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only perform epipole check for valid bearing #525
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reproject_to_bearing can return false indicating that the bearing is not valid and should not be used. For example, perspective::reproject_to_bearing will return false and an invalid bearing if the depth is negative. The resulting invalid bearing is not normalized, which can cause many potential landmarks to get thrown out in the epipole check. This fix skips the epipole check if epiplane_in_keyfrm_2 is not valid
adelpit
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reproject_to_bearingcan return false indicating that the bearing is not valid and should not be used. For example,perspective::reproject_to_bearingwill return false and an invalid bearing if the depth is negative. The resulting invalid bearing is not normalized, which can cause many potential landmarks to get thrown out in the epipole check. This fix skips the epipole check ifepiplane_in_keyfrm_2is invalid