From 73b82a00eb2488f11266a3c80cf9940a37ed71b0 Mon Sep 17 00:00:00 2001
From: Luca Carlone <lucacar85@gmail.com>
Date: Tue, 29 Oct 2013 23:38:31 +0000
Subject: [PATCH] added possibility to disable Cheirality in triangulation.h
 using cmake flag

---
 gtsam_unstable/geometry/triangulation.h | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

diff --git a/gtsam_unstable/geometry/triangulation.h b/gtsam_unstable/geometry/triangulation.h
index 2145a37fd..311ab9418 100644
--- a/gtsam_unstable/geometry/triangulation.h
+++ b/gtsam_unstable/geometry/triangulation.h
@@ -184,8 +184,11 @@ Point3 triangulatePoint3(const std::vector<Pose3>& poses,
   // verify that the triangulated point lies infront of all cameras
   BOOST_FOREACH(const Pose3& pose, poses) {
     const Point3& p_local = pose.transform_to(triangulated_point);
-    if(p_local.z() <= 0)
-      throw(TriangulationCheiralityException());
+
+  #ifdef GTSAM_THROW_CHEIRALITY_EXCEPTION
+      if(p_local.z() <= 0)
+        throw(TriangulationCheiralityException());
+  #endif
   }
 
   return triangulated_point;