Fix incorrect key in cheirality error message for PPP/PPPC factors#2463
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dellaert merged 1 commit intoborglab:developfrom Mar 13, 2026
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ProjectionFactorPPP and ProjectionFactorPPPC were printing key2() (the transform key) instead of key3() (the landmark key) in the verbose cheirality exception message. Fixes borglab#849
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Summary
ProjectionFactorPPPandProjectionFactorPPPCprint the wrong key in the verbose cheirality exception message. Both factors usekey2()(the body-camera transform key) instead ofkey3()(the landmark key) when reporting which landmark moved behind the camera.The key ordering is:
key1()= body posekey2()= body-camera transformkey3()= landmarkkey4()= calibration (PPPC only)Fixes #849