From 123c55f0d7b42c110cb506123128b5d8da2be4a4 Mon Sep 17 00:00:00 2001
From: cbeall3 <cbeall3@gatech.edu>
Date: Wed, 29 Jul 2015 14:05:48 -0400
Subject: [PATCH] respect triangulation.enableEPI flag in SmartStereo factor

---
 gtsam_unstable/slam/SmartStereoProjectionFactor.h | 9 ++++++++-
 1 file changed, 8 insertions(+), 1 deletion(-)

diff --git a/gtsam_unstable/slam/SmartStereoProjectionFactor.h b/gtsam_unstable/slam/SmartStereoProjectionFactor.h
index 3981e9a84..75444d62a 100644
--- a/gtsam_unstable/slam/SmartStereoProjectionFactor.h
+++ b/gtsam_unstable/slam/SmartStereoProjectionFactor.h
@@ -238,6 +238,12 @@ public:
 //    }
 
     bool retriangulate = decideIfTriangulate(cameras);
+
+//    if(!retriangulate)
+//      std::cout << "retriangulate = false" << std::endl;
+//
+//    bool retriangulate = true;
+
     if (retriangulate) {
 
       std::vector<Point3> reprojections;
@@ -285,7 +291,8 @@ public:
         result_ = TriangulationResult::BehindCamera();
       }
 
-      pw_avg = triangulateNonlinear(cameras, measured_, pw_avg);
+      if(params_.triangulation.enableEPI)
+        pw_avg = triangulateNonlinear(cameras, measured_, pw_avg);
 
 
       result_ = TriangulationResult(pw_avg);