bug fix - finalizing last few tests

2021-10-05 22:23:16 -04:00 · 2021-10-05 22:23:16 -04:00 · 4fd6c2cb5d
parent 7988a7050f
commit 4fd6c2cb5d
2 changed files with 567 additions and 569 deletions
--- a/gtsam_unstable/slam/SmartProjectionPoseFactorRollingShutter.h
+++ b/gtsam_unstable/slam/SmartProjectionPoseFactorRollingShutter.h
@ -178,7 +178,8 @@ class SmartProjectionPoseFactorRollingShutter

    if (world_P_body_key_pairs.size() != measurements.size()
        || world_P_body_key_pairs.size() != alphas.size()
-        || world_P_body_key_pairs.size() != cameraIds.size()) {
+        || (world_P_body_key_pairs.size() != cameraIds.size()
+            && cameraIds.size() != 0)) { // cameraIds.size()=0 is default
      throw std::runtime_error("SmartProjectionPoseFactorRollingShutter: "
                               "trying to add inconsistent inputs");
    }
--- a/gtsam_unstable/slam/tests/testSmartProjectionPoseFactorRollingShutter.cpp
+++ b/gtsam_unstable/slam/tests/testSmartProjectionPoseFactorRollingShutter.cpp