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fix typo in block indexing, 3x3 covariance for Pose2 should have just 1x1 block for theta

release/4.3a0
John Lambert 2021-07-11 01:02:36 -06:00 committed by GitHub
parent aebb90573a
commit ddfb45efb0
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1 changed files with 1 additions and 1 deletions
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gtsam/sfm/ShonanAveraging.cpp
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@ -955,7 +955,7 @@ static BinaryMeasurement<Rot2> convertPose2ToBinaryMeasurementRot2(
"parseMeasurements<Rot2> can only convert Pose2 measurements " "parseMeasurements<Rot2> can only convert Pose2 measurements "
"with Gaussian noise models."); "with Gaussian noise models.");
const Matrix3 M = gaussian->covariance(); const Matrix3 M = gaussian->covariance();
auto model = noiseModel::Gaussian::Covariance(M.block<2, 2>(2, 2)); auto model = noiseModel::Gaussian::Covariance(M.block<1, 1>(2, 2));
return BinaryMeasurement<Rot2>(f->key1(), f->key2(), f->measured().rotation(), return BinaryMeasurement<Rot2>(f->key1(), f->key2(), f->measured().rotation(),
model); model);
} }