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respect triangulation.enableEPI flag in SmartStereo factor

release/4.3a0
cbeall3 2015-07-29 14:05:48 -04:00
parent 07bd7fa2bd
commit 123c55f0d7
1 changed files with 8 additions and 1 deletions
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9
gtsam_unstable/slam/SmartStereoProjectionFactor.h
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@ -238,6 +238,12 @@ public:
// } // }
bool retriangulate = decideIfTriangulate(cameras); bool retriangulate = decideIfTriangulate(cameras);
// if(!retriangulate)
// std::cout << "retriangulate = false" << std::endl;
//
// bool retriangulate = true;
if (retriangulate) { if (retriangulate) {
std::vector<Point3> reprojections; std::vector<Point3> reprojections;
@ -285,7 +291,8 @@ public:
result_ = TriangulationResult::BehindCamera(); 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); result_ = TriangulationResult(pw_avg);