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Some comments

release/4.3a0
Frank 2015-05-12 16:12:28 -07:00
parent 356d43bb9e
commit 24128f15fc
1 changed files with 4 additions and 1 deletions
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5
gtsam/slam/SmartProjectionFactor.h
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@ -205,7 +205,7 @@ public:
triangulateSafe(cameras); triangulateSafe(cameras);
if (degeneracyMode_ == ZERO_ON_DEGENERACY && !result_) { if (degeneracyMode_ == ZERO_ON_DEGENERACY && !result_) {
// put in "empty" Hessian // failed: return"empty" Hessian
BOOST_FOREACH(Matrix& m, Gs) BOOST_FOREACH(Matrix& m, Gs)
m = zeros(Base::Dim, Base::Dim); m = zeros(Base::Dim, Base::Dim);
BOOST_FOREACH(Vector& v, gs) BOOST_FOREACH(Vector& v, gs)
@ -237,6 +237,7 @@ public:
if (triangulateForLinearize(cameras)) if (triangulateForLinearize(cameras))
return Base::createRegularImplicitSchurFactor(cameras, *result_, lambda); return Base::createRegularImplicitSchurFactor(cameras, *result_, lambda);
else else
// failed: return empty
return boost::shared_ptr<RegularImplicitSchurFactor<CAMERA> >(); return boost::shared_ptr<RegularImplicitSchurFactor<CAMERA> >();
} }
@ -246,6 +247,7 @@ public:
if (triangulateForLinearize(cameras)) if (triangulateForLinearize(cameras))
return Base::createJacobianQFactor(cameras, *result_, lambda); return Base::createJacobianQFactor(cameras, *result_, lambda);
else else
// failed: return empty
return boost::make_shared<JacobianFactorQ<Base::Dim, 2> >(this->keys_); return boost::make_shared<JacobianFactorQ<Base::Dim, 2> >(this->keys_);
} }
@ -261,6 +263,7 @@ public:
if (triangulateForLinearize(cameras)) if (triangulateForLinearize(cameras))
return Base::createJacobianSVDFactor(cameras, *result_, lambda); return Base::createJacobianSVDFactor(cameras, *result_, lambda);
else else
// failed: return empty
return boost::make_shared<JacobianFactorSVD<Base::Dim, 2> >(this->keys_); return boost::make_shared<JacobianFactorSVD<Base::Dim, 2> >(this->keys_);
} }