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InvDepthFactor3: Fix wrong derivative H3

release/4.3a0
d-vo 2022-03-31 20:30:51 +02:00
parent a7c2bc54e0
commit d0144441cb
1 changed files with 1 additions and 1 deletions
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2
gtsam_unstable/slam/InvDepthFactor3.h
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@ -92,7 +92,7 @@ public:
} catch( CheiralityException& e) { } catch( CheiralityException& e) {
if (H1) *H1 = Matrix::Zero(2,6); if (H1) *H1 = Matrix::Zero(2,6);
if (H2) *H2 = Matrix::Zero(2,5); if (H2) *H2 = Matrix::Zero(2,5);
if (H3) *H2 = Matrix::Zero(2,1); if (H3) *H3 = Matrix::Zero(2,1);
std::cout << e.what() << ": Landmark "<< DefaultKeyFormatter(this->key2()) << std::cout << e.what() << ": Landmark "<< DefaultKeyFormatter(this->key2()) <<
" moved behind camera " << DefaultKeyFormatter(this->key1()) << std::endl; " moved behind camera " << DefaultKeyFormatter(this->key1()) << std::endl;
return Vector::Ones(2) * 2.0 * K_->fx(); return Vector::Ones(2) * 2.0 * K_->fx();