Fixed bug (restored omitted triangulateSafe call)

2015-03-01 13:48:17 +01:00 · 2015-03-01 13:48:17 +01:00 · e15231fb3e
parent 0ee6e4beb3
commit e15231fb3e
1 changed files with 3 additions and 1 deletions
--- a/gtsam/slam/SmartProjectionFactor.h
+++ b/gtsam/slam/SmartProjectionFactor.h
@ -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_)