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Make derivative zero, throw exception.

release/4.3a0
dellaert 2015-02-19 18:05:50 +01:00
parent 0a3272dab6
commit b5d9ed4529
2 changed files with 3 additions and 4 deletions
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5
gtsam/geometry/StereoCamera.cpp
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@ -31,7 +31,7 @@ namespace gtsam {
/* ************************************************************************* */
StereoPoint2 StereoCamera::project(const Point3& point,
OptionalJacobian<3,6> H1, OptionalJacobian<3,3> H2,
OptionalJacobian<3,6> H3) const {
OptionalJacobian<3,0> H3) const {
#ifdef STEREOCAMERA_CHAIN_RULE
const Point3 q = leftCamPose_.transform_to(point, H1, H2);
@ -78,8 +78,7 @@ namespace gtsam {
}
#endif
if (H3)
// TODO, this is set to zero, as Cal3_S2Stereo cannot be optimized yet
H3->setZero();
throw std::runtime_error("StereoCamera::project does not support third derivative yet");
}
// finally translate

2
gtsam/geometry/StereoCamera.h
View File

@ -125,7 +125,7 @@ public:
StereoPoint2 project(const Point3& point,
OptionalJacobian<3, 6> H1 = boost::none,
OptionalJacobian<3, 3> H2 = boost::none,
OptionalJacobian<3, 6> H3 = boost::none) const;
OptionalJacobian<3, 0> H3 = boost::none) const;
/**
*