fixed warning on cheirality exception
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				|  | @ -181,15 +181,14 @@ Point3 triangulatePoint3(const std::vector<Pose3>& poses, | |||
| 
 | ||||
|   Point3 triangulated_point = triangulateDLT(poses, projection_matrices, measurements, Ks, rank_tol, optimize); | ||||
| 
 | ||||
|   #ifdef GTSAM_THROW_CHEIRALITY_EXCEPTION | ||||
|   // verify that the triangulated point lies infront of all cameras
 | ||||
|   BOOST_FOREACH(const Pose3& pose, poses) { | ||||
|     const Point3& p_local = pose.transform_to(triangulated_point); | ||||
| 
 | ||||
|   #ifdef GTSAM_THROW_CHEIRALITY_EXCEPTION | ||||
|       if(p_local.z() <= 0) | ||||
|         throw(TriangulationCheiralityException()); | ||||
|   #endif | ||||
|   } | ||||
|   #endif | ||||
| 
 | ||||
|   return triangulated_point; | ||||
| } | ||||
|  |  | |||
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