From 711c3c071592520d903c4f7176101aee0c3ab6a2 Mon Sep 17 00:00:00 2001 From: cbeall3 Date: Mon, 9 Jun 2014 16:29:32 -0400 Subject: [PATCH] temporary triangulation using only first camera --- gtsam/slam/SmartStereoProjectionFactor.h | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/gtsam/slam/SmartStereoProjectionFactor.h b/gtsam/slam/SmartStereoProjectionFactor.h index 0d0d2bc0f..01c21e6a0 100644 --- a/gtsam/slam/SmartStereoProjectionFactor.h +++ b/gtsam/slam/SmartStereoProjectionFactor.h @@ -251,6 +251,11 @@ public: //TODO: Chris will replace this with something else for stereo // point_ = triangulatePoint3(cameras, this->measured_, // rankTolerance_, enableEPI_); + + // FIXME: temporary: triangulation using only first camera + const StereoPoint2& z0 = this->measured_.at(0); + point_ = cameras[0].backproject(z0); + degenerate_ = false; cheiralityException_ = false;