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adapted stereoSmart factors to use "outlier" and "far point" statuses

release/4.3a0
Luca 2016-07-31 18:31:38 -04:00
parent 0b4927cafe
commit 6a21f1b730
2 changed files with 3 additions and 3 deletions
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4
gtsam_unstable/slam/SmartStereoProjectionFactor.h
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@ -274,7 +274,7 @@ public:
// check landmark distance // check landmark distance
if (params_.triangulation.landmarkDistanceThreshold > 0 && if (params_.triangulation.landmarkDistanceThreshold > 0 &&
pl.norm() > params_.triangulation.landmarkDistanceThreshold) { pl.norm() > params_.triangulation.landmarkDistanceThreshold) {
result_ = TriangulationResult::Degenerate(); result_ = TriangulationResult::FarPoint();
return result_; return result_;
} }
@ -287,7 +287,7 @@ public:
if (params_.triangulation.dynamicOutlierRejectionThreshold > 0 if (params_.triangulation.dynamicOutlierRejectionThreshold > 0
&& totalReprojError / m > params_.triangulation.dynamicOutlierRejectionThreshold) { && totalReprojError / m > params_.triangulation.dynamicOutlierRejectionThreshold) {
result_ = TriangulationResult::Degenerate(); result_ = TriangulationResult::Outlier();
return result_; return result_;
} }

2
gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp
View File

@ -568,7 +568,7 @@ TEST( SmartStereoProjectionPoseFactor, dynamicOutlierRejection ) {
EXPECT(smartFactor1->point()); EXPECT(smartFactor1->point());
EXPECT(smartFactor2->point()); EXPECT(smartFactor2->point());
EXPECT(smartFactor3->point()); EXPECT(smartFactor3->point());
EXPECT(smartFactor4->point().degenerate()); EXPECT(smartFactor4->point().outlier());
EXPECT(smartFactor4b->point()); EXPECT(smartFactor4b->point());
// Factor 4 is disabled, pose 3 stays put // Factor 4 is disabled, pose 3 stays put