add early return in dense depth tracker

lagadic · Oct 29, 2024 · 1b9e49d · 1b9e49d
1 parent 87f23e3
commit 1b9e49d
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diff --git a/modules/tracker/rbt/src/core/vpRBTracker.cpp b/modules/tracker/rbt/src/core/vpRBTracker.cpp
@@ -405,6 +405,8 @@ void vpRBTracker::updateRender(vpRBFeatureTrackerInput &frame)
   // Update clipping distances
   frame.renders.normals.resize(m_imageHeight, m_imageWidth);
   frame.renders.silhouetteCanny.resize(m_imageHeight, m_imageWidth);
+  frame.renders.isSilhouette.resize(m_imageHeight, m_imageWidth);
+
   float clipNear, clipFar;
   m_renderer.computeClipping(clipNear, clipFar);
   frame.renders.zNear = std::max(0.001f, clipNear);

diff --git a/modules/tracker/rbt/src/features/vpRBDenseDepthTracker.cpp b/modules/tracker/rbt/src/features/vpRBDenseDepthTracker.cpp
@@ -121,6 +121,7 @@ void vpRBDenseDepthTracker::computeVVSIter(const vpRBFeatureTrackerInput &/*fram
     m_weighted_error = 0.0;
     m_cov = 0.0;
     m_covWeightDiag = 0.0;
+    return;
   }
   vpRotationMatrix cRo = cMo.getRotationMatrix();
 #ifdef VISP_HAVE_OPENMP