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tiny fix to return vector of dim 3 instead 2

release/4.3a0
cbeall3 2014-06-09 20:39:04 -04:00
parent 608498ce89
commit a3b001be36
1 changed files with 4 additions and 4 deletions
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8
gtsam/slam/SmartStereoProjectionFactor.h
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@ -110,11 +110,10 @@ public:
/// shorthand for a smart pointer to a factor /// shorthand for a smart pointer to a factor
typedef boost::shared_ptr<This> shared_ptr; typedef boost::shared_ptr<This> shared_ptr;
/// shorthand for a pinhole camera /// shorthand for a StereoCamera // TODO: Get rid of this?
// TODO: Switch to stereoCamera:
typedef StereoCamera Camera; typedef StereoCamera Camera;
// typedef StereoCamera Camera;
/// Vector of cameras
typedef std::vector<Camera> Cameras; typedef std::vector<Camera> Cameras;
/** /**
@ -278,6 +277,7 @@ public:
} }
i += 1; i += 1;
} }
std::cout << "totalReprojError error: " << totalReprojError << std::endl;
// we discard smart factors that have large reprojection error // we discard smart factors that have large reprojection error
if(dynamicOutlierRejectionThreshold_ > 0 && if(dynamicOutlierRejectionThreshold_ > 0 &&
totalReprojError/m > dynamicOutlierRejectionThreshold_) totalReprojError/m > dynamicOutlierRejectionThreshold_)
@ -612,7 +612,7 @@ public:
if (nonDegenerate) if (nonDegenerate)
return reprojectionError(myCameras); return reprojectionError(myCameras);
else else
return zero(myCameras.size() * 2); return zero(myCameras.size() * 3);
} }
/** /**