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fixed warning on cheirality exception

release/4.3a0
Luca Carlone 2013-10-31 01:32:48 +00:00
parent 108df6e8cc
commit efeb7b4f8a
1 changed files with 2 additions and 3 deletions
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5
gtsam_unstable/geometry/triangulation.h
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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); 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 // verify that the triangulated point lies infront of all cameras
BOOST_FOREACH(const Pose3& pose, poses) { BOOST_FOREACH(const Pose3& pose, poses) {
const Point3& p_local = pose.transform_to(triangulated_point); const Point3& p_local = pose.transform_to(triangulated_point);
#ifdef GTSAM_THROW_CHEIRALITY_EXCEPTION
if(p_local.z() <= 0) if(p_local.z() <= 0)
throw(TriangulationCheiralityException()); throw(TriangulationCheiralityException());
#endif
} }
#endif
return triangulated_point; return triangulated_point;
} }