJ0));
theta = -PI/4;