Do not recompute the same expression twice and fixes potential divisi…

…on by zero
mp3guy · Jun 21, 2017 · 3d9b59b · 3d9b59b
1 parent 31c874a
commit 3d9b59b
Showing 1 changed file with 3 additions and 2 deletions.
diff --git a/Core/src/Utils/RGBDOdometry.cpp b/Core/src/Utils/RGBDOdometry.cpp
@@ -459,13 +459,14 @@ void RGBDOdometry::getIncrementalTransformation(Eigen::Vector3f & trans,
             }
 
             float sigmaVal = std::sqrt((float)sigma / rgbSize == 0 ? 1 : rgbSize);
+            float rgbError = std::sqrt(sigma) / (rgbSize == 0 ? 1 : rgbSize);
 
-            if(rgbOnly && sqrt(sigma) / rgbSize > lastRGBError)
+            if(rgbOnly && rgbError > lastRGBError)
             {
                 break;
             }
 
-            lastRGBError = sqrt(sigma) / rgbSize;
+            lastRGBError = rgbError;
             lastRGBCount = rgbSize;
 
             if(rgbOnly)