From 9aa76cfcbd85d46c2751bbc508e037bfba86380d Mon Sep 17 00:00:00 2001
From: Richard Roberts <richard.jw.roberts@gmail.com>
Date: Mon, 8 Mar 2010 18:45:22 +0000
Subject: [PATCH] 0-based index bug fix

---
 cpp/dataset.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/cpp/dataset.cpp b/cpp/dataset.cpp
index 2953172a4..66ef54126 100644
--- a/cpp/dataset.cpp
+++ b/cpp/dataset.cpp
@@ -136,7 +136,7 @@ pair<sharedPose2Graph, sharedPose2Config> load2D(const string& filename,
 
 			// SharedGaussian noise = noiseModel::Gaussian::Covariance(m, smart);
 			if (!model) {
-				Vector variances = Vector_(3,m(1,1),m(2,2),m(3,3));
+				Vector variances = Vector_(3,m(0,0),m(1,1),m(2,2));
 				model = noiseModel::Diagonal::Variances(variances, smart);
 			}