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Update comment of CheckRT function in Initializer.cc #10

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Update comment of CheckRT function in Initializer.cc #10

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4 changes: 1 addition & 3 deletions src/Initializer.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -1619,9 +1619,7 @@ int Initializer::CheckRT(const cv::Mat &R, const cv::Mat &t, const vector<cv::Ke

// Check depth in front of first camera (only if enough parallax, as "infinite" points can easily go to negative depth)
// 如果深度值为负值，为非法三维点跳过该匹配点对
// ?视差比较小时，重投影误差比较大。这里0.99998 对应的角度为0.36°,这里不应该是 cosParallax>0.99998 吗？
// ?因为后面判断vbGood 点时的条件也是 cosParallax<0.99998
// !可能导致初始化不稳定
// 只有当视差足够大时（cosParallax小于0.99998说明此时视差大于0.36°）才检查深度值，因为小视差情况下的点很容易有负深度
if(p3dC1.at<float>(2)<=0 && cosParallax<0.99998)
continue;

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