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show msg where point is behind camera

release/4.3a0
Yong-Dian Jian 2012-10-08 01:25:18 +00:00
parent 16743bacd8
commit d8c1f58eea
1 changed files with 4 additions and 4 deletions
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8
gtsam/slam/GeneralSFMFactor.h
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@ -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);
}