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No more default argument

release/4.3a0
dellaert 2014-10-07 01:01:16 +02:00
parent 467c94a01a
commit 921b79f446
1 changed files with 2 additions and 2 deletions
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4
gtsam_unstable/slam/ProjectionFactorPPP.h
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@ -127,13 +127,13 @@ namespace gtsam {
if(H1 || H2 || H3) {
gtsam::Matrix H0, H02;
PinholeCamera<CALIBRATION> camera(pose.compose(transform, H0, H02), *K_);
Point2 reprojectionError(camera.project(point, H1, H3) - measured_);
Point2 reprojectionError(camera.project(point, H1, H3, boost::none) - measured_);
*H2 = *H1 * H02;
*H1 = *H1 * H0;
return reprojectionError.vector();
} else {
PinholeCamera<CALIBRATION> camera(pose.compose(transform), *K_);
Point2 reprojectionError(camera.project(point, H1, H3) - measured_);
Point2 reprojectionError(camera.project(point, H1, H3, boost::none) - measured_);
return reprojectionError.vector();
}
} catch( CheiralityException& e) {