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cvg / pixloc

Back to the Feature: Learning Robust Camera Localization from Pixels to Pose (CVPR 2021)
Apache License 2.0
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Add z clamp in Jacobian of projection #18

Closed jmorlana closed 2 years ago

jmorlana commented 2 years ago

As done in project() function, clamping z values avoids zero division. That is the cause (at least one of them) of the NaN values that appeared in some issue threads.

sarlinpe commented 2 years ago

Nice catch, thanks!