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error computation now does not include noise model

release/4.3a0
Luca 2014-04-23 18:43:14 -04:00
parent 2b52bad569
commit d9e93f316a
1 changed files with 1 additions and 2 deletions
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3
gtsam_unstable/slam/SmartFactorBase.h
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@ -218,8 +218,7 @@ public:
const Point2& zi = this->measured_.at(i); const Point2& zi = this->measured_.at(i);
try { try {
Point2 reprojectionError(camera.project(point) - zi); Point2 reprojectionError(camera.project(point) - zi);
overallError += 0.5 overallError += 0.5 * reprojectionError.vector().squaredNorm();
* this->noise_.at(i)->distance(reprojectionError.vector());
} catch (CheiralityException& e) { } catch (CheiralityException& e) {
std::cout << "Cheirality exception " << std::endl; std::cout << "Cheirality exception " << std::endl;
exit(EXIT_FAILURE); exit(EXIT_FAILURE);