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fix typo on 3x3 matrix def

release/4.3a0
John Lambert 2021-07-09 17:54:14 -04:00 committed by GitHub
parent 4bf2308ec5
commit 641a01c726
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1 changed files with 1 additions and 1 deletions
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gtsam/sfm/ShonanAveraging.cpp
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@ -954,7 +954,7 @@ static BinaryMeasurement<Rot2> convertPose2ToBinaryMeasurementRot2(
throw std::invalid_argument( throw std::invalid_argument(
"parseMeasurements<Rot2> can only convert Pose2 measurements " "parseMeasurements<Rot2> can only convert Pose2 measurements "
"with Gaussian noise models."); "with Gaussian noise models.");
const Matrix6 M = gaussian->covariance(); const Matrix3 M = gaussian->covariance();
auto model = noiseModel::Gaussian::Covariance(M.block<2, 2>(2, 2)); auto model = noiseModel::Gaussian::Covariance(M.block<2, 2>(2, 2));
return BinaryMeasurement<Rot2>(f->key1(), f->key2(), f->measured().rotation(), return BinaryMeasurement<Rot2>(f->key1(), f->key2(), f->measured().rotation(),
model); model);