From abc01c0779949f96b035647b739fb94d0087d558 Mon Sep 17 00:00:00 2001
From: Yong-Dian Jian <ydjian@gmail.com>
Date: Sun, 7 Oct 2012 23:11:41 +0000
Subject: [PATCH] enable display msg for exception

---
 gtsam/slam/GeneralSFMFactor.h | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/gtsam/slam/GeneralSFMFactor.h b/gtsam/slam/GeneralSFMFactor.h
index 00a5c35b9..8cacefee8 100644
--- a/gtsam/slam/GeneralSFMFactor.h
+++ b/gtsam/slam/GeneralSFMFactor.h
@@ -98,8 +98,8 @@ namespace gtsam {
       catch( CheiralityException& e) {
         if (H1) *H1 = zeros(2, camera.dim());
         if (H2) *H2 = zeros(2, point.dim());
-//        cout << e.what() << ": Landmark "<< this->key2_.index()
-//                         << " behind Camera " << this->key1_.index() << endl;
+        cout << e.what() << ": Landmark "<< this->key2_.index()
+                         << " behind Camera " << this->key1_.index() << endl;
       }
       return zero(2);
     }
@@ -191,6 +191,8 @@ namespace gtsam {
         if (H1) *H1 = zeros(2, pose3.dim());
         if (H2) *H2 = zeros(2, point.dim());
         if (H3) *H3 = zeros(2, calib.dim());
+        cout << e.what() << ": Landmark "<< this->key2_.index()
+                         << " behind Camera " << this->key1_.index() << endl;
       }
       return zero(2);
     }