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Fix bug that could disconnect graph

release/4.3a0
Frank Dellaert 2015-06-11 13:22:26 -07:00
parent 75818c620d
commit 635a2a0792
1 changed files with 3 additions and 1 deletions
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4
gtsam/slam/GeneralSFMFactor.h
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@ -196,8 +196,10 @@ namespace gtsam {
Point2 reprojError(camera.project2(point, H1, H2) - measured()); Point2 reprojError(camera.project2(point, H1, H2) - measured());
b = -reprojError.vector(); b = -reprojError.vector();
} catch (CheiralityException& e) { } catch (CheiralityException& e) {
H1.setZero();
H2.setZero();
b.setZero();
// TODO warn if verbose output asked for // TODO warn if verbose output asked for
return boost::make_shared<JacobianFactor>();
} }
// Whiten the system if needed // Whiten the system if needed