Merge pull request ethz-asl#237 from VladyslavUsenko/fix/distortion_none

Fix optimization for none distortion when compiled with default flags ethz-asl#236
brucexp · Oct 31, 2018 · 694ca20 · 694ca20
2 parents 82ed673 + dbeeb73
commit 694ca20
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/aslam_optimizer/aslam_backend/src/Optimizer2.cpp b/aslam_optimizer/aslam_backend/src/Optimizer2.cpp
@@ -296,7 +296,8 @@ namespace aslam {
                     const int dbd = d->minimalDimensions();
                     Eigen::VectorXd dxS = _dx.segment(startIdx, dbd);
                     dxS *= d->scaling();
-                    d->update(&dxS[0], dbd);
+                    if(dbd > 0)
+                        d->update(&dxS[0], dbd);
                     startIdx += dbd;
                 }
                 // Track the maximum delta