respect triangulation.enableEPI flag in SmartStereo factor

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;
@@ -285,6 +291,7 @@ public:
         result_ = TriangulationResult::BehindCamera();
       }
 
+      if(params_.triangulation.enableEPI)
         pw_avg = triangulateNonlinear(cameras, measured_, pw_avg);