From 2bdeac30f070900ad1914c5cfb843b1aa6a57af9 Mon Sep 17 00:00:00 2001 From: dellaert Date: Thu, 12 Mar 2015 07:56:47 -0700 Subject: [PATCH] Fixed compile error w PointCov --- gtsam_unstable/slam/SmartStereoProjectionFactor.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam_unstable/slam/SmartStereoProjectionFactor.h b/gtsam_unstable/slam/SmartStereoProjectionFactor.h index 5e0898bfa..ce4d68b9a 100644 --- a/gtsam_unstable/slam/SmartStereoProjectionFactor.h +++ b/gtsam_unstable/slam/SmartStereoProjectionFactor.h @@ -424,7 +424,7 @@ public: Matrix H(D * numKeys, D * numKeys); Vector gs_vector; - Matrix3 P = Base::PointCov(E, lambda); + Matrix3 P = Cameras::PointCov(E, lambda); H.noalias() = F.transpose() * (F - (E * (P * (E.transpose() * F)))); gs_vector.noalias() = - F.transpose() * (b - (E * (P * (E.transpose() * b))));