diff options
Diffstat (limited to 'tracker-pt/point_tracker.cpp')
| -rw-r--r-- | tracker-pt/point_tracker.cpp | 5 |
1 files changed, 3 insertions, 2 deletions
diff --git a/tracker-pt/point_tracker.cpp b/tracker-pt/point_tracker.cpp index aa6feb5b..25240635 100644 --- a/tracker-pt/point_tracker.cpp +++ b/tracker-pt/point_tracker.cpp @@ -194,7 +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; - if (JJ0 == II0) { + if (std::abs(JJ0 - II0) < 1e-6f) { rho = std::sqrt(std::abs(2*IJ0)); theta = -PI/4; if (IJ0<0) theta *= -1; @@ -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; } |