From a1ba3d77c8dcc896223bcbe4f08b7c3f207e3c3c Mon Sep 17 00:00:00 2001
From: Fan Jiang <ProfFan@users.noreply.github.com>
Date: Tue, 10 Dec 2024 17:25:12 -0500
Subject: [PATCH] Fix essential matrix factor

---
 gtsam/slam/EssentialMatrixFactor.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/gtsam/slam/EssentialMatrixFactor.h b/gtsam/slam/EssentialMatrixFactor.h
index 601f8e94e..5d38cb234 100644
--- a/gtsam/slam/EssentialMatrixFactor.h
+++ b/gtsam/slam/EssentialMatrixFactor.h
@@ -71,7 +71,7 @@ class EssentialMatrixFactor : public NoiseModelFactorN<EssentialMatrix> {
                         std::shared_ptr<CALIBRATION> K)
       : Base(model, key) {
 #ifndef NDEBUG
-    if (K->empty()) throw;
+    if (!K) throw;
 #endif
     vA_ = EssentialMatrix::Homogeneous(K->calibrate(pA));
     vB_ = EssentialMatrix::Homogeneous(K->calibrate(pB));