exit()-> throw (Closes #427)
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				|  | @ -44,8 +44,7 @@ Cal3_S2::Cal3_S2(const std::string &path) : | |||
|   if (infile) | ||||
|     infile >> fx_ >> fy_ >> s_ >> u0_ >> v0_; | ||||
|   else { | ||||
|     printf("Unable to load the calibration\n"); | ||||
|     exit(0); | ||||
|     throw std::runtime_error("Cal3_S2: Unable to load the calibration"); | ||||
|   } | ||||
| 
 | ||||
|   infile.close(); | ||||
|  |  | |||
|  | @ -164,9 +164,10 @@ boost::tuple<FastVector<DenseIndex>, DenseIndex, DenseIndex> _countDims( | |||
|             n += vardim; | ||||
|           } else { | ||||
|             if(!(varDims[jointVarpos] == vardim)) { | ||||
|               cout << "Factor " << sourceFactorI << " variable " << DefaultKeyFormatter(sourceFactor.keys()[sourceVarpos]) << | ||||
|               " has different dimensionality of " << vardim << " instead of " << varDims[jointVarpos] << endl; | ||||
|               exit(1); | ||||
|               std::stringstream ss; | ||||
|               ss << "Factor " << sourceFactorI << " variable " << DefaultKeyFormatter(sourceFactor.keys()[sourceVarpos]) << | ||||
|               " has different dimensionality of " << vardim << " instead of " << varDims[jointVarpos]; | ||||
|               throw std::runtime_error(ss.str()); | ||||
|             } | ||||
|           } | ||||
| #else | ||||
|  |  | |||
|  | @ -183,12 +183,9 @@ public: | |||
|     std::vector<Matrix> Gs(numKeys * (numKeys + 1) / 2); | ||||
|     std::vector<Vector> gs(numKeys); | ||||
| 
 | ||||
|     if (this->measured_.size() != cameras.size()) { | ||||
|       std::cout | ||||
|           << "SmartProjectionHessianFactor: this->measured_.size() inconsistent with input" | ||||
|           << std::endl; | ||||
|       exit(1); | ||||
|     } | ||||
|     if (this->measured_.size() != cameras.size()) | ||||
|       throw std::runtime_error("SmartProjectionHessianFactor: this->measured_" | ||||
|                                ".size() inconsistent with input"); | ||||
| 
 | ||||
|     triangulateSafe(cameras); | ||||
| 
 | ||||
|  |  | |||
|  | @ -206,12 +206,9 @@ public: | |||
|     std::vector<Matrix> Gs(numKeys * (numKeys + 1) / 2); | ||||
|     std::vector<Vector> gs(numKeys); | ||||
| 
 | ||||
|     if (this->measured_.size() != cameras.size()) { | ||||
|       std::cout | ||||
|           << "SmartStereoProjectionHessianFactor: this->measured_.size() inconsistent with input" | ||||
|           << std::endl; | ||||
|       exit(1); | ||||
|     } | ||||
|     if (this->measured_.size() != cameras.size()) | ||||
|       throw std::runtime_error("SmartStereoProjectionHessianFactor: this->" | ||||
|                                "measured_.size() inconsistent with input"); | ||||
| 
 | ||||
|     triangulateSafe(cameras); | ||||
| 
 | ||||
|  |  | |||
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