Fixed bug for non-unit noise models

2014-02-14 01:38:31 -05:00 · 2014-02-14 01:38:31 -05:00 · 4ce7d47bce
parent a272264e7d
commit 4ce7d47bce
1 changed files with 1 additions and 1 deletions
--- a/gtsam/linear/JacobianFactor.cpp
+++ b/gtsam/linear/JacobianFactor.cpp
@ -447,7 +447,7 @@ namespace gtsam {
      size_t nj = Ab_(pos).cols();
      Vector dj(nj);
      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);
      }
      d.insert(j,dj);