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Fixed sign

release/4.3a0
dellaert 2015-03-05 10:36:03 -08:00
parent dc3d5f77fe
commit b40c0f7f15
1 changed files with 1 additions and 1 deletions
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2
gtsam_unstable/slam/SmartStereoProjectionFactor.h
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@ -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;