#include"stdafx.h"

#include"FriedLiver.h"

#include"RunOpt.h"

RGBDSensor*getRGBDSensor()

{

m_globalWeightsMutex.lock();

m_globalWeightsSparse.resize(maxNumIts,1.0f);

m_globalWeightsDenseDepth.resize(maxNumIts,1.0f);

for (unsignedint i =2; i < maxNumIts; i++) m_globalWeightsDenseDepth[i] = i;

for (unsignedint i =2; i < maxNumIts; i++) m_globalWeightsDenseDepth[i] =(float)i;

m_globalWeightsDenseColor.resize(maxNumIts,0.1f);

m_maxResidual = -1.0f;