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Fixed small cast issue

release/4.3a0
dellaert 2014-11-28 01:57:28 +01:00
parent 3d9d29d1c5
commit ab864530bf
1 changed files with 1 additions and 1 deletions
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2
gtsam/slam/SmartFactorBase.h
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@ -280,7 +280,7 @@ public:
Vector bi; Vector bi;
try { try {
bi = -(cameras[i].project(point, Fi, Ei, static_cast<Matrix25&>(Hcali)) - this->measured_.at(i)).vector(); bi = -(cameras[i].project(point, Fi, Ei, Hcali) - this->measured_.at(i)).vector();
if(body_P_sensor_){ if(body_P_sensor_){
Pose3 w_Pose_body = (cameras[i].pose()).compose(body_P_sensor_->inverse()); Pose3 w_Pose_body = (cameras[i].pose()).compose(body_P_sensor_->inverse());
Matrix J(6, 6); Matrix J(6, 6);