Stop ICP iterations before solver crashes due to underdetermined linear system

8 years ago · 60aa8d9f75
parent 53e34260b1
commit 60aa8d9f75
1 changed files with 1 additions and 1 deletions
--- a/modules/surface_matching/src/icp.cpp
+++ b/modules/surface_matching/src/icp.cpp
@ -452,7 +452,7 @@ int ICP::registerModelToScene(const Mat& srcPC, const Mat& dstPC, double& residu

      hashtableDestroy(duplicateTable);

-      if (selInd)
+      if (selInd >= 6)
      {

        Mat Src_Match = Mat(selInd, srcPCT.cols, CV_64F);