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Fixed issue

release/4.3a0
Frank Dellaert 2015-06-13 20:20:33 -07:00
parent 4e1a0edb0a
commit 4909fef21a
1 changed files with 3 additions and 3 deletions
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6
gtsam/slam/GeneralSFMFactor.h
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@ -168,12 +168,12 @@ namespace gtsam {
DenseIndex slotB = info->nBlocks() - 1; DenseIndex slotB = info->nBlocks() - 1;
// We perform I += A'*A to the upper triangle // We perform I += A'*A to the upper triangle
(*info)(slotC, slotC).knownOffDiagonal() += AC_.transpose() * AC_; (*info)(slotC, slotC).selfadjointView().rankUpdate(AC_.transpose());
(*info)(slotC, slotL).knownOffDiagonal() += AC_.transpose() * AL_; (*info)(slotC, slotL).knownOffDiagonal() += AC_.transpose() * AL_;
(*info)(slotC, slotB).knownOffDiagonal() += AC_.transpose() * b_; (*info)(slotC, slotB).knownOffDiagonal() += AC_.transpose() * b_;
(*info)(slotL, slotL).knownOffDiagonal() += AL_.transpose() * AL_; (*info)(slotL, slotL).selfadjointView().rankUpdate(AL_.transpose());
(*info)(slotL, slotB).knownOffDiagonal() += AL_.transpose() * b_; (*info)(slotL, slotB).knownOffDiagonal() += AL_.transpose() * b_;
(*info)(slotB, slotB).knownOffDiagonal() += b_.transpose() * b_; (*info)(slotB, slotB).selfadjointView().rankUpdate(b_.transpose());
} }
} }
}; };