8000 Avoid hard crash if Jacobian matrix is rank deficient by mihaidusmanu · Pull Request #1557 · colmap/colmap · GitHub
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Avoid hard crash if Jacobian matrix is rank deficient #1557

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Merged
merged 2 commits into from
Jul 5, 2022
Merged

Avoid hard crash if Jacobian matrix is rank deficient #1557

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38ed75b
Fix.
mihaidusmanu Jul 4, 2022
cb73eeb
Merge branch 'dev' into mihai/covariance-fix
mihaidusmanu Jul 4, 2022
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8 changes: 6 additions & 2 deletions src/estimators/pose.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -308,7 +308,9 @@ bool RefineAbsolutePose(const AbsolutePoseRefinementOptions& options,
ceres::Covariance::Options options;
ceres::Covariance covariance(options);
std::vector<const double*> parameter_blocks = {qvec_data, tvec_data};
covariance.Compute(parameter_blocks, &problem);
if (!covariance.Compute(parameter_blocks, &problem)) {
return false;
}
// The rotation covariance is estimated in the tangent space of the
// quaternion, which corresponds to the 3-DoF axis-angle local
// parameterization.
Expand Down Expand Up @@ -490,7 +492,9 @@ bool RefineGeneralizedAbsolutePose(
ceres::Covariance::Options options;
ceres::Covariance covariance(options);
std::vector<const double*> parameter_blocks = {qvec_data, tvec_data};
covariance.Compute(parameter_blocks, &problem);
if (!covariance.Compute(parameter_blocks, &problem)) {
return false;
}
covariance.GetCovarianceMatrixInTangentSpace(parameter_blocks,
rot_tvec_covariance->data());
}
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