This repository was archived by the owner on Feb 25, 2021. It is now read-only.
This repository was archived by the owner on Feb 25, 2021. It is now read-only.
Invalid epipole check in match_for_triangulation #526
Description
The epipole check is being performed here even if reproject_to_bearing returns false and epiplane_in_keyfrm_2 is invalid. This can happen for, for example, perspective cameras when the epipole is not visible. The resulting value of epiplane_in_keyfrm_2 is not normalized which can cause a significant number of potential matches to fail this check.
The fix is in this PR: #525