From 7bf6e043498ff3979d7902cf55f7332a1986c0d7 Mon Sep 17 00:00:00 2001
From: Samuel Felton <samuel.felton@irisa.fr>
Date: Tue, 11 Mar 2025 16:13:35 +0100
Subject: [PATCH] Disable ccd tracker when there is an inversion issue

---
 modules/tracker/rbt/src/features/vpRBSilhouetteCCDTracker.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/modules/tracker/rbt/src/features/vpRBSilhouetteCCDTracker.cpp b/modules/tracker/rbt/src/features/vpRBSilhouetteCCDTracker.cpp
index bd600e5c51..5e6fb6a36f 100644
--- a/modules/tracker/rbt/src/features/vpRBSilhouetteCCDTracker.cpp
+++ b/modules/tracker/rbt/src/features/vpRBSilhouetteCCDTracker.cpp
@@ -833,6 +833,10 @@ void vpRBSilhouetteCCDTracker::computeErrorAndInteractionMatrix()
     m_sigma = m_ccdParameters.covarianceIterDecreaseFactor * m_sigma + 2.0 * (1.0 - m_ccdParameters.covarianceIterDecreaseFactor) * hessian_E_inv;
   }
   catch (vpException &e) {
+    m_numFeatures = 0;
+    m_weighted_error = 0;
+    m_LTL = 0;
+    m_LTR = 0;
     std::cerr << "Inversion issues in CCD tracker" << std::endl;
   }