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Merge remote-tracking branch 'origin/develop' into fix/expression_leak

release/4.3a0
Fan Jiang 2020-07-06 09:52:15 -04:00
parent 564d2c5873 6eb1230685
commit 1e2c29fac8
2 changed files with 2 additions and 2 deletions
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1
gtsam/base/types.h
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@ -28,6 +28,7 @@
#include <cstdint> #include <cstdint>
#include <exception> #include <exception>
#include <string>
#ifdef GTSAM_USE_TBB #ifdef GTSAM_USE_TBB
#include <tbb/scalable_allocator.h> #include <tbb/scalable_allocator.h>

3
gtsam/sfm/TranslationFactor.h
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@ -67,8 +67,7 @@ class TranslationFactor : public NoiseModelFactor2<Point3, Point3> {
boost::optional<Matrix&> H2 = boost::none) const override { boost::optional<Matrix&> H2 = boost::none) const override {
const Point3 dir = Tb - Ta; const Point3 dir = Tb - Ta;
Matrix33 H_predicted_dir; Matrix33 H_predicted_dir;
const Point3 predicted = const Point3 predicted = normalize(dir, H1 || H2 ? &H_predicted_dir : nullptr);
dir.normalized(H1 || H2 ? &H_predicted_dir : nullptr);
if (H1) *H1 = -H_predicted_dir; if (H1) *H1 = -H_predicted_dir;
if (H2) *H2 = H_predicted_dir; if (H2) *H2 = H_predicted_dir;
return predicted - measured_w_aZb_; return predicted - measured_w_aZb_;