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noiseModel_ is now private -> just call Errors

release/4.3a0
dellaert 2015-02-22 22:05:58 +01:00
parent cdaaee6fce
commit 66d12a1c30
1 changed files with 4 additions and 13 deletions
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17
gtsam/slam/SmartProjectionFactor.h
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@ -630,19 +630,10 @@ public:
std::cout std::cout
<< "SmartProjectionHessianFactor: trying to manage degeneracy (this should not happen is manageDegeneracy is disabled)!" << "SmartProjectionHessianFactor: trying to manage degeneracy (this should not happen is manageDegeneracy is disabled)!"
<< std::endl; << std::endl;
size_t i = 0; // 3D parameterization of point at infinity
double overallError = 0; const Point2& zi = this->measured_.at(0);
BOOST_FOREACH(const Camera& camera, cameras) { this->point_ = cameras.front().backprojectPointAtInfinity(zi);
const Point2& zi = this->measured_.at(i); return Base::totalReprojectionErrorAtInfinity(cameras,this->point_);
if (i == 0) // first pose
this->point_ = camera.backprojectPointAtInfinity(zi); // 3D parametrization of point at infinity
Point2 reprojectionError(
camera.projectPointAtInfinity(this->point_) - zi);
overallError += 0.5
* this->noiseModel_->distance(reprojectionError.vector());
i += 1;
}
return overallError;
} else { } else {
// Just use version in base class // Just use version in base class
return Base::totalReprojectionError(cameras, point_); return Base::totalReprojectionError(cameras, point_);