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Merged in jlblancoc/gtsam/fixes-jl (pull request #408) 

exit()-> throw (Closes #427)

Approved-by: Frank Dellaert <dellaert@cc.gatech.edu>
release/4.3a0
José Luis Blanco-Claraco 2019-04-07 23:44:37 +00:00 committed by Frank Dellaert
parent 6bf605b624 1304d26e81
commit 0b4f8da22e
4 changed files with 11 additions and 17 deletions
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3
gtsam/geometry/Cal3_S2.cpp
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@ -44,8 +44,7 @@ Cal3_S2::Cal3_S2(const std::string &path) :
if (infile) if (infile)
infile >> fx_ >> fy_ >> s_ >> u0_ >> v0_; infile >> fx_ >> fy_ >> s_ >> u0_ >> v0_;
else { else {
printf("Unable to load the calibration\n"); throw std::runtime_error("Cal3_S2: Unable to load the calibration");
exit(0);
} }
infile.close(); infile.close();

7
gtsam/linear/JacobianFactor.cpp
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@ -164,9 +164,10 @@ boost::tuple<FastVector<DenseIndex>, DenseIndex, DenseIndex> _countDims(
n += vardim; n += vardim;
} else { } else {
if(!(varDims[jointVarpos] == vardim)) { if(!(varDims[jointVarpos] == vardim)) {
cout << "Factor " << sourceFactorI << " variable " << DefaultKeyFormatter(sourceFactor.keys()[sourceVarpos]) << std::stringstream ss;
" has different dimensionality of " << vardim << " instead of " << varDims[jointVarpos] << endl; ss << "Factor " << sourceFactorI << " variable " << DefaultKeyFormatter(sourceFactor.keys()[sourceVarpos]) <<
exit(1); " has different dimensionality of " << vardim << " instead of " << varDims[jointVarpos];
throw std::runtime_error(ss.str());
} }
} }
#else #else

9
gtsam/slam/SmartProjectionFactor.h
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@ -183,12 +183,9 @@ public:
std::vector<Matrix> Gs(numKeys * (numKeys + 1) / 2); std::vector<Matrix> Gs(numKeys * (numKeys + 1) / 2);
std::vector<Vector> gs(numKeys); std::vector<Vector> gs(numKeys);
if (this->measured_.size() != cameras.size()) { if (this->measured_.size() != cameras.size())
std::cout throw std::runtime_error("SmartProjectionHessianFactor: this->measured_"
<< "SmartProjectionHessianFactor: this->measured_.size() inconsistent with input" ".size() inconsistent with input");
<< std::endl;
exit(1);
}
triangulateSafe(cameras); triangulateSafe(cameras);

9
gtsam_unstable/slam/SmartStereoProjectionFactor.h
View File

@ -206,12 +206,9 @@ public:
std::vector<Matrix> Gs(numKeys * (numKeys + 1) / 2); std::vector<Matrix> Gs(numKeys * (numKeys + 1) / 2);
std::vector<Vector> gs(numKeys); std::vector<Vector> gs(numKeys);
if (this->measured_.size() != cameras.size()) { if (this->measured_.size() != cameras.size())
std::cout throw std::runtime_error("SmartStereoProjectionHessianFactor: this->"
<< "SmartStereoProjectionHessianFactor: this->measured_.size() inconsistent with input" "measured_.size() inconsistent with input");
<< std::endl;
exit(1);
}
triangulateSafe(cameras); triangulateSafe(cameras);