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release/4.3a0
Luca 2016-07-31 18:43:35 -04:00
parent c9e43e7435
commit 55ccc66de2
1 changed files with 1 additions and 1 deletions
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gtsam/geometry/CameraSet.h
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@ -57,7 +57,7 @@ protected:
Vector b(ZDim * m); Vector b(ZDim * m);
for (size_t i = 0, row = 0; i < m; i++, row += ZDim) { for (size_t i = 0, row = 0; i < m; i++, row += ZDim) {
Vector bi = traits<Z>::Local(measured[i], predicted[i]); Vector bi = traits<Z>::Local(measured[i], predicted[i]);
if(ZDim==3 && std::isnan(bi(1))){ // compensate for the case in which the right pixel in a stereoPoint is missing (nan) if(ZDim==3 && std::isnan(bi(1))){ // if it is a stereo point and the right pixel is missing (nan)
bi(1) = 0; bi(1) = 0;
} }
b.segment<ZDim>(row) = bi; b.segment<ZDim>(row) = bi;