Fix essential matrix factor

2024-12-10 17:25:12 -05:00 · 2024-12-10 17:25:12 -05:00 · a1ba3d77c8
parent 2d0672059c
commit a1ba3d77c8
1 changed files with 1 additions and 1 deletions
--- 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));