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added more explanation on throw

release/4.3a0
lcarlone 2020-12-05 14:34:46 -05:00
parent 5e82b72b60
commit 553f569038
1 changed files with 1 additions and 1 deletions
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gtsam/sfm/ShonanAveraging.cpp
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@ -811,7 +811,7 @@ std::pair<Values, double> ShonanAveraging<d>::run(const Values &initialEstimate,
.useHuber) { // in this case, there is no optimality verification .useHuber) { // in this case, there is no optimality verification
if (pMin != pMax) { if (pMin != pMax) {
throw std::runtime_error( throw std::runtime_error(
"When using robust norm, Shonan only tests a single rank"); "When using robust norm, Shonan only tests a single rank. Set pMin = pMax");
} }
const Values SO3Values = roundSolution(Qstar); const Values SO3Values = roundSolution(Qstar);
return std::make_pair(SO3Values, 0); return std::make_pair(SO3Values, 0);