Fixing translation averaging for the panorama case #706
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dellaert
approved these changes
Mar 5, 2021
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Also, CI does not pass? |
Seems to be a homebrew issue, Fan suggested a fix and I put it in a different PR |
I believe the segfault was in TranslationRecovery::addPrior, this line specifically. Using the first edge in the graph when it is empty. |
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Ah, so it was your code, not GTSAM :-) |
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@akshay-krishnan can you pull in develop? |
…on-averaging-panorama
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When the translation recovery class was used with unit translations that are all zero (all cameras at the same point), it would cause a segmentation fault.
This PR adds a unit test for this case and fixes the segmentation fault.