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Fixed bug in hessian scalar computation

release/4.3a0
dellaert 2015-06-14 15:19:55 -07:00
parent 30104a114e
commit 06902209b0
1 changed files with 1 additions and 1 deletions
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2
gtsam/slam/GeneralSFMFactor.h
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@ -174,7 +174,7 @@ public:
(*info)(slot1, slotB).knownOffDiagonal() += A1.transpose() * b; (*info)(slot1, slotB).knownOffDiagonal() += A1.transpose() * b;
(*info)(slot2, slot2).selfadjointView().rankUpdate(A2.transpose()); (*info)(slot2, slot2).selfadjointView().rankUpdate(A2.transpose());
(*info)(slot2, slotB).knownOffDiagonal() += A2.transpose() * b; (*info)(slot2, slotB).knownOffDiagonal() += A2.transpose() * b;
(*info)(slotB, slotB)(0,0) = b.transpose() * b; (*info)(slotB, slotB)(0,0) += b.transpose() * b;
} }
} }
}; };