From a58166a03da6ef91dd45924509cd7591eded3cb7 Mon Sep 17 00:00:00 2001
From: laobai <bai@q.com>
Date: Mon, 2 May 2022 11:45:13 +0800
Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E6=94=B9rgbd=E4=B8=8Btum=E6=95=B0?=
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---
 src/Tracking.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/Tracking.cc b/src/Tracking.cc
index 18fcc75..b300b05 100644
--- a/src/Tracking.cc
+++ b/src/Tracking.cc
@@ -1632,7 +1632,7 @@ Sophus::SE3f Tracking::GrabImageRGBD(const cv::Mat &imRGB,const cv::Mat &imD, co
     }
 
     // Step 2 ：将深度相机的disparity转为Depth , 也就是转换成为真正尺度下的深度
-    if((fabs(mDepthMapFactor-1.0f)>1e-5) || imDepth.type()!=CV_32F)
+    if((fabs(mDepthMapFactor-1.0f)>1e-5) && imDepth.type()!=CV_32F)
         imDepth.convertTo(imDepth,CV_32F,mDepthMapFactor);
 
     // Step 3：构造Frame