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Fixed compile error w PointCov

release/4.3a0
dellaert 2015-03-12 07:56:47 -07:00
parent f06c84b503
commit 2bdeac30f0
1 changed files with 1 additions and 1 deletions
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2
gtsam_unstable/slam/SmartStereoProjectionFactor.h
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@ -424,7 +424,7 @@ public:
Matrix H(D * numKeys, D * numKeys); Matrix H(D * numKeys, D * numKeys);
Vector gs_vector; 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)))); H.noalias() = F.transpose() * (F - (E * (P * (E.transpose() * F))));
gs_vector.noalias() = - F.transpose() * (b - (E * (P * (E.transpose() * b)))); gs_vector.noalias() = - F.transpose() * (b - (E * (P * (E.transpose() * b))));