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Thanks! I have switched to unsigned short* dataMat1 = frame1.ptr<unsigned short>();, but it gives me even more different results ( i am running the resulting * through an ICP function and comparing the transformation matrix, with this change it gives me all zeros...)

Thanks! The answer was 2. I have switched to unsigned short* dataMat1 = frame1.ptr<unsigned short>();, but it gives me even more different results ( i am running the resulting * through an ICP function and comparing the transformation matrix, with this change it gives me all zeros...)

Thanks! The answer was 2. I have switched to unsigned short* dataMat1 = frame1.ptr<unsigned short>();, but it gives me even more different results ( i am running the resulting * through an ICP function and comparing the transformation matrix, with this change it gives me all zeros...)matrix)

Thanks! The answer was 2. I have switched to imread(frame1, -1) and unsigned short* dataMat1 = frame1.ptr<unsigned short>();, but it gives me even more different results ( i am running the resulting * through an ICP function and comparing the transformation matrix)

Thanks! The answer was 2. I have switched to imread(frame1, -1) and unsigned short* dataMat1 = frame1.ptr<unsigned short>();, but it gives me even more different results ( i am running the resulting * through an ICP function function, along with another, and comparing the transformation matrix)

Thanks! The answer was 2. I have switched to imread(frame1, -1) and unsigned short* dataMat1 = frame1.ptr<unsigned short>();, initModel((unsigned short*)frame1.data);`, but it gives me even more different results ( i am running the resulting * through an ICP function, along with another, and comparing the transformation matrix)

Thanks! The answer was 2. I have switched to imread(frame1, -1) and initModel((unsigned short*)frame1.data);`, but And once i add the scaling that is evident in the pangolin function, it gives me even more different results ( i am running the resulting * through an ICP function, along with another, and comparing the transformation matrix)looks identical. Thank you very much for your help!