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Fix essential matrix factor

release/4.3a0
Fan Jiang 2024-12-10 17:25:12 -05:00
parent 2d0672059c
commit a1ba3d77c8
1 changed files with 1 additions and 1 deletions
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gtsam/slam/EssentialMatrixFactor.h
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@ -71,7 +71,7 @@ class EssentialMatrixFactor : public NoiseModelFactorN<EssentialMatrix> {
std::shared_ptr<CALIBRATION> K) std::shared_ptr<CALIBRATION> K)
: Base(model, key) { : Base(model, key) {
#ifndef NDEBUG #ifndef NDEBUG
if (K->empty()) throw; if (!K) throw;
#endif #endif
vA_ = EssentialMatrix::Homogeneous(K->calibrate(pA)); vA_ = EssentialMatrix::Homogeneous(K->calibrate(pA));
vB_ = EssentialMatrix::Homogeneous(K->calibrate(pB)); vB_ = EssentialMatrix::Homogeneous(K->calibrate(pB));