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diff --git a/modules/contrib/src/chamfermatching.cpp b/modules/contrib/src/chamfermatching.cpp
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--- a/modules/contrib/src/chamfermatching.cpp
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+++ b/modules/contrib/src/chamfermatching.cpp
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@@ -966,10 +966,8 @@ void ChamferMatcher::Matching::computeDistanceTransform(Mat& edges_img, Mat& dis
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for (int y=0;y
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for (int x=0;x
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// initialize
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- if (&annotate_img!=NULL) {
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- annotate_img.at<Vec2i>(y,x)[0]=x;
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- annotate_img.at<Vec2i>(y,x)[1]=y;
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- }
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+ annotate_img.at<Vec2i>(y,x)[0]=x;
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+ annotate_img.at<Vec2i>(y,x)[1]=y;
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uchar edge_val = edges_img.at<uchar>(y,x);
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if( (edge_val!=0) ) {
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@@ -1013,10 +1011,8 @@ void ChamferMatcher::Matching::computeDistanceTransform(Mat& edges_img, Mat& dis
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dist_img.at<float>(ny,nx) = dist;
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q.push(std::make_pair(nx,ny));
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- if (&annotate_img!=NULL) {
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- annotate_img.at<Vec2i>(ny,nx)[0]=annotate_img.at<Vec2i>(y,x)[0];
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- annotate_img.at<Vec2i>(ny,nx)[1]=annotate_img.at<Vec2i>(y,x)[1];
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- }
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+ annotate_img.at<Vec2i>(ny,nx)[0]=annotate_img.at<Vec2i>(y,x)[0];
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+ annotate_img.at<Vec2i>(ny,nx)[1]=annotate_img.at<Vec2i>(y,x)[1];
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}
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}
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}
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@@ -1107,26 +1103,22 @@ ChamferMatcher::Match* ChamferMatcher::Matching::localChamferDistance(Point offs
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float cost = (sum_distance/truncate_)/addr.size();
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+ float* optr = orientation_img.ptr<float>(y)+x;
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+ float sum_orientation = 0;
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+ int cnt_orientation = 0;
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- if (&orientation_img!=NULL) {
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- float* optr = orientation_img.ptr<float>(y)+x;
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- float sum_orientation = 0;
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- int cnt_orientation = 0;
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+ for (size_t i=0;i
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- for (size_t i=0;i
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-
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- if(addr[i] < (orientation_img.cols*orientation_img.rows) - (offset.y*orientation_img.cols + offset.x)){
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- if (tpl->orientations[i]>=-CV_PI && (*(optr+addr[i]))>=-CV_PI) {
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- sum_orientation += orientation_diff(tpl->orientations[i], (*(optr+addr[i])));
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- cnt_orientation++;
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- }
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+ if(addr[i] < (orientation_img.cols*orientation_img.rows) - (offset.y*orientation_img.cols + offset.x)){
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+ if (tpl->orientations[i]>=-CV_PI && (*(optr+addr[i]))>=-CV_PI) {
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+ sum_orientation += orientation_diff(tpl->orientations[i], (*(optr+addr[i])));
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+ cnt_orientation++;
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}
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}
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+ }
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- if (cnt_orientation>0) {
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- cost = (float)(beta*cost+alpha*(sum_orientation/(2*CV_PI))/cnt_orientation);
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- }
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-
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+ if (cnt_orientation>0) {
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+ cost = (float)(beta*cost+alpha*(sum_orientation/(2*CV_PI))/cnt_orientation);
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}
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if(cost > 0){
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