adapted stereoSmart factors to use "outlier" and "far point" statuses
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				|  | @ -274,7 +274,7 @@ public: | |||
|         // check landmark distance
 | ||||
|         if (params_.triangulation.landmarkDistanceThreshold > 0 && | ||||
|             pl.norm() > params_.triangulation.landmarkDistanceThreshold) { | ||||
|           result_ = TriangulationResult::Degenerate(); | ||||
|           result_ = TriangulationResult::FarPoint(); | ||||
|           return result_; | ||||
|         } | ||||
| 
 | ||||
|  | @ -287,7 +287,7 @@ public: | |||
| 
 | ||||
|       if (params_.triangulation.dynamicOutlierRejectionThreshold > 0 | ||||
|           && totalReprojError / m > params_.triangulation.dynamicOutlierRejectionThreshold) { | ||||
|         result_ = TriangulationResult::Degenerate(); | ||||
|         result_ = TriangulationResult::Outlier(); | ||||
|         return result_; | ||||
|       } | ||||
| 
 | ||||
|  |  | |||
|  | @ -568,7 +568,7 @@ TEST( SmartStereoProjectionPoseFactor, dynamicOutlierRejection ) { | |||
|   EXPECT(smartFactor1->point()); | ||||
|   EXPECT(smartFactor2->point()); | ||||
|   EXPECT(smartFactor3->point()); | ||||
|   EXPECT(smartFactor4->point().degenerate()); | ||||
|   EXPECT(smartFactor4->point().outlier()); | ||||
|   EXPECT(smartFactor4b->point()); | ||||
| 
 | ||||
|   // Factor 4 is disabled, pose 3 stays put
 | ||||
|  |  | |||
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