From 8b8947b95c5f3721069036fc831f13f1eddb13e0 Mon Sep 17 00:00:00 2001 From: Nghia Ho Date: Fri, 14 Dec 2018 12:15:14 -0800 Subject: [PATCH] fixed typo --- examples/ISAM2_SmartFactorStereo_IMU.cpp | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/examples/ISAM2_SmartFactorStereo_IMU.cpp b/examples/ISAM2_SmartFactorStereo_IMU.cpp index 25675abf8..43be2bd4d 100644 --- a/examples/ISAM2_SmartFactorStereo_IMU.cpp +++ b/examples/ISAM2_SmartFactorStereo_IMU.cpp @@ -29,7 +29,6 @@ struct IMUHelper { auto gaussian = noiseModel::Diagonal::Sigmas( (Vector(6) << Vector3::Constant(5.0e-2), Vector3::Constant(5.0e-3)) .finished()); - auto huber = noiseModel::Robust::Create( noiseModel::mEstimator::Huber::Create(1.345), gaussian); @@ -62,7 +61,7 @@ struct IMUHelper { // body to IMU rotation Rot3 iRb( 0.036129, -0.998727, 0.035207, - 0.045417, -0.033553, -0.99840,4 + 0.045417, -0.033553, -0.998404, 0.998315, 0.037670, 0.044147); // body to IMU translation (meters)