Fixed issue with GTSAM 4 deprecated retract

2018-12-31 10:24:48 -05:00 · 2018-12-31 10:24:48 -05:00 · e1e8de7ced
parent b5a878d2af
commit e1e8de7ced
1 changed files with 1 additions and 1 deletions
--- a/matlab/gtsam_examples/SFMExample.m
+++ b/matlab/gtsam_examples/SFMExample.m
@ -58,7 +58,7 @@ for i=1:size(truth.cameras,2)
    initialEstimate.insert(symbol('x',i), pose_i);
 end
 for j=1:size(truth.points,2)
-    point_j = truth.points{j}.retract(0.1*randn(3,1));
+    point_j = Point3(truth.points{j}.vector() + 0.1*randn(3,1));
    initialEstimate.insert(symbol('p',j), point_j);
 end
 initialEstimate.print(sprintf('\nInitial estimate:\n  '));