Correction to variance

applications/registration/src/correspondances.cpp

@@ -61,13 +61,15 @@ static void averageDepth(vector<Mat> &in, Mat &out, float varThresh) {
 			for (int i_in = 0; i_in < in.size(); ++i_in) {
 				float d = in[i_in].at<float>(i);
 				if (d < 40.0f) {
-					float delta = d - sum;
+					float delta = (d*1000.0f - sum*1000.0f);
 					var += delta*delta;
 				}
 			}
 			if (good_values > 1) var /= (good_values-1);
 			else var = 0.0f;
 
+			//LOG(INFO) << "VAR " << var;
+
 			if (var < varThresh) {
 				out.at<float>(i) = sum;
 			} else {
@@ -121,8 +123,8 @@ bool Correspondances::capture(cv::Mat &rgb1, cv::Mat &rgb2) {
 
 		std::this_thread::sleep_for(std::chrono::milliseconds(50));
 	}
-	averageDepth(buffer[0], d1, 1.0f);
-	averageDepth(buffer[1], d2, 1.0f);
+	averageDepth(buffer[0], d1, 0.00000005f);
+	averageDepth(buffer[1], d2, 0.00000005f);
 	Mat d1_v, d2_v;
 	d1.convertTo(d1_v, CV_8U, 255.0f / 10.0f);
 	d2.convertTo(d2_v, CV_8U, 255.0f / 10.0f);

applications/registration/src/manual.cpp

@@ -184,10 +184,6 @@ void ftl::registration::manual(ftl::Configurable *root) {
 	bool insearch = false;
 
 	Correspondances *current = corrs[sources[curtarget]->getURI()];
-	
-	// Features for current frame...
-	vector<tuple<int,int,int,int>> feat;
-	vector<std::pair<pcl::PointXYZ, pcl::PointXYZ>> pclfeat;
 
 	while (ftl::running) {
 		if (!freeze) {
@@ -299,7 +295,6 @@ void ftl::registration::manual(ftl::Configurable *root) {
 		} else if (key == 'g') {
 			if (!insearch) {
 				insearch = true;
-				LOG(INFO) << "Features matched = " << feat.size();
 
 				ftl::pool.push([&lastScore,&insearch,current](int id) {
 					LOG(INFO) << "START";