From 9a841a2c3431b843b9d62564190e9167c9deb214 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sat, 5 Dec 2020 17:21:19 -0500
Subject: [PATCH] correct flag checking

---
 gtsam/sfm/ShonanAveraging.cpp           | 2 +-
 gtsam/sfm/tests/testShonanAveraging.cpp | 2 ++
 2 files changed, 3 insertions(+), 1 deletion(-)

diff --git a/gtsam/sfm/ShonanAveraging.cpp b/gtsam/sfm/ShonanAveraging.cpp
index e37bfee55..b40726312 100644
--- a/gtsam/sfm/ShonanAveraging.cpp
+++ b/gtsam/sfm/ShonanAveraging.cpp
@@ -810,7 +810,7 @@ std::pair<Values, double> ShonanAveraging<d>::run(const Values &initialEstimate,
   for (size_t p = pMin; p <= pMax; p++) {
     // Optimize until convergence at this level
     Qstar = tryOptimizingAt(p, initialSOp);
-    if (parameters_.getUseHuber() || parameters_.getCertifyOptimality()) {
+    if (parameters_.getUseHuber() || !parameters_.getCertifyOptimality()) {
       // in this case, there is no optimality verification
       if (pMin != pMax) {
         throw std::runtime_error(
diff --git a/gtsam/sfm/tests/testShonanAveraging.cpp b/gtsam/sfm/tests/testShonanAveraging.cpp
index 002109454..c2ad71dad 100644
--- a/gtsam/sfm/tests/testShonanAveraging.cpp
+++ b/gtsam/sfm/tests/testShonanAveraging.cpp
@@ -330,6 +330,8 @@ TEST(ShonanAveraging2, noisyToyGraphWithHuber) {
   ShonanAveraging2::Parameters parameters(lmParams);
   auto measurements = parseMeasurements<Rot2>(g2oFile);
   parameters.setUseHuber(true);
+  parameters.setCertifyOptimality(false);
+
   string parameters_print =
       " ShonanAveragingParameters: \n alpha: 0\n beta: 1\n gamma: 0\n "
       "useHuber: 1\n";