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small fix

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This commit is contained in:
Vladyslav Usenko 2019-07-31 12:51:23 +02:00
parent 8524056e0c
commit 7694fc1825
1 changed files with 1 additions and 1 deletions
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include/basalt/optimization/linearize.h
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@ -153,7 +153,7 @@ struct LinearizeBase {
} else {
valid = cam.project(point3d, proj);
}
if (!valid) return;
if (!valid || !proj.array().isFinite().all()) return;
Eigen::Vector2d residual = proj - corner_pos;