Stop ICP iterations before solver crashes due to underdetermined linear system

60aa8d9f · Hamdi Sahloul · 53e34260 · 60aa8d9f
Commit 60aa8d9f authored Mar 10, 2017 by Hamdi Sahloul
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icp.cpp modules/surface_matching/src/icp.cpp +1 -1

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--- a/modules/surface_matching/src/icp.cpp
+++ b/modules/surface_matching/src/icp.cpp
@@ -452,7 +452,7 @@ int ICP::registerModelToScene(const Mat& srcPC, const Mat& dstPC, double& residu

      hashtableDestroy(duplicateTable);

-      if (selInd)
+      if (selInd >= 6)
      {

        Mat Src_Match = Mat(selInd, srcPCT.cols, CV_64F);