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Diffstat (limited to 'tracker-pt/point_tracker.cpp')
| -rw-r--r-- | tracker-pt/point_tracker.cpp | 3 |
1 files changed, 2 insertions, 1 deletions
diff --git a/tracker-pt/point_tracker.cpp b/tracker-pt/point_tracker.cpp index aa6feb5b..599ce2d3 100644 --- a/tracker-pt/point_tracker.cpp +++ b/tracker-pt/point_tracker.cpp @@ -202,7 +202,8 @@ int PointTracker::POSIT(const PointModel& model, const PointOrder& order_, float else { rho = sqrt(sqrt( (JJ0-II0)*(JJ0-II0) + 4*IJ0*IJ0 )); theta = atan( -2*IJ0 / (JJ0-II0) ); - if (JJ0 - II0 < 0) theta += PI; + // avoid branch misprediction + theta += (JJ0 - II0 < 0) * PI; theta /= 2; } |