12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

minor fix

release/4.3a0
lcarlone 2016-07-28 17:20:34 -04:00
parent 50d6532fe1
commit bb32cadfb0
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
gtsam/slam/SmartFactorBase.h
View File

@ -228,7 +228,7 @@ public:
for(size_t i=0; i < Fs->size(); i++){ for(size_t i=0; i < Fs->size(); i++){
if(ZDim == 3){ // it's a stereo point .. if(ZDim == 3){ // it's a stereo point ..
Z z3 = measured_.at(i); Z z3 = measured_.at(i);
if(isnan(z3.vector()[1])){ // .. and the right pixel is invalid if(std::isnan(z3.vector()[1])){ // .. and the right pixel is invalid
// delete influence of right point on jacobian Fs // delete influence of right point on jacobian Fs
MatrixZD& Fi = Fs->at(i); MatrixZD& Fi = Fs->at(i);
for(size_t ii=0; ii<Dim; ii++) for(size_t ii=0; ii<Dim; ii++)