The epipole check is being performed here even if reproject_to_bearing returns false and epiplane_in_keyfrm_2 is invalid. This can happen for, for example, perspective cameras when the epipole is not visible. The resulting value of epiplane_in_keyfrm_2 is not normalized which can cause a significant number of potential matches to fail this check.
The epipole check is being performed here even if
reproject_to_bearingreturns false andepiplane_in_keyfrm_2is invalid. This can happen for, for example, perspective cameras when the epipole is not visible. The resulting value ofepiplane_in_keyfrm_2is not normalized which can cause a significant number of potential matches to fail this check.The fix is in this PR: https://github.com/xdspacelab/openvslam/pull/525