12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

fixed make check

release/4.3a0
Luca Carlone 2013-10-16 00:58:41 +00:00
parent 45e1fe832d
commit 6f6061c6c2
1 changed files with 2 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
gtsam_unstable/slam/SmartProjectionHessianFactor.h
View File

@ -40,7 +40,7 @@ namespace gtsam {
// default threshold for rank deficient triangulation // 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 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 // 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 * Structure for storing some state memory, used to speed up optimization
@ -322,7 +322,7 @@ namespace gtsam {
if (retriangulate) { if (retriangulate) {
// We triangulate the 3D position of the landmark // We triangulate the 3D position of the landmark
try { 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_->point = triangulatePoint3(cameraPoses, measured_, K_all_, rankTolerance);
state_->degenerate = false; state_->degenerate = false;
state_->cheiralityException = false; state_->cheiralityException = false;