From 6f6061c6c293556e65a53e7af57549baf2ef9088 Mon Sep 17 00:00:00 2001 From: Luca Carlone Date: Wed, 16 Oct 2013 00:58:41 +0000 Subject: [PATCH] fixed make check --- gtsam_unstable/slam/SmartProjectionHessianFactor.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/gtsam_unstable/slam/SmartProjectionHessianFactor.h b/gtsam_unstable/slam/SmartProjectionHessianFactor.h index b801cf954..efb06a7a5 100644 --- a/gtsam_unstable/slam/SmartProjectionHessianFactor.h +++ b/gtsam_unstable/slam/SmartProjectionHessianFactor.h @@ -40,7 +40,7 @@ namespace gtsam { // default threshold for rank deficient triangulation static double defaultRankTolerance = 1; // this value may be scenario-dependent and has to be larger in presence of larger noise // if set to true will use the rotation-only version for degenerate cases - static bool manageDegeneracy = false; + static bool manageDegeneracy = true; /** * Structure for storing some state memory, used to speed up optimization @@ -322,7 +322,7 @@ namespace gtsam { if (retriangulate) { // We triangulate the 3D position of the landmark try { - std::cout << "triangulatePoint3 i \n" << rankTolerance << std::endl; + // std::cout << "triangulatePoint3 i \n" << rankTolerance << std::endl; state_->point = triangulatePoint3(cameraPoses, measured_, K_all_, rankTolerance); state_->degenerate = false; state_->cheiralityException = false;