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Fixed bug (restored omitted triangulateSafe call)

release/4.3a0
dellaert 2015-03-01 13:48:17 +01:00
parent 0ee6e4beb3
commit e15231fb3e
1 changed files with 3 additions and 1 deletions
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4
gtsam/slam/SmartProjectionFactor.h
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@ -344,7 +344,7 @@ public:
/// Create a factor, takes values /// Create a factor, takes values
boost::shared_ptr<JacobianFactorQ<Base::Dim, 2> > createJacobianQFactor( boost::shared_ptr<JacobianFactorQ<Base::Dim, 2> > createJacobianQFactor(
const Values& values, double lambda) const { 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 /// different (faster) way to compute Jacobian factor
@ -444,6 +444,8 @@ public:
if (externalPoint) if (externalPoint)
result_ = TriangulationResult(*externalPoint); result_ = TriangulationResult(*externalPoint);
else
result_ = triangulateSafe(cameras);
// if we don't want to manage the exceptions we discard the factor // if we don't want to manage the exceptions we discard the factor
if (!manageDegeneracy_ && !result_) if (!manageDegeneracy_ && !result_)