Fixed covariance bug

2020-08-15 17:54:45 -04:00 · 2020-08-15 17:54:45 -04:00 · 4f28a0b88d
parent b1e3b5495c
commit 4f28a0b88d
1 changed files with 1 additions and 1 deletions
--- a/gtsam/slam/dataset.cpp
+++ b/gtsam/slam/dataset.cpp
@ -880,7 +880,7 @@ static BinaryMeasurement<Rot3> convert(const BinaryMeasurement<Pose3> &p) {
  const Matrix6 M = gaussian->covariance();
  return BinaryMeasurement<Rot3>(
      p.key1(), p.key2(), p.measured().rotation(),
-      noiseModel::Gaussian::Covariance(M.block<3, 3>(3, 3), true));
+      noiseModel::Gaussian::Covariance(M.block<3, 3>(0, 0), true));
 }

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