corner case in least squares optimization

prevents least squares optimization if not enough inliers are found
NamDinhRobotics · Nov 13, 2019 · a687a10 · a687a10
1 parent 8dbd348
commit a687a10
Showing 1 changed file with 1 addition and 0 deletions.
diff --git a/RansacLib/ransac.h b/RansacLib/ransac.h
@@ -411,6 +411,7 @@ class LocallyOptimizedMSAC : public RansacBase {
         options.min_sample_multiplicator_ * solver.min_sample_size();
     std::vector<int> inliers;
     int num_inliers = GetInliers(solver, *model, thresh, &inliers);
+    if (num_inliers < solver.min_sample_size()) return;
     int lsq_data_size = std::min(kLSqSampleSize, num_inliers);
     utils::RandomShuffleAndResize(lsq_data_size, rng, &inliers);
     solver.LeastSquares(inliers, model);