From 508810ede678db901a9ec84020781d07c0eb30eb Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Piotr=20Ma=C5=9Blanka?= <piotr.maslanka@dronehub.ai>
Date: Fri, 28 May 2021 20:07:08 +0200
Subject: [PATCH] utilized fabs to fix the bug

---
 opensfm/src/geometry/triangulation.h | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/opensfm/src/geometry/triangulation.h b/opensfm/src/geometry/triangulation.h
index fa4cf3632..06c3a0a2b 100644
--- a/opensfm/src/geometry/triangulation.h
+++ b/opensfm/src/geometry/triangulation.h
@@ -7,6 +7,7 @@
 #include <fstream>
 #include <iostream>
 #include <string>
+#include <math.h>
 
 double AngleBetweenVectors(const Eigen::Vector3d &u, const Eigen::Vector3d &v);
 
@@ -68,7 +69,7 @@ std::pair<bool, Eigen::Matrix<T, 3, 1>> TriangulateTwoBearingsMidpointSolve(
 
   const T eps = T(1e-30);
   const T det = A.determinant();
-  if ((det < eps) && (det > -eps)) {
+  if (fabs(det) < eps) {
     return std::make_pair(false, Eigen::Matrix<T, 3, 1>());
   }
   const auto lambdas = A.inverse() * b;