12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Fixed covariance bug

release/4.3a0
Frank Dellaert 2020-08-15 17:54:45 -04:00
parent b1e3b5495c
commit 4f28a0b88d
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
gtsam/slam/dataset.cpp
View File

@ -880,7 +880,7 @@ static BinaryMeasurement<Rot3> convert(const BinaryMeasurement<Pose3> &p) {
const Matrix6 M = gaussian->covariance(); const Matrix6 M = gaussian->covariance();
return BinaryMeasurement<Rot3>( return BinaryMeasurement<Rot3>(
p.key1(), p.key2(), p.measured().rotation(), 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));
} }
template <> template <>