From d8c1f58eea1dcbc141ba47a55d83804e98bcf9ca Mon Sep 17 00:00:00 2001 From: Yong-Dian Jian Date: Mon, 8 Oct 2012 01:25:18 +0000 Subject: [PATCH] show msg where point is behind camera --- gtsam/slam/GeneralSFMFactor.h | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/gtsam/slam/GeneralSFMFactor.h b/gtsam/slam/GeneralSFMFactor.h index 351d1f969..5d9cb806d 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 "<< DefaultKeyFormatter(this->key2()) + << " behind Camera " << DefaultKeyFormatter(this->key1()) << endl; } return zero(2); } @@ -191,8 +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; + cout << e.what() << ": Landmark "<< DefaultKeyFormatter(this->key2()) + << " behind Camera " << DefaultKeyFormatter(this->key1()) << endl; } return zero(2); }