From 956b53dc3b026be57a9a78bd2a0bf13f2c8347ec Mon Sep 17 00:00:00 2001 From: dellaert Date: Thu, 12 Mar 2015 09:51:44 -0700 Subject: [PATCH] Fixed sign in stereo version --- gtsam_unstable/slam/SmartStereoProjectionFactor.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam_unstable/slam/SmartStereoProjectionFactor.h b/gtsam_unstable/slam/SmartStereoProjectionFactor.h index ce4d68b9a..197ee82d2 100644 --- a/gtsam_unstable/slam/SmartStereoProjectionFactor.h +++ b/gtsam_unstable/slam/SmartStereoProjectionFactor.h @@ -426,7 +426,7 @@ public: Matrix3 P = Cameras::PointCov(E, lambda); H.noalias() = F.transpose() * (F - (E * (P * (E.transpose() * F)))); - gs_vector.noalias() = - F.transpose() * (b - (E * (P * (E.transpose() * b)))); + gs_vector.noalias() = F.transpose() * (b - (E * (P * (E.transpose() * b)))); if (isDebug) std::cout << "gs_vector size " << gs_vector.size() << std::endl;