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Fix issue 2817 #2853

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Merged
merged 1 commit into from
Feb 8, 2021
Merged

Fix issue 2817 #2853

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5 changes: 3 additions & 2 deletions modules/rgbd/src/kinfu_frame.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -623,8 +623,9 @@ void makeFrameFromDepth(InputArray _depth,

// looks like OpenCV's bilateral filter works the same as KinFu's
Depth smooth;

bilateralFilter(depth, smooth, kernelSize, sigmaDepth*depthFactor, sigmaSpatial);
Depth depthNoNans = depth.clone();
patchNaNs(depthNoNans);
bilateralFilter(depthNoNans, smooth, kernelSize, sigmaDepth*depthFactor, sigmaSpatial);

// depth truncation can be used in some scenes
Depth depthThreshold;
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