In this paper: https://arxiv.org/pdf/1807.08957.pdf
They describe that KB has a singularity at z = 0. In our InProjectionDomain function, we only check that z != 0
See check here:
|
bool KannalaBrandt::InProjectionDomain(const Eigen::Vector3d& point) { |
Since it's a singularity, I think we should exclude points that are 'near' z = 0, not exact, as points approaching zero will probably give errors as well. Especially with machine rounding errors
@jakemclaughlin6 @adthoms (should be a quick fix if either of you have a minute)
In this paper: https://arxiv.org/pdf/1807.08957.pdf
They describe that KB has a singularity at z = 0. In our InProjectionDomain function, we only check that z != 0
See check here:
libbeam/beam_calibration/src/KannalaBrandt.cpp
Line 143 in 4384b41
Since it's a singularity, I think we should exclude points that are 'near' z = 0, not exact, as points approaching zero will probably give errors as well. Especially with machine rounding errors
@jakemclaughlin6 @adthoms (should be a quick fix if either of you have a minute)