From e15231fb3ed49ac6b452c371af722f73b952d81b Mon Sep 17 00:00:00 2001
From: dellaert <dellaert@cc.gatech.edu>
Date: Sun, 1 Mar 2015 13:48:17 +0100
Subject: [PATCH] Fixed bug (restored omitted triangulateSafe call)

---
 gtsam/slam/SmartProjectionFactor.h | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/gtsam/slam/SmartProjectionFactor.h b/gtsam/slam/SmartProjectionFactor.h
index 13d17f683..4c0d1f4a2 100644
--- a/gtsam/slam/SmartProjectionFactor.h
+++ b/gtsam/slam/SmartProjectionFactor.h
@@ -344,7 +344,7 @@ public:
   /// Create a factor, takes values
   boost::shared_ptr<JacobianFactorQ<Base::Dim, 2> > createJacobianQFactor(
       const Values& values, double lambda) const {
-    return createJacobianQFactor(this->cameras(values),lambda);
+    return createJacobianQFactor(this->cameras(values), lambda);
   }
 
   /// different (faster) way to compute Jacobian factor
@@ -444,6 +444,8 @@ public:
 
     if (externalPoint)
       result_ = TriangulationResult(*externalPoint);
+    else
+      result_ = triangulateSafe(cameras);
 
     // if we don't want to manage the exceptions we discard the factor
     if (!manageDegeneracy_ && !result_)