diff --git a/gtsam/slam/SmartProjectionFactor.h b/gtsam/slam/SmartProjectionFactor.h index 65a532dc0..d34ba11e3 100644 --- a/gtsam/slam/SmartProjectionFactor.h +++ b/gtsam/slam/SmartProjectionFactor.h @@ -534,19 +534,19 @@ public: } /// Is result valid? - bool isValid() const { - return result_; - } + bool isValid() const { return result_.valid(); } /** return the degenerate state */ - bool isDegenerate() const { - return result_.degenerate(); - } + bool isDegenerate() const { return result_.degenerate(); } /** return the cheirality status flag */ - bool isPointBehindCamera() const { - return result_.behindCamera(); - } + bool isPointBehindCamera() const { return result_.behindCamera(); } + + /** return the outlier state */ + bool isOutlier() const { return result_.outlier(); } + + /** return the farPoint state */ + bool isFarPoint() const { return result_.farPoint(); } private: