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Check FoV before PnP for omni and pinhole model.
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NikolausDemmel committed Aug 3, 2018
1 parent 2efeea0 commit 72d51db
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Showing 2 changed files with 2 additions and 2 deletions.
Original file line number Diff line number Diff line change
Expand Up @@ -887,7 +887,7 @@ bool OmniProjection<DISTORTION_T>::estimateTransformation(
Eigen::Vector3d backProjection;

if (keypointToEuclidean(imagePoint, backProjection)
&& backProjection[2] > 0.0) {
&& backProjection.normalized()[2] > std::cos(80.0*M_PI/180.0)) {
double x = backProjection[0];
double y = backProjection[1];
double z = backProjection[2];
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Original file line number Diff line number Diff line change
Expand Up @@ -835,7 +835,7 @@ bool PinholeProjection<DISTORTION_T>::estimateTransformation(
Eigen::Vector3d backProjection;

if (keypointToEuclidean(imagePoint, backProjection)
&& backProjection[2] > 0.0) {
&& backProjection.normalized()[2] > std::cos(80.0*M_PI/180.0)) {
double x = backProjection[0];
double y = backProjection[1];
double z = backProjection[2];
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