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fix the indeterminant system in stereo case

release/4.3a0
lvzhaoyang 2015-01-22 15:35:28 -05:00
parent d47e4d4853
commit 34ae976f6a
1 changed files with 5 additions and 0 deletions
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5
matlab/+gtsam/cylinderSampleProjectionStereo.m
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@ -42,6 +42,11 @@ for i = 1:cylinderNum
continue; continue;
end end
% too small disparity may call indeterminant system exception
if Z.du < 0.6
continue;
end
% ignore points occluded % ignore points occluded
% use a simple math hack to check occlusion: % use a simple math hack to check occlusion:
% 1. All points in front of cylinders' surfaces are visible % 1. All points in front of cylinders' surfaces are visible