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small fix of empty return points values

release/4.3a0
lvzhaoyang 2015-01-13 02:01:28 -05:00
parent 6ab95f60c2
commit 1094739680
1 changed files with 5 additions and 2 deletions
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7
matlab/+gtsam/points2DTrackMonocular.m
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@ -79,12 +79,15 @@ marginals = Marginals(graph, initialEstimate);
%% get all the 2d points track information
% currently throws the Indeterminant linear system exception
ptIdx = 0;
ptx = 0;
for i = 1:pointsNum
ptx = ptx + 1;
if isempty(pts3d.pts{i})
continue;
end
pts2dTracksMono.cov{ptIdx} = marginals.marginalCovariance(symbol('p',i));
% cylinder index and measurements
pts2dTracksMono.Points{ptx} = pts3d.pts{i};
pts2dTracksMono.cov{ptx} = marginals.marginalCovariance(symbol('p',i));
end
end