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commited the wrong file. This one compiles

release/4.3a0
Natesh Srinivasan 2014-12-03 16:39:15 -05:00
parent 0f95890215
commit 30b77d73e7
1 changed files with 2 additions and 2 deletions
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4
gtsam/geometry/TriangulationFactor.h
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@ -112,14 +112,14 @@ public:
}
/// Evaluate error h(x)-z and optionally derivatives
Vector evaluateError(const Point3& point, OptionalJacobian<2,3> H2 =
Vector evaluateError(const Point3& point, boost::optional<Matrix&> H2 =
boost::none) const {
try {
Point2 error(camera_.project(point, boost::none, H2, boost::none) - measured_);
return error.vector();
} catch (CheiralityException& e) {
if (H2)
*H2 << Z_2x3;
*H2 = zeros(2, 3);
if (verboseCheirality_)
std::cout << e.what() << ": Landmark "
<< DefaultKeyFormatter(this->key()) << " moved behind camera"