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Fixed bug for non-unit noise models

release/4.3a0
dellaert 2014-02-14 01:38:31 -05:00
parent a272264e7d
commit 4ce7d47bce
1 changed files with 1 additions and 1 deletions
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2
gtsam/linear/JacobianFactor.cpp
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@ -447,7 +447,7 @@ namespace gtsam {
size_t nj = Ab_(pos).cols(); size_t nj = Ab_(pos).cols();
Vector dj(nj); Vector dj(nj);
for (size_t k = 0; k < nj; ++k) { for (size_t k = 0; k < nj; ++k) {
Vector column_k = Ab_(pos).col(k); Vector column_k = model_->whiten(Ab_(pos).col(k));
dj(k) = dot(column_k,column_k); dj(k) = dot(column_k,column_k);
} }
d.insert(j,dj); d.insert(j,dj);