From 615709dd495d94d30ee4f50ad9d2196c4b933d0c Mon Sep 17 00:00:00 2001 From: lvzhaoyang Date: Sat, 6 Dec 2014 23:25:53 -0500 Subject: [PATCH] fix MonocularVOExample.m --- matlab/gtsam_examples/MonocularVOExample.m | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/matlab/gtsam_examples/MonocularVOExample.m b/matlab/gtsam_examples/MonocularVOExample.m index 9fd2df463..11c4253de 100644 --- a/matlab/gtsam_examples/MonocularVOExample.m +++ b/matlab/gtsam_examples/MonocularVOExample.m @@ -40,7 +40,7 @@ end %% Create initial estimate initial = Values; -trueE = EssentialMatrix(aRb,Sphere2(aTb)); +trueE = EssentialMatrix(aRb,Unit3(aTb)); initialE = trueE.retract([0.1, -0.1, 0.1, 0.1, -0.1]'); initial.insert(1, initialE); @@ -52,5 +52,5 @@ result = optimizer.optimize(); %% Print result (as essentialMatrix) and error error = graph.error(result) -E = result.at(1) +E = result.atEssentialMatrix(1)