From b40c0f7f154ea6ae459b31f898db47d5125cd789 Mon Sep 17 00:00:00 2001 From: dellaert Date: Thu, 5 Mar 2015 10:36:03 -0800 Subject: [PATCH] Fixed sign --- 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 0b134c401..65036edfe 100644 --- a/gtsam_unstable/slam/SmartStereoProjectionFactor.h +++ b/gtsam_unstable/slam/SmartStereoProjectionFactor.h @@ -426,7 +426,7 @@ public: Matrix3 P = Base::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;