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Constant error of 2*fx instead of 0 when point is behind camera

release/4.3a0
Richard Roberts 2011-12-21 17:47:03 +00:00
parent cfb24048d9
commit 3d68672b20
1 changed files with 1 additions and 1 deletions
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gtsam/slam/ProjectionFactor.h
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@ -92,7 +92,7 @@ namespace gtsam {
if (H2) *H2 = zeros(2,3); if (H2) *H2 = zeros(2,3);
cout << e.what() << ": Landmark "<< this->key2_.index() << cout << e.what() << ": Landmark "<< this->key2_.index() <<
" moved behind camera " << this->key1_.index() << endl; " moved behind camera " << this->key1_.index() << endl;
return zero(2); return ones(2) * 2.0 * K_->fx();
} }
} }