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Fixed sign in stereo version

release/4.3a0
dellaert 2015-03-12 09:51:44 -07:00
parent 695d080e4d
commit 956b53dc3b
1 changed files with 1 additions and 1 deletions
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gtsam_unstable/slam/SmartStereoProjectionFactor.h
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@ -426,7 +426,7 @@ public:
Matrix3 P = Cameras::PointCov(E, lambda); Matrix3 P = Cameras::PointCov(E, lambda);
H.noalias() = F.transpose() * (F - (E * (P * (E.transpose() * F)))); 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) if (isDebug)
std::cout << "gs_vector size " << gs_vector.size() << std::endl; std::cout << "gs_vector size " << gs_vector.size() << std::endl;