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Fixed RegistrationVis feature matching behavior when NaN 3D keypoints are found

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matlabbe
2016-02-24 12:45:00 -05:00
parent 061211b1b6
commit 172e9857c7
5 changed files with 231 additions and 164 deletions
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utilite/include/rtabmap/utilite/UMath.h
+1 -1
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@@ -935,7 +935,7 @@ inline std::vector<float> uHamming(unsigned int L)
template <typename T>
bool uIsInBounds(const T& value, const T& low, const T& high)
{
return !(value < low) && !(value >= high);
return uIsFinite(value) && !(value < low) && !(value >= high);
}
#endif // UMATH_H