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fixed typo

release/4.3a0
Nghia Ho 2018-12-14 12:15:14 -08:00
parent 937cdcf4d9
commit 8b8947b95c
1 changed files with 1 additions and 2 deletions
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3
examples/ISAM2_SmartFactorStereo_IMU.cpp
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@ -29,7 +29,6 @@ struct IMUHelper {
auto gaussian = noiseModel::Diagonal::Sigmas( auto gaussian = noiseModel::Diagonal::Sigmas(
(Vector(6) << Vector3::Constant(5.0e-2), Vector3::Constant(5.0e-3)) (Vector(6) << Vector3::Constant(5.0e-2), Vector3::Constant(5.0e-3))
.finished()); .finished());
auto huber = noiseModel::Robust::Create( auto huber = noiseModel::Robust::Create(
noiseModel::mEstimator::Huber::Create(1.345), gaussian); noiseModel::mEstimator::Huber::Create(1.345), gaussian);
@ -62,7 +61,7 @@ struct IMUHelper {
// body to IMU rotation // body to IMU rotation
Rot3 iRb( Rot3 iRb(
0.036129, -0.998727, 0.035207, 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); 0.998315, 0.037670, 0.044147);
// body to IMU translation (meters) // body to IMU translation (meters)